SICK Flexi Classic Operating Instructions Manual
OPERATING INSTRUCTIO
NS
Flexi Classic
Gateways
en
Operating Instructions
Flexi Classic Gateways
This document is protected by the law of copyright, whereby all rights established therein remain with the
company SICK AG. Reproduction of this document or parts of this document is only permissible within the limits
of the legal determination of Copyright Law. Alteration or abridgement of the document is not permitted without
the explicit written approval of the company SICK AG.
2 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions
Flexi Classic Gateways
Contents
Contents
1 About this document......................................................................................................... 7
1.1 Function of this document....................................................................................7
1.2 Target group ..........................................................................................................7
1.3 Information depth .................................................................................................7
1.4 Scope .....................................................................................................................8
1.5 Symbols used ........................................................................................................ 8
2 On safety.............................................................................................................................9
2.1 Qualified safety personnel.................................................................................... 9
2.2 Correct use ............................................................................................................ 9
2.3 Environmental protection ...................................................................................10
2.3.1 Disposal.............................................................................................10
2.3.2 Separation of materials ....................................................................10
3 Flexi Classic gateways ...................................................................................................11
3.1 System information transmitted by the modules..............................................11
3.2 Status information of all Flexi Classic gateways (system bytes) ......................12
3.2.1 DIG-OUT .............................................................................................12
3.2.2 REQ-ID................................................................................................12
3.2.3 CRC1 and CRC2 ................................................................................13
3.2.4 BAS1 ..................................................................................................14
3.2.5 BAS2 ..................................................................................................14
3.2.6 BAS3 ..................................................................................................15
3.2.7 BAS4 ..................................................................................................15
3.2.8 RSP-ID................................................................................................15
3.2.9 B1-B10 (REQ-ID 1-13/2133)............................................................16
3.2.10 B1-B10 (REQ-ID 255)........................................................................16
3.2.11 MED ...................................................................................................16
3.2.12 MQD ...................................................................................................17
3.2.13 MKD1.................................................................................................18
3.2.14 MKD2.................................................................................................18
3.2.15 MFD....................................................................................................19
3.2.16 MFCLASS1-MFCODE2.......................................................................19
3.2.17 MOD-ID...............................................................................................24
3.2.18 SW-VERSION_H and SW-VERSION_L ...............................................25
3.2.19 FUNCTION..........................................................................................25
3.2.20 KONF..................................................................................................26
3.2.21 CRC_H CODE and CRC_L CODE .......................................................26
3.2.22 DIAG-VERSION_H and DIAG-VERSION_L..........................................26
3.2.23 System interface status (only UE410-EN3) .....................................26
4 PROFIBUS DP Gateway...................................................................................................27
4.1 Interfaces and operation ....................................................................................27
4.1.1 Controls and status indicators .........................................................27
4.1.2 Application diagnostic outputs UE410-PRO ....................................28
4.1.3 Plug assignment................................................................................28
4.1.4 Bus cable...........................................................................................28
4.1.5 Cable parameters..............................................................................29
4.1.6 Data transmission rate .....................................................................29
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3
Contents
4.2 Planning .............................................................................................................. 30
4.2.1 GSD file ............................................................................................. 30
4.2.2 Documenting with PROFIBUS-DP Master Simulator....................... 31
4.2.3 Diagnostics data UE410-PRO .......................................................... 31
5 CANopen Gateway .......................................................................................................... 32
5.1 Interfaces and operation.................................................................................... 32
5.1.1 Control and status indicators........................................................... 32
5.1.2 Application diagnostic outputs UE410-CAN.................................... 33
5.1.3 Plug assignment ............................................................................... 34
5.1.4 Bus cable .......................................................................................... 34
5.2 Planning .............................................................................................................. 35
5.2.1 EDS file..............................................................................................35
5.2.2 PCS .................................................................................................... 35
5.2.3 Format of diagnostics data .............................................................. 35
5.2.4 TxPDO1.............................................................................................. 36
5.2.5 TxPDO2.............................................................................................. 36
5.2.6 TxPDO3.............................................................................................. 37
5.2.7 TxPDO4.............................................................................................. 37
5.2.8 RxPDO1 ............................................................................................. 38
5.2.9 NMT Network Management ............................................................. 38
5.2.10 Pre-Operational................................................................................. 38
5.2.11 Operational ....................................................................................... 38
5.2.12 Prepared/Stopped............................................................................ 38
5.2.13 Reset node........................................................................................38
5.2.14 Reset communication ...................................................................... 39
5.2.15 SYNC.................................................................................................. 39
5.2.16 Node-guarding .................................................................................. 39
5.2.17 Emergency ........................................................................................ 40
5.2.18 SDO communication......................................................................... 40
5.2.19 SDO Download expedited (Write SDO) ............................................ 40
5.2.20 SDO Upload expedited (Read SDO) ................................................. 41
5.2.21 Object list SDO .................................................................................. 41
5.2.22 Configuration objects ....................................................................... 42
5.2.23 Input/output objects ........................................................................ 43
5.2.24 Module list objects ...........................................................................43
5.2.25 Mapping/communication parameter objects ................................. 44
5.2.26 Flexi-Classic-ERROR list object ........................................................45
5.2.27 Status objects ................................................................................... 46
Operating Instructions
Flexi Classic Gateways
6 DeviceNet Gateway ......................................................................................................... 47
6.1 Interfaces and operation.................................................................................... 47
6.1.1 Characteristics of the DeviceNet implementation.......................... 47
6.1.2 Controls and status indicators......................................................... 47
6.1.3 Application diagnostic outputs UE410-DEV....................................48
6.1.4 Plug assignment ............................................................................... 49
6.1.5 Bus cable .......................................................................................... 49
6.2 Planning .............................................................................................................. 50
6.2.1 EDS file..............................................................................................50
6.2.2 Diagnostics data UE410-DEV...........................................................50
4 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions
Flexi Classic Gateways
Contents
7 Modbus/TCP Ethernet Gateway ....................................................................................51
7.1 Interfaces and operation ....................................................................................51
7.2 Basic configuration — assigning an IP address.................................................52
.3 Configuration of the interface to the PLC — how the data are
7
transferred...........................................................................................................54
7.3.1 Operating modes in the transfer mode RX (To PLC) .......................56
7.3.2 Operating modes in the transfer mode Tx (From PLC)....................58
7.3.3 Modbus commands and error messages........................................58
7.4 Configuration of the gateway — which data are transferred.............................59
7.5 Status of the interface to the PLC......................................................................61
7.6 Resetting to factory settings...............................................................................64
7.7 Troubleshooting ..................................................................................................65
7.8 Description of the data sets ...............................................................................67
7.8.1 Data sets 1-5.....................................................................................67
7.8.2 Data set 6, can be compiled by the user.........................................69
8 Ethernet TCP/IP Gateway ..............................................................................................71
8.1 Interfaces and operation ....................................................................................71
8.2 Basic configuration — assigning an IP address.................................................72
8.3 Configuration of the TCP/IP interface — who establishes the connection.......74
8.4 Data transfer method — how the data are transferred.....................................76
8.4.1 General telegram structure ..............................................................76
8.4.2 Error response to invalid messages.................................................77
8.4.3 Auto Update Mode ............................................................................77
8.4.4 Polling Mode......................................................................................80
8.5 Ethernet TCP/IP interface status and statistics................................................83
8.6 Resetting to factory settings...............................................................................85
8.7 Troubleshooting ..................................................................................................86
8.8 Description of the data sets ...............................................................................88
8.8.1 Data sets 1-5.....................................................................................88
8.8.2 Data set 6, can be compiled by the user.........................................90
9 EtherNet/IP Gateway......................................................................................................92
9.1 Interfaces and operation ....................................................................................92
9.2 Basic configuration — assigning an IP address.................................................93
9.3 Device name........................................................................................................94
9.4 Configuration of the interface to the PLC — how the data are
transferred...........................................................................................................95
9.4.1 Operating modes in the transfer mode Rx (to PLC) ........................98
9.4.2 Operating modes in the transfer mode Tx (from PLC) ....................99
9.5 Configuration of the gateway — which data are transferred.......................... 100
9.6 Status of the interface to the PLC................................................................... 102
9.7 EtherNet/IP objects ......................................................................................... 105
9.7.1 Full Data Set Transfer Object (72hex — one instance per
UE410FEN1 module)...................................................................... 105
9.7.2 Individual Data Set Transfer object (73hex — one instance
per data set)................................................................................... 106
9.7.3 Discrete Output Point object definition (09hex — 4
instances; one instance per digital output).................................. 113
9.8 Resetting to factory settings............................................................................ 115
9.9 Troubleshooting ............................................................................................... 116
9.10 Description of the data sets ............................................................................ 118
9.10.1 Data sets 1-5.................................................................................. 118
9.10.2 Data set 6, can be compiled by the user...................................... 120
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5
Contents
10 PROFINET IO Gateway ..................................................................................................122
10.1 Interfaces and operation..................................................................................122
10.2 Basic configuration — assigning an IP address ..............................................123
0.2.1 Web server based...........................................................................123
1
10.2.2 PROFINET IO conform.....................................................................125
10.3 PROFINET configuration of the gateway — how the data are transferred .....125
10.3.1 STEP 1 — Install the generic station description file (GSD file)
125
10.3.2 STEP 2 — Add the gateway to the project......................................126
10.3.3 STEP 3 — Configure the properties of the gateway ......................126
10.3.4 STEP 4 — Assign the device name.................................................127
10.4 PROFINET configuration of the gateway — which data are transferred.........129
10.4.1 Cyclic data.......................................................................................129
10.4.2 Acyclic data — record read .............................................................130
10.4.3 Alarms .............................................................................................136
10.5 Status of the interfaces....................................................................................137
10.5.1 Status of the interface to the PLC .................................................137
10.5.2 Status of the Flexi system ..............................................................138
10.6 Resetting to factory settings ............................................................................140
10.7 Troubleshooting................................................................................................141
10.8 Error type definitions in PROFINET IO..............................................................143
Operating Instructions
Flexi Classic Gateways
11 Technical specifications ..............................................................................................147
11.1 Technical specifications fieldbus.....................................................................147
11.1.1 PROFIBUS........................................................................................147
11.1.2 CANopen .........................................................................................147
11.1.3 DeviceNet........................................................................................148
11.1.4 Modbus/TCP, EtherNet/IP, PROFINET IO......................................148
11.2 Technical specifications, supply circuit...........................................................149
11.3 Technical specifications application diagnostic outputs................................149
11.4 General technical specifications......................................................................149
11.5 Dimensional drawing........................................................................................151
11.6 Device overview/part numbers........................................................................152
11.7 Accessories/spare parts ..................................................................................152
11.7.1 PROFIBUS master simulator ..........................................................152
11.7.2 CD-ROM Flexi Classic......................................................................152
6 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
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Operating Instructions Chapter 1
Note
Flexi Classic Gateways
About this document
1 About this document
lease read this chapter carefully before working with these operating instructions and the
P
Flexi Classic gateways.
1.1 Function of this document
These operating instructions only apply in conjunction with the “Flexi Classic Modular Safety Controller” operating instructions and provide the technical personnel at the machine
manufacturer or machine operating organisation information on safe mounting, adjustment, electrical installation, commissioning as well as on operation and maintenance of
the Flexi Classic gateways.
These operating instructions do not provide information on the operation of the machine in
which a Flexi Classic safety controller with Flexi Classic gateways is integrated. Information
on this is to be found in the appropriate operating instructions for the machine.
1.2 Target group
WARNING
These operating instructions are addressed to planning engineers, machine designers and
the operators of systems in which a Flexi Classic modular safety controller is integrated
and who want to transmit data to a fieldbus (a controller) via a gateway.
They are also addressed to people who are placing a Flexi Classic gateway in operation for
the first time or maintaining it.
1.3 Information depth
These operating instructions contain information on Flexi Classic gateways on the following
subjects:
mounting
status information on fieldbus, planning and related mapping
part numbers
Warning!
Pay attention to the safety notes and safety measures on the Flexi Classic safety controller!
We also refer you to our homepage on the Internet at
http://www.ue410flexi.com
There you will find the following files for download:
EDS file
GSD file
flexi_config_list.xls (system requirements Excel 2000 or higher)
8011834/YT28/2016-03-15 © SICK AG • Industrial Safety Systems • Germany • All rights reserved
Subject to change without notice
7
Chapter 1 Operating Instructions
N
otes
About this document
Flexi Classic Gateways
1.4 Scope
hese operating instructions are original operating instructions.
T
hese operating instructions apply to all Flexi Classic gateway modules (UE410FPR03,
Note
T
FPR04, FCAN3, FCAN4, FDEV3, FDEV4, -EN1, -EN3, -EN4). In addition, follow the related
concise operating instructions (see type label entry on the modules).
1.5 Symbols used
Refer to notes for special features of the device.
Warning!
WARNING
A warning notice indicates an actual or potential risk or health hazard. They are designed
to help you to prevent accidents.
Read carefully and follow the warning notices!
8 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions Chapter 2
Flexi Classic Gateways
On safety
2 On safety
This chapter deals with your own safety and the safety of the equipment operators.
Please read this chapter carefully before working with a Flexi Classic gateway.
2.1 Qualified safety personnel
The Flexi Classic gateway must only be installed, commissioned and serviced by qualified
safety personnel.
Qualified safety personnel are defined as persons who …
have undergone the appropriate technical training
and
have been instructed by the responsible machine operator in the operation of the
machine and the current valid safety guidelines
and
have access to the operating instructions “Flexi Classic Gateways” and “Flexi Classic
Modular Safety Controller” and have read and familiarised themselves with them.
WARNING
WARNING
2.2 Correct use
The Flexi Classic gateways can only be operated with a Flexi Classic system.
The Flexi Classic gateways are not suitable for operation on a safety fieldbus!
These gateways only generate non-safety-related fieldbus data (status bytes) for control
and diagnostics purposes.
These modules may only be used by qualified personnel and only on the machine where
they have been installed and initialised by qualified personnel in accordance with the
operating instructions.
Pay attention to the safety notes and safety measures on the Flexi Classic safety
controller!
If the device is used for any other purposes or modified in any way — also during mounting
and installation — any warranty claim against SICK AG shall become void.
During the mounting, installation and usage of the Flexi Classic safety controller, ob-
serve the standards and directives applicable in your country.
The national/international rules and regulations apply to the installation, commissioning,
use and periodic technical inspection of the Flexi Classic safety controller, in
particular …
– the Machinery Directive
– the EMC directive
– the Work Equipment Directive
– the Low Voltage Directive
– the work safety regulations/safety rules
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Subject to change without notice
9
Chapter 2 Operating Instructions
Note
Tab.1:
Overview on disposal
WARNING
On safety
Flexi Classic Gateways
The operating instructions must be made available to the operator of the machine
where a Flexi Classic safety controller is used. The machine operator is to be instructed
in the use of the device by specialist personnel and must be instructed to read the operating instructions.
The Flexi Classic system complies, as per the “radiated emissions” generic standard, with
the requirements of class A (industrial applications). the Flexi Classic system is therefore
only suitable for use in an industrial environment.
2.3 Environmental protection
The Flexi Classic gateways are designed for minimum impact on the environment, they
consume only a minimum of energy and resources.
At work, always act in an environmentally responsible manner.
2.3.1 Disposal
Unusable or irreparable devices should always be disposed as per the applicable national
regulations on waste disposal (e.g. European waste code 16 02 14).
We would be pleased to be of assistance to you on the disposal of these devices. Contact
us.
by components
WARNING
2.3.2 Separation of materials
Only qualified safety personnel are allowed to separate materials!
Caution is required when dismantling devices. There is a risk of injuries.
Before you send the devices for appropriate recycling, it is necessary to separate the different materials in the Flexi Classic gateways.
Separate the housing from the rest of the parts (in particular the circuit board).
Send the separated parts for recycling as appropriate (see Tab. 1).
Components Disposal
Product
Housing, circuit boards, cables,
connectors and electrical connecting
pieces
Packaging
Cardboard, paper
Electronic recycling
Paper/cardboard recycling
10 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions Chapter 3
Flexi Classic Gateways
Flexi Classic gateways
3 Flexi Classic gateways
he Flexi Classic gateways generate non-safety-related fieldbus data (status bytes) for con-
T
trol and diagnostics purposes. These status bytes contain the input and output states as
well as fault and status information. The nature and scope of the diagnostic data are de-
ined during planning and for the mapping.
f
n addition, you can save status bytes and diagnostic data on a PC with the aid of the PRO-
I
FIBUS-DP Master Simulator and the file flexi_config_list.xls, and document the settings for
the entire system (see section 4.2.2 “Documenting with PROFIBUS-DP Master Simulator”.
A Flexi Classic gateway has four short circuit-proof application diagnostic outputs for controlling non-safety functions. It is not allowed to connect any safety-related loads or inputs
of the Flexi Classic system with a safety function to these four application diagnostic outputs.
The operation of the safety-related functions of the Flexi Classic system is not affected by
the bus coupling. There is no information flow from external fieldbus systems over the
gateway to the safety system.
The modules are not suitable for operation on a safety fieldbus. They do not monitor the
functionality of the fieldbus or the digital application diagnostic outputs (X1-X4).
A Flexi Classic gateway can only be operated on a Flexi Classic system. It does not have a
dedicated voltage supply. It is only possible to use one Flexi Classic gateway per system.
The gateways are fitted in a 22.5 mm wide housing for 35-mm rails in accordance with
EN 50022. The devices have a removable screw terminal for each of the control outputs.
3.1 System information transmitted by the modules
system configuration
– input states on all Flexi Classic modules
– state of all safety outputs (Q1-Q4 or O
– control circuit configuration for all Flexi Classic modules
– settings for all program and function switches on the Flexi Classic modules
error and status information on all Flexi Classic modules
– erroneous system configuration, feedback circuits
– exceeding the synchronous monitoring time (closing a safety door)
– process error on dual-channel applications (e.g. on opening/closing a safety door)
– cross circuit on the inputs
– cross-circuit on the safety outputs, internal error (error classes)
, Q1, Q2 and ON)
P
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Subject to change without notice
11
Chapter 3 Operating Instructions
Tab.2:
DIG-OUT
Tab.3:
REQ-ID
Flexi Classic gateways
Flexi Classic Gateways
3.2 Status information of all Flexi Classic gateways
(system bytes)
The status information is contained in the system and status bytes described below. The
ignificance of these bytes is independent of the fieldbus used and applies to all gateways.
s
The grouping of the data bytes is described in the related chapters on the gateways in the
“Planning” sections.
3.2.1 DIG-OUT
4 digital control outputs on the Flexi Classic gateways
Bit 7 6 5 4 3 2 1 Bit 0
– – – – X4 X3 X2 X1
X4
X3 Output X3
X2 Output X2
X1 Output X1 1 = Output switched on
Output X4
–
–
0 = Output switched off
3.2.2 REQ-ID
Control byte for the content of bytes B1-B10.
Bit 7 6 5 4 3 2 1 Bit 0
REQ-ID
REQ-ID Assignment B1–B10
0 Space
1 Status data module 1
2 Status data module 2
3 Status data module 3
: :
13 Status data module 13
21 Configuration module 1
22 Configuration module 2
23 Configuration module 3
: :
33 Configuration module 13
255 Internal diagnostics modules
12 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions Chapter 3
Tab.4:
CRC and CRC2
Flexi Classic Gateways
Flexi Classic gateways
3.2.3 CRC1 and CRC2
High byte/low byte for the 16-bit checksum on the system configuration.
The system configuration contains all function settings, the configuration jumpers, the
number and order of the Flexi Classic modules inserted, the software versions etc. CRC1
and CRC2 together form the 16-bit checksum.
Bit 7 6 5 4 3 2 1 Bit 0
CRC1 (High byte)
CRC2 (Low byte)
Note
We recommend you to make a note of the slot list CRC and keep this information in the
control cabinet.
8011834/YT28/2016-03-15 © SICK AG • Industrial Safety Systems • Germany • All rights reserved
Subject to change without notice
13
Chapter 3 Operating Instructions
Tab.5:
BAS1
Tab.6:
BAS2
Flexi Classic gateways
Flexi Classic Gateways
3.2.4 BAS1
Group error bits on the overall system and output data on the UE410-MU, UE410-MM and
UE410-GU.
Bit 7 6 5 4 3 2 1 Bit 0
UE410-MU
UE410-MM
UE410-GU
IF Internal error 0 = No internal errors
QS Cross circuit error
(not on UE410-GU)
AF Process error
(not on UE410-GU)
ZF Time error
(not on UE410-GU)
RO EDM contacts open
(not on UE410-GU)
FM Program or function switch changed 0 = Switches have not been actuated
IF
QS AF ZF RO X1/2 X3/4
– – – –
1 = An internal error has occurred on one of the
Flexi Classic modules
0 = No cross circuit error
1 = Cross circuit error detected on an input pair
on the overall system
0 = No process error
1 = A process error has occurred on one of the
Flexi Classic modules in a safety circuit
0 = No time error
1 = An internal error has occurred on one of the
Flexi Classic modules
0 = No EDM error
1 = An error has occurred on the EDM contacts
on one of the modules. EDM contact was open
1 = Switches have been changed during
operation
FM
Q1 Q2
X1/2 Outputs Q1/Q2
UE410-MU/MM
X3/4 Outputs Q3/Q4
UE410-MU/MM
Q1 Output Q1
UE410-GU
Q2 Output Q2
UE410-GU
0 = Q1/Q2 inactive
1 = Q1/Q2 active
0 = Q3/Q4 inactive
1 = Q3/Q4 active
0 = Q1 inactive
1 = Q1 active
0 = Q2 inactive
1 = Q2 active
3.2.5 BAS2
Output data from the A/B function groups on the UE410-XU main module, the UE410-8DI
expansion modules and the UE410-XM, UE410-MDI muting modules.
Bit 7 6 5 4 3 2 1 Bit 0
MOD2 MOD3 MOD4 MOD5
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Subject to change without notice
Operating Instructions Chapter 3
Tab.7:
BAS3
Tab.8:
BAS4
Tab.9:
Definitions for BAS2,
Flexi Classic Gateways
Flexi Classic gateways
3.2.6 BAS3
Output data from the A/B function groups on the UE410-XU main module, the UE410-8DI
expansion modules and the UE410-XM, UE410-MDI muting modules.
Bit 7 6 5 4 3 2 1 Bit 0
MOD6 MOD7 MOD8 MOD9
3.2.7 BAS4
Output data from the A/B function groups on the UE410-XU main module, the UE410-8DI
expansion modules and the UE410-XM, UE410-MDI muting modules.
Bit 7 6 5 4 3 2 1 Bit 0
MOD10 MOD11 MOD12 MOD13
BAS3, BAS4
Note
For BAS2, BAS3, BAS4 the following definitions apply:
UE410-XU
MODn
UE410-8DI
MODn
UE410-XM
UE410-MDI
00 = Q1/Q2 inactive and Q4 inactive
01 = Q1/Q2 inactive and Q4 active
10 = Q1/Q2 active and Q4 inactive
11 = Q1/Q2 active and Q4 active
X = Unused
00 = QAinactive and QBinactive
01 = QAinactive and QBactive
10 = QAactive and QBinactive
11 = QAactive and QBactive
QA/ QBare set if:
• all inputs on the function group (A or B) are in the valid ON state
• the OR function is valid
• the bypass function is valid
00 = Q
10 = Q
1/2
1/2
and Q
active
3/4
inactive MODn
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Subject to change without notice
Note
MODn 00 = Always 0, as module has no outputs
3.2.8 RSP-ID
Status byte for the assignment of the 10 bytes B1-B10.
The RSP-ID is used to confirm that the required contents have been provided by the gateway in B1-B10. When the RSP-ID has the same value as the REQ-ID, the data transfer is
complete.
As PLC cycles, fieldbus cycles and diagnostics cycles are generally not synchronised, on a
change in the REQ-ID the PLC should always wait for the RSP-ID prior to the evaluation of
the bytes B1-B10.
15
Chapter 3 Operating Instructions
Tab.10:B1-
B10
Tab.11:B1-
B10
Tab.12:
MED
Flexi Classic gateways
Flexi Classic Gateways
3.2.9 B1-B10 (REQ-ID 1-13/2133)
The following assignment of configuration data to B1-B10 applies for the REQ-IDs 21-33:
(REQ0ID 21033)
B1 MED MOD-ID
B2 MQD SW-VERSION_H
B3 MKD1 SW-VERSION_L
B4 MKD2 FUNCTION
B5 MFD KONF
B6 MFCLASS1 CRC_H CODE
B7 MFCODE1 CRC_L CODE
B8 MFCLASS2 –
B9 MFCODE2 –
B10 RSP-ID RSP-ID
REQ-ID 1-13 REQ-ID 21-33
3.2.10 B1-B10 (REQ-ID 255)
Control byte for PROFIBUS communication
For the REQ-ID 255 the following assignment of configuration data to B1-B10 applies:
(REQ0ID 255)
B1 DIAG-VERSION_H
B2 DIAG-VERSION_L
B3 BUS ADDR Contains the fieldbus address currently set
(dynamic)
B4 NOISE
B5 FRAME
B6 BREAK
B7 PARITY
B8 –
B9 –
B10 RSP-ID
4 bytes that contain the number of transmission
errors that have occurred on a bus system
3.2.11 MED
Module input data (input states)
Bit 7 6 5 4 3 2 1 Bit 0
UE410-MU
UE410-XU
UE410-GU I4 I3 I2 I1 I
UE410-8DI I8 I7 I6 I5 I4 I3 I2 I1
UE410-MM
UE410-XM
S3 S2 S1 EN I4 I3 I2 I1
N
I2 I1 S1 EN M4 M3 M2 M1
I6 I5 I
P
UE410-MDI 0 0 0 0 S4 OVR CS C1
Input states 0 = Input is inactive
1 = Input is active
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Operating Instructions Chapter 3
Tab.13:
MQD
Flexi Classic gateways
Flexi Classic Gateways
3.2.12 MQD
Module status and output data (output states/module output data)
Bit 7 6 5 4 3 2 1 Bit 0
UE410-MU
BYP MUTE StRq B StRq A Q4 Q3 Q2 Q1
UE410-XU
UE410-GU O
P
UE410-8DI - - – – Q
UE410-MM
OVR MUTE OVReq StRq Q4 Q3 Q2 Q1
O
StRq
N
local
StRq
global
Q2 Q2 Q1 Q1
B
– Q
A
–
UE410-XM
UE410-MDI – – – – S4 OVR CS C1
With the UE410-MU/XU, the functions StRq A and MUTE are output on Q3 in program 3.
For this reason you would be better using the status bits 4 and 7 for the output of these
states.
Q1-Q4 Output states UE410-MU/
UE410FGU/UE410-XU/UE410-MM/
UE410-XM
QA, Q
B
Module output data UE410-8DI
QA/ QBare set if:
• all inputs on the function group (A or B) are in the valid ON state
• the OR function is valid
• the bypass function is valid
0 = Output is inactive
1 = Output is active
0 = Output is inactive
1 = Output is active
S4, OVR, CS, C1
Module output data UE410-MDI 0 = Output is inactive
1 = Output is active
Module output data are the same as module input data.
See module input data (input states)
OVR Req
(only UE410@MM/XM)
Override request, waiting for
override
0 = Not currently waiting
1 = The System is in the Override
required state and is expecting the
actuation of the restart button
StRq A,
StRq B
Reset request, waiting for reset
input group A/B
0 = Not currently waiting
1 = Waiting for a reset signal; is
deleted, once the reset has been
made
StRq Reset request, waiting for reset 0 = Not currently waiting
1 = Waiting for a reset signal; is
deleted, once the reset has been
made
StRq local,
StRq global
(only UE410-GU)
Reset request, waiting for local
reset, waiting for global reset
0 = Not currently waiting
1 = Waiting for a reset signal; is
deleted, once the reset has been
made
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Subject to change without notice
17
Chapter 3 Operating Instructions
Tab.14:
MKD1
Tab.15:
MKD2
Flexi Classic gateways
Flexi Classic Gateways
OP, O
N
(only UE410-GU)
MUTE Status bit for Muting 0 = Muting is inactive
BYP Status bit for Bypass 0 = Bypass is inactive
Communication for global
emergency stop to the previous or
next module
0 = Global emergency stop is
inactive
1 = Global emergency stop is
active
1 = Muting is active
1 = Bypass is active
3.2.13 MKD1
Module configuration data 1: Position of the program switch/function switch/time range
(not UE410-GU)
Bit 7 6 5 4 3 2 1 Bit 0
SW1 SW2
SW1 Top switch setting 0-9
SW2 Bottom switch setting 0-9
3.2.14 MKD2
Module configuration data 2: (UE410-MU/XU configuration on S1, S2, S3)
(UE410-MM/XM: configuration on S1)
(not UE410-GU)
Bit 7 6 5 4 3 2 1 Bit 0
UE410-MU
UE410-XU
UE410-MM
UE410-XM
S1 Configuration jumper on S1 00 = Open
S2 Configuration jumper on S2 01 = On X1
– S3 S2 S1
– – – S1
10 = On X2 S3 Configuration jumper on S3
11 =
Active at +U
B
18 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions Chapter 3
Tab.16:
MFD
Tab.17:
MFCLASS1
Tab.18:
MFCLASS2
Flexi Classic Gateways
Flexi Classic gateways
3.2.15 MFD
Module error data: (external errors on all Flexi Classic modules)
(not UE410-GU)
Bit 7 6 5 4 3 2 1 Bit 0
UE410-MU
UE410-XU
UE410-8DI I7/I8 I5/I6 I3/I4 I1/I2
UE410-MM
UE410-XM
UE410-MDI I7/I8 I5/I6 I3/I4 I1/I2
S1 S1 (feedback circuit)
S2 S2 (feedback circuit)
S3 S3 (feedback circuit)
I1/2 Error code input pair I1/I2
I3/4 Error code input pair I3/I4
I5/6 Error code input pair I5/I6
I7/8 Error code input pair I7/I8
S3 S2 S1 - I3/I4 I1/I2
– M3/4 M1/2 I1/2
0 = No error in the feedback circuit
1 = Feedback circuit open
00 = No error
01 = Time error
10 = Process error
11 = Cross circuit error
3.2.16 MFCLASS1-MFCODE2
The bytes MFCLASS1 and MFCLASS2 contain the error class, the bytes MFCODE1 and
MFCODE2 the error codes on a system error that has occurred in processing channel 1 or
2. MFCLASS and MFCODE together provide a 16-bit error code that describes the error
category and reason for the error, and the processing channel affected.
Error code:
XX - MFCLASS1 or MFCLASS2 (hex)
ZZ - MFCODE1 or MFCODE2 (hex)
Bit 7 6 5 4 3 2 1 Bit 0
MFCLASS1 - ErrClass VK1
ErrClass VK1 contains the error class for a system error that has occurred in processing
channel 1.
Bit 7 6 5 4 3 2 1 Bit 0
MFCLASS2 - ErrClass VK2
ErrClass VK2 contains the error class for a system error that has occurred in processing
channel 2. Codes for ErrClass VK1 and ErrClass VK2:
01h= Flex bus error
02h= Resource error
03h= Program memory error
04h= Self diagnostics error
05h= Internal input test error
06h= External input test error
07h= Output test error
08h= Voltage monitoring error
09h= Configuration and diagnostics error
0Ah= Logical error
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Subject to change without notice
19
Chapter 3 Operating Instructions
Tab.19:
MFCODE1
Tab.20:
MFCODE2
Flexi Classic gateways
Flexi Classic Gateways
Bit 7 6 5 4 3 2 1 Bit 0
MFCODE1 - ErrCode VK1
ErrCode VK1 contains the error code for a system error that has occurred in processing
channel 1. Together with MFCLASS1 a 16-bit error code is produced: MFCLASS1 contains
a code for the error category and MFCODE1 contains the detail code that describes the
reason for the error.
Bit 7 6 5 4 3 2 1 Bit 0
MFCODE2 - ErrCode VK2
ErrCode VK2 contains the error class for a system error that has occurred in processing
channel 2. Together with MFCLASS2 a 16-bit error code is produced: MFCLASS2 contains
a code for the error category and MFCODE2 contains the detail code that describes the
reason for the error.
ErrCode for ErrClass 01h:
06 Unknown SDO type (read, write)
07 Error on the reception of the data frame, parity, noise, etc.
08 No frame bytes received
09 Checksum error detected
0A No frame bytes received in the slave
10 Data frame could not be sent
11 Unknown error in RecFrameErrorCheck()
12 Invalid frame revision received
14 Continuous indexing check erroneous
15 TX error: hold-register not clear
16 Not all characters received within timeout
17 SDO.cnt Timeout
18 Error in frame counter
ErrCode for ErrClass 02h:
01 Internal error in Delay ()
02 Error on handling with T0
03 Error on deleting the flash page
04 Error in FlashWriteByte()
05 Timer management error in SAPL
06 Error on AdcStartSample()
07 Error on AdcDone()
08 Cross comparison SL-CRCs negative
ErrCode for ErrClass 03h:
41 Flashtest error
42 RAMTest error
20 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions Chapter 3
Flexi Classic Gateways
Flexi Classic gateways
ErrCode for ErrClass 04h:
01 System tick 1ms exceeded in HAL SystemTickhandler()
02 System tick 4 ms exceeded
03 System tick 4_1 ms exceeded
04 Self-test asynchronous
05 Error during cross comparison (Tx)
06 Error during cross comparison (Rx)
07 Error on watchdog relay (does not open)
08 Error on HAL_Synchronized
1B Error invalid bits in the output configuration
ErrCode for ErrClass 05h:
M 01 Internal test pulse not present on I1
M 02 Internal test pulse not present on I2
M 04 Internal test pulse not present on I3
M 08 Internal test pulse not present on I4
M 10 Internal test pulse not present on I5
M 20 Internal test pulse not present on I6
M 40 Internal test pulse not present on I7
M 80 Internal test pulse not present on I8
(M = Bit mask; several errors can occur simultaneously)
ErrCode for ErrClass 06h:
For base module
M 01 External test pulse not present on I1
M 02 External test pulse not present on I2
M 04 External test pulse not present on I3
M 08 External test pulse not present on I4
M 10 External test pulse not present on I5
M 20 External test pulse not present on I6
M 40 External test pulse not present on I7
M 80 External test pulse not present on I8
For muting input extension:
M 01 External test pulse not present on I1
M 02 External test pulse not present on I2
M 04 External test pulse not present on I3
M 08 External test pulse not present on I4
(M = Bit mask; several errors can occur simultaneously)
8011834/YT28/2016-03-15 © SICK AG • Industrial Safety Systems • Germany • All rights reserved
Subject to change without notice
21
Chapter 3 Operating Instructions
Flexi Classic gateways
Flexi Classic Gateways
ErrCode for ErrClass 07h:
M 01 Output X1 not off (cross circuit)
M 02 Output X2 not off (cross circuit)
M 03 Cross-circuiting OSSD
M 04 Output X3 not off (cross circuit)
M 08 Output X4 not off (cross circuit)
M 10 Output X1 not on (short circuit)
M 20 Output X2 not on (short circuit)
M 40 Output X3 not on (short circuit)
M 80 Output X4 not on (short circuit)
(M = Bit mask; several errors can occur simultaneously)
ErrCode for ErrClass 08h:
M 01 I/O undervoltage
M 02 Power supply undervoltage
M 03 Undervoltage power supply unit and undervoltage I/O
M 04 I/O overvoltage
M 08 Power supply overvoltage
M 20 Error power supply monitoring
(M = Bit mask; several errors can occur simultaneously)
22 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions Chapter 3
Flexi Classic Gateways
Flexi Classic gateways
ErrCode for ErrClass 09h:
01 Modules incompatible
02 Configuration change detected
09 SDO client invalid state
0A Unknown SDO-cnf
0B Unused SDO index
0C SDO7 in slot list missing for at least 1 module
0D Index error in slot list
0E Invalid position switch 0
0F Invalid position switch 1
10 CRC monitoring module list
11 Monitoring time range constant
12 SALI monitoring event
14 Extension unit has emergency bit set
15 Main unit has high emergency bit set
16 Program execution error
17 Slot list in extension module is faulty
18 System tick exceeded
19 Slot index error
1A Enter key not released while LED was flashing
1C External error hardware reset
1D Illegal error Opcode Reset
1E Error Clock generator reset
1F Unexpected reset
20 Unknown mask revisions
21 Error Clock generator loss of lock
41 Cross comparison input configuration erroneous
42 Cross comparison output state erroneous
81 Too many modules found
82 Unknown module ID found
83 Invalid jumper S1
84 Invalid jumper S2
85 Invalid jumper S3
86 Erroneous module configuration
87 Rotary switch changed during operation
88 Incomplete data frame on IndexAssign
8011834/YT28/2016-03-15 © SICK AG • Industrial Safety Systems • Germany • All rights reserved
Subject to change without notice
23
Chapter 3 Operating Instructions
Tab.21:
MOD-ID
Flexi Classic gateways
Flexi Classic Gateways
ErrCode for ErrClass 0Ah:
For base module
M 01 Logical error in input group A
M 10 Logical error in input group B
M 11 Logical error in input groups A and B
M 02 Logical error in the start function group A
M 20 Logical error in the start function group B
M 22 Logical error in the start function groups A and B
M 08 Logical error in the bypass function group A
M 80 Logical error in the bypass function group B
M 88 Logical error in the bypass function groups A and B
For muting master/slave:
M 01 Logical error in input group A
M 10 Logical error in input group B
M 11 Logical error in input groups A and B
Note
M 02 Logical error in the start function group A
M 20 Logical error in the start function group B
M 22 Logical error in the start function groups A and B
M 04 Logical error in the output function group A
M 40 Logical error in the output function group B
M 44 Logical error in the output function groups A and B
M 08 Logical error in the bypass function group A
M 80 Logical error in the bypass function group B
M 88 Logical error in the bypass function groups A and B
(M = Bit mask; several errors can occur at the same time)
On the occurrence of error codes other than those listed here, please contact the SICK
technical hotline.
3.2.17 MOD-ID
Module identifier for the selected Flexi Classic module (not UE410-GU).
Bit 7 6 5 4 3 2 1 Bit 0
MOD-ID
MOD-ID Module identifier 1 = UE410-MU
2 = UE410-XU
3 = UE410-8DI
4 = UE410-MM
5 = UE410-XM
6 = UE410-MDI
24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions Chapter 3
Tab.22:SW-
VERSION_H and
Tab.23:
FUNCTION
Flexi Classic Gateways
Flexi Classic gateways
3.2.18 SW-VERSION_H and SW-VERSION_L
High byte/low byte for the software version for the selected Flexi Classic module.
The software version is supplied as a 16-bit-hex number, e.g. 0624 = 2006, week 24.
SW-VERSION_L
Bit 7 6 5 4 3 2 1 Bit 0
SW-VERSION H
SW-VERSION L
3.2.19 FUNCTION
FUNCTION describes the setting of the rotary switch on the selected Flexi Classic module
(not UE410-GU). This byte is to be interpreted differently depending on the module type,
e.g. as program switch, switch for off delay or function switch.
Bit 7 6 5 4 3 2 1 Bit 0
UE410-MU
UE410-XU
UE410-MM
UE410-XM
UE410-8DI INPUT A INPUT B
UE410-MDI FUNC C –
FUNC Program switch
UE410FMU/UE410FXU
FUNC A See description UE410-MM/UE410-XM
FUNC TIME
FUNC A FUNC B
0 = Invalid
1-8 = Function 1 to 8
9 = Invalid
FUNC B See description UE410-MM/UE410-XM
FUNC C See description UE410-MDI
TIME Reactivation delay UE410-MU/
UE410-XU. The value defines a
factor that must be multiplied with
the time variant T from KONF to
obtain the reactivation delay in sec.
INPUT_A Input circuit function group A
UE410-8DI
INPUT_B Input circuit function group B
UE410-8DI
0 = Factor 0
1 = Factor 0.5
2 = Factor 1
3 = Factor 1.5
4 = Factor 2
5 = Factor 2.5
6 = Factor 3
7 = Factor 3.5
8 = Factor 4
9 = Factor 5
0 = Not used
1-9 = Function 1 to 9
0 = Not used
1-9 = Function 1 to 9
8011834/YT28/2016-03-15 © SICK AG • Industrial Safety Systems • Germany • All rights reserved
Subject to change without notice
25
Chapter 3 Operating Instructions
Tab.24:
KONF
Tab.25:
CRC_H CODE and
Tab.26:
DIAG-VERSION_H
Tab.27:
System interface
Flexi Classic gateways
Flexi Classic Gateways
3.2.20 KONF
Configuration setting for the selected Flexi Classic module (not UE410-GU). On a UE4108DI and UE410-MDI this byte is set to zero, as apart from the input circuit functions there
re no other configuration options.
a
Bit 7 6 5 4 3 2 1 Bit 0
UE410-MU
UE410-XU
UE410-MM
UE410-XM
UE410-8DI
UE410-MDI
T Time variant UE410-MU. UE410-
S1 Configuration jumper on S1
S2 Configuration jumper on S2
S3 Configuration jumper on S3
T S3 S2 S1
– – – S1
–
11 = Factor 1 s
MU are supplied in three time
variants. The time variant defines
the reactivation delay.
10 = Factor 10 s
01 = Factor 1 min
00 = Open
01 = Connected to X1
10 = Connected to X2
11 = Connected to +U
B
3.2.21 CRC_H CODE and CRC_L CODE
High byte/low byte for the 16-bit checksum via the code area on the selected Flexi Classic
module.
CRC_L CODE
and DIAG-VERSION_L
status (only UE410-EN3)
Bit 7 6 5 4 3 2 1 Bit 0
CRC_H CODE
CRC_L CODE
3.2.22 DIAG-VERSION_H and DIAG-VERSION_L
High byte/low byte for the software version on the selected UE410-PRO/UE410-DEV.
The software version is supplied as a 16-bit-hex number, e.g. 0624 = 2006, week 24.
Bit 7 6 5 4 3 2 1 Bit 0
DIAG-VERSION_H
DIAG-VERSION_L
3.2.23 System interface status (only UE410-EN3)
Bit 7 6 5 4 3 2 1 Bit 0
0= Flex bus
–
communication OK
1= Flex bus
communication faulty
26 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operati ng Instructions Chapter 4
Fig.1:
Controls and statu
s
Tab.28:
Indication LED
Tab.29:
Address switch
Flexi Classic Gateways
PROFIBUS DP Gateway
4 PROFIBUS DP Gateway
The following Flexi Classic gateways can be used for PROFIBUS DP:
• UE410-Pro3, UE410-Pro4
4.1 Interfaces and operation
4.1.1 Controls and status indicators
indicators UE410-PRO
UE410-PRO
UE410-PRO
Notes
Display Meaning
PWR (green) Supply volt ag e present
BF (red)
DIA (red) No function (not used)
Switch/button Function
× 10
× 1
No bus connection, fieldbus cable break or master is not (or no
longer) writing to the bus
Address switch 1
10-position rotary switch for setting the module address
(tens)
Address switch 2
10-position rotary switch for setting the module address
(units)
• The occurrence of random or systematic errors in the gateway or in its o peration does
not result in the degradation of the safety functions on t he Flexi Classic system.
• With the operating voltage switched on, no gateways are allowed to be disconnected
from the Flexi Classic system or added by plugging in.
• The PROFIBUS master cannot overwrite the address set.
• A modified address setting only becomes effective after switching off and switching on
the Flexi Cla ssic system.
8011834/YT28/2016-03-15 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 27
Subject to change without notice
Chapter 4 Operating Instructions
Tab.30: Application
Fig.2:D-
Sub socket and plug
Fig.3:
Bus cable UE410
-
PRO
Tab.31:
Explanatio
n bus
PROFIBUS DP Gateway
Flexi Classic Gateways
4.1.2 Application diagnostic outputs UE410-PRO
diagnostic outputs
pin assignments UE410-PRO
Assignment Description
X1-X4 Short circuit and overload detecting control outputs (PNP) supplied via Flexi
Classic system
4.1.3 Plug assignment
The connection to the PROFIBUS-DP fieldbus is made using a 9-pin Sub-D socket.
Pin Description
1 SHLD
2 NC
3 RxD/TxD-P
4 CNTR-P
5 GND-EXT
6 +5V-EXT
7 NC
8 RxD/TxD-N
9 CNTR-N (GND-EXT)
4.1.4 Bus cable
cable UE410-PRO
The bus topology for PROFIBUS-DP is a linear structure comprising a screened, twisted
2Fcore cable with active bus termination at both ends. The possible bus lengths are 100 m
at 12 MBit/s up to 1,200 m at 94 KBit/s.
Position Description
1
2
3
PROFIBUS user grey
Screened bus cable
PROFIBUS termination yellow
(with integrated terminating resistors)
28 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
Operating Instructions Chapter 4
Tab.32:
Cable parameters
Tab.33:
Maximum cable
Flexi Classic Gateways
PROFIBUS DP Gateway
4.1.5 Cable parameters
The properties of the bus cable are specified in EN 50170 as cable type A.
UE410-PRO
Property Value
Characteristic impedance
Capacitance per unit length
Loop resistance
Core diameter
Core cross-section
135-165 (at a frequency of 3-20 MHz)
< 30 pF/m
T 110 /km
> 0.64 mm
> 0.34 mm
2
With these cable parameters, the following maximum physical sizes are possible for a bus
segment:
lengths UE410-PRO
Baud rate (Kbit/s) Max. cable length (m)
9.6 1200
19.2 1200
93.75 1200
187.5 1000
500 400
1500 200
12000 100
4.1.6 Data transmission rate
The data transmission rate is set automatically.
The maximum baud rate is 12 MBit/s.
8011834/YT28/2016-03-15 © SICK AG • Industrial Safety Systems • Germany • All rights reserved
Subject to change without notice
29
Chapter 4 Operating Instructions
Tab.34:
Possible planning
PROFIBUS DP Gateway
Flexi Classic Gateways
4.2 Planning
4.2.1 GSD file
In the normal case the UE410-PRO is used on a DP master that looks up the device
characteristics in the so-called GSD file.
You will find the GSD file for PLC interfacing with Profibus support in the Internet at
www.ue410flexi.com.
The UE410-PRO provides at least 4 bytes of input data and 4 bytes of output data (2 bytes
of which are unused). The GSD identifier for this I/O module SCB1 Basic1 4 Byte in/out is
33h. If the DP master is configured with the aid of a GSD file, it is imperative this module is
included in the planning.
The UE410-PRO can provide further I/O modules as an option if included in the DP master
during the planning by the user. For more detailed diagnostics, the I/O module SCB2
Basic2 2 Byte in with the GSD identifier 11h is available.
A further optional I/O module is DIAG 10 Byte in with the GSD identifier 19h. Up to 4 units
of this module can be included in the planning.
There are therefore six possible ways of planning the UE410-PRO. Shown is the order of
the GSD identifiers for each plan:
UE410-PRO
Possible
planning
SCB1 Basic1
4 Byte in/out
SCB2 Basic2
2 Byte in
DIAG
10 Byte in
MED
13 Byte in
1 33h
2 33h 11h
3 33h 11h 19h
4 33h 11h 1Ch
5 33h 11h 19h 1Ch
30 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
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