Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

Actuator controls

AC(V) 01.2/AC(V)ExC 01.2

EtherNet/IP

Device integrationManual

Read operation instructions first.● Observe safety instructions.

Purpose of the document:

This document contains information for the commissioning staff of the distributed control system and DCS softwareengineers.This document is intended to support actuator integration into the DCS via the communication interface.

Reference documents:● Operation instructions (Assembly and commissioning) for the actuator

Reference documents can be downloaded from the Internet (www.auma.com) or ordered directly from AUMA(refer to <Addresses>).

Table of contents Page

41. Safety instructions.................................................................................................................41.1. Prerequisites for the safe handling of the product51.2. Range of application51.3. Warnings and notes51.4. References and symbols

72. General information on EtherNet/IP.....................................................................................72.1. Basic characteristics72.2. Data exchange and types of communication92.3. EtherNet/IP as object-oriented protocol92.4. EtherNet/IP basic functions

102.5. Communication technology102.6. Bus access102.7. Network topolopogy - Interconnection of EtherNet/IP devices112.8. EtherNet/IP communication cables112.9. Supported functionality112.10. Protective functions112.11. Device types

123. Commissioning......................................................................................................................123.1. Introduction123.2. Electronic Data Sheet (EDS)123.3. EtherNet/IP addressing123.4. Configuration of the EtherNet/IP interface133.5. Communication start

144. Description of the data interface..........................................................................................164.1. Input data (process representation input) – signals164.1.1. Process representation input (default process representation)184.1.2. Description of the bytes in the process representation input314.2. Output data (process representation output)314.2.1. Process representation output arrangement324.2.2. Description of the output data384.3. EtherNet/IP services

395. EtherNet/IP module................................................................................................................395.1. Indications and switch functions395.2. Connection between EtherNet/IP module and computer: check405.3. EtherNet/IP module configuration

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Actuator controlsTable of contents AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

436. Corrective action....................................................................................................................436.1. Troubleshooting436.2. Diagnostics

457. Technical data.........................................................................................................................457.1. EtherNet/IP interface

478. Configuration example (Allen Bradley controls).................................................................

51Index........................................................................................................................................

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP Table of contents

1. Safety instructions

1.1. Prerequisites for the safe handling of the product

Standards/directives The end user or the contractor must ensure that all legal requirements, directives,guidelines, national regulations and recommendations with respect to assembly,electrical connection, commissioning and operation are met at the place of installation.

They include among others:

● Standards and directives such as IEC 60079 “Explosive atmospheres":- Part 14: Electrical installations design, selection and erection.- Part 17: Electrical installations inspection and maintenance.

● Applicable configuration guidelines for network applications.

Safety instructions/warnings All personnel working with this device must be familiar with the safety and warning

instructions in this manual and observe the instructions given. Safety instructionsand warning signs on the device must be observed to avoid personal injury or propertydamage.

Qualification of staff Assembly, electrical connection, commissioning, operation, and maintenance mustbe carried out by suitably qualified personnel authorised by the end user or contractorof the plant only.

Prior to working on this product, the staff must have thoroughly read and understoodthese instructions and, furthermore, know and observe officially recognised rulesregarding occupational health and safety.

Work performed in potentially explosive atmospheres is subject to special regulationswhich have to be observed. The end user or contractor of the plant is responsiblefor respect and control of these regulations, standards, and laws.

Electrostatic charging Highly efficient charge generating processes (processes more efficient than manualfriction) on the device surface must be excluded at any time, since they will lead topropagating brush discharges and therefore to ignition of a potentially explosiveatmosphere.

This also applies to fireproof coatings or covers available as an option.

Ignition dangers Gearboxes were subjected to an ignition hazard assessment in compliance with thecurrently applicable standard according to ISO 80079-36/ -37. Hot surfaces,mechanically generated sparks as well as static electricity and stray electric currentswere identified and assessed as major potential ignition sources. Protective measuresto prevent the likelihood that ignition sources arise were applied to the gearboxes.This includes in particular lubrication of the gearbox, the IP protection codes and thewarnings and notes contained in these operation instructions.

Commissioning Prior to commissioning, imperatively check that all settings meet the requirementsof the application. Incorrect settings might present a danger to the application, e.g.cause damage to the valve or the installation. The manufacturer will not be heldliable for any consequential damage. Such risk lies entirely with the user.

Operation Prerequisites for safe and smooth operation:

● Correct transport, proper storage, mounting and installation, as well as carefulcommissioning.

● Only operate the device if it is in perfect condition while observing these instruc-tions.

● Immediately report any faults and damage and allow for corrective measures.● Observe recognised rules for occupational health and safety.● Observe national regulations.● During operation, the housing warms up and surface temperatures > 60 °C may

occur.To prevent possible burns, we recommend checking the surface temper-ature prior to working on the device using an appropriate thermometer andwearing protective gloves.

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Actuator controlsSafety instructions AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

Protective measures The end user or the contractor are responsible for implementing required protectivemeasures on site, such as enclosures, barriers, or personal protective equipmentfor the staff.

Maintenance To ensure safe device operation, the maintenance instructions included in this manualmust be observed.

Any device modification requires prior written consent of the manufacturer.

1.2. Range of application

AUMA actuator controls are exclusively designed for the operation of AUMA actuators.

Other applications require explicit (written) confirmation by the manufacturer. Thefollowing applications are not permitted, e.g.:

● motor control● pump controlNo liability can be assumed for inappropriate or unintended use.

Observance of these operation instructions is considered as part of the device'sdesignated use.

1.3. Warnings and notes

The following warnings draw special attention to safety-relevant procedures in theseoperation instructions, each marked by the appropriate signal word (DANGER,WARNING, CAUTION, NOTICE).

Indicates an imminently hazardous situation with a high level of risk. Failureto observe this warning results in death or serious injury.

Indicates a potentially hazardous situation with a medium level of risk. Failureto observe this warning could result in death or serious injury.

Indicates a potentially hazardous situation with a low level of risk. Failure toobserve this warning could result in minor or moderate injury. May also beused with property damage.

Potentially hazardous situation. Failure to observe this warning could resultin property damage. Is not used for personal injury.

Safety alert symbol warns of a potential personal injury hazard.

The signal word (here: DANGER) indicates the level of hazard.

1.4. References and symbols

The following references and symbols are used in these instructions:

Information The term Information preceding the text indicates important notes and information.

Symbol for CLOSED (valve closed)

Symbol for OPEN (valve open)

Via the menu to parameter

Describes the menu path to the parameter. When using the push buttons of localcontrols, the required parameter can be quickly found on the display. Display textsare shaded in grey: Display.

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP Safety instructions

➥ Result of a process step

Describes the result of a preceding process step.

Warning signs at the device

The following warning signs can be attached to the device.

General warning sign

General warning of a danger zone.

Hot surface

Warning of hot surfaces, e.g. possibly caused by high ambient temperatures or strongdirect sunlight.

Electrical voltage

Hazardous voltage! Warning of electric shock. At some devices, the warning signadditionally includes a time interval, e.g. 30 s. Once power supply is switched off,you will have to wait for the indicated period. Only then may the device be opened.

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Actuator controlsSafety instructions AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

2. General information on EtherNet/IP

EtherNet/IP is a communication protocol for industrial automation engineeringstandardised by the ODVA organisation worldwide. EtherNet/IP enables real timecommunication with short cycle times as well as acyclic communication forconfiguration and diagnostics.

As a communication network for field devices, EtherNet/IP reserves many advantagesacross the total lifecycle of a site. Advantages include economy in cable connectionsand system components as well as simplification of processes within the overallbusiness environment.

Some of the advantageous EtherNet/IP features are:

● Virtually unlimited number of participants within the network● Flexible topologies (line, star, tree, ring,...)● Topologies can easily be scaled and expanded● Large network expansion by cascading via switches● Appropriate for high to medium real time requirements due to cycle times within

the range of 10– 40 ms, in particular when also dealing with large data quantities(diagnostics, file transfer, ...)

● Simple maintenance● Communication/routing without special gateway across network segments● Use of standard network components (switches etc.) and IT practices● Seamless and vertical integration of process and production data from field

level into the cross-functional information systems● Simple access to device data on field level without proprietary gateways● Multitude of network components, software tools and safety technologies

available● Combination of various transmission media like copper cables, fibre optic cables

or WLANBased on Ethernet and IT protocols, EtherNet/IP automatically benefits from thecontinuous development thanks to a large number of market competitors.Consequently, EtherNet/IP is a future-proof device communication and protectslong-term investments.

2.1. Basic characteristics

EtherNet/IP defines the technical and functional features of a communication systembased on Industrial Ethernet, used for interconnecting distributed digital automationdevices. EtherNet/IP uses the “Common Industrial Protocol” (CIP), known fromDeviceNet, as application protocol with IP addressing. Change-over to the newtechnology is therefore very convenient for DeviceNet users.

For this, the CIP protocol is encapsulated and transmitted within the data packet ofstandard Ethernet frames. Depending on the task and the type of connection, UDP/IPor TCP/IP data transmission mechanisms are used.

EtherNet/IP distinguishes between scanners (typically the host) and adapters (fielddevices). EtherNet/IP is designed in particular for fast data exchange on field level.Here, central control devices (PLC or PC) communicate via a fast network withperipheral field devices such as input devices, output devices, valves and actuators.

2.2. Data exchange and types of communication

Producer - Consumermodel

Like for conventional fieldbus protocols, the core function of the EtherNet/IP protocolis the data exchange of devices between each other or the DCS. For data exchangebetween devices, EtherNet/IP uses the Producer - Consumer model. An EtherNet/IPdevice sending data produces such data within the network. A receiving EtherNet/IPdevice consumes data from the network. In general, a field device/adapter as producerprovides the DCS/scanner as consumer with the process data in cyclic intervals.

Producers send data without request at a pre-set refresh rate. This refresh rate isdesignated as “Request Packet Interval” (RPI) and can be set via the device

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP General information on EtherNet/IP

configuration. Output data is also written without delay at the same or a deviatingrefresh rate from the DCS (consumer) to the field devices (producer).

Producers send data via multi-cast addressing to the consumers within the network.On the basis of a connection ID, consumers decide themselves whether to processthe received message.

In turn, consumers use specific unicast addresses to communicate with producers.

Basically, each EtherNet/IP device can act as producer or as consumer or adoptboth roles simultaneously.

Establishing the connec-tion - originator and tar-

get

Typically, scanners establish the EtherNet/IP connection by sending a “ForwardOpen Command” via TCP to the adapter devices. Within this framework ofestablishing the connection, scanners adopt the role as “Originator”, whereby adapterfield devices are designated as “Target”.

Figure 1: Set-up and roles of an EtherNet/IP network

Communication types –implicit and explicit

messaging

EtherNet/IP makes the distinction between cyclic and acyclic communication. Forthis, two different message types are used: “implicit messaging” for time-relevant,cyclic I/O data transmission and “explicit messaging” for sporadic, acycliccommunication.

“Implicit messaging” establishes fixed relations, so-called I/O connections, betweenproducing and consuming application objects already during commissioning. Anunambiguous ID is assigned to each of these connections. These messages do notcontain any address or service information. Each consuming device decides on thebasis of the connection ID, whether and how to process the message. The UDPprotocol is used for fast and efficient transmission of this cyclic data.

Acyclic communication by means of “explicit messaging” is performed viarequest/response messages which are managed within the device by the messagerouter object. Acyclic requests comprise a service code with path indication to thedesired object within the target device. The TCP/IP protocol is used for this sporadicand time-irrelevant communication.

Communication connec-tions

EtherNet/IP divides the described communication types or communication connectionsadditionally in two classes:

Class 1 communication: Cyclic I/O communication via implicit messaging

Class 3 communication: Acyclic request/response communication via explicitmessaging

For class 1 connections it is further defined whether the data is transmitted one-sidedor in both directions between the participants. Distinction is made between connectiontypes “exclusive owner”, “input only” and “listen only”. “Exclusive owner” connections

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Actuator controlsGeneral information on EtherNet/IP AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

involve data exchange in both directions between originator and target. If the targetdevice (actuator) does not receive any output data from the originator (controls)following a predefined timeout, the target device stops sending further input data.

2.3. EtherNet/IP as object-oriented protocol

EtherNet/IP and CIP describe all data and functions of a device based on an objectmodel. This object-oriented description leads to a clear device model. Thanks to theindividual objects, a device can be completely defined. Access from the network tothe individual objects is exclusively made via connection objects. An object standsfor the abstract representation of a component within a device. It is determined byits data or attributes, its external functions and services offered as well as the specifiedbehaviour.

CIP comprises a comprehensive object library to support the general networkcommunication, network services such as e.g. file transfer and typical automationfunctions. Examples are analogue and digital I/O devices, HMI, motion control andposition feedback. Process data are accordingly included as attributes within theCIP data objects. To ensure interoperability, objects or object groups implementedinto two or several devices act identically. Grouping objects within a device isdesignated as device object model.

Figure 2: General EtherNet/IP object model

Data and executed services of an object are addressed by means of a hierarchicaladdressing structure with the following components:

● Class IDInteger ID assigned to a certain class of objects. A class abstractly describesstructure, features and behaviour of similar objects within a device.

● Instance IDInteger ID assigned to a certain object instance to distinguish this instance fromother instances of the same class. An instance or an object is an operationalrepresentative of a class. Each instance of the same class possesses the sameattributes, however the values are different.

● Attribute IDInteger ID assigned to a certain object or class attribute. An attribute representsdata of an object or describes the features of the class.

● Service codeService codes or function codes describe the functions or services provided byan object and which are addressed via an ID. A scanner writes or reads atacyclic intervals the attributes of an adapter by means of function codes.

2.4. EtherNet/IP basic functions

An EtherNet/IP scanner cyclically reads input information from the adapter fielddevices and writes output information to the adapters. In addition to this cyclic data

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transfer of the process representation, EtherNet/IP also provides powerful functionsfor diagnostics and commissioning. The data traffic is monitored by the monitoringfunction (timeout mechanisms) by both scanner and adapter.

2.5. Communication technology

● Full duplex, 100 Mbit/s switched Ethernet (100BASE-TX) IEEE 802.3● Wiring according to IEC 61784-5-3; cables with twisted wire pairs for each dir-

ection RX and TX● Simultaneous communication into both send and receive direction● Ethernet switches coordinate data transmission and prevent collisions on the

cable

2.6. Bus access

● Switched Ethernet without priority control, no collision domains, no coordinationof the network access required – all participants have simultaneous access

● Data exchange in compliance with provider-consumer model: The provider(adapter/field device) supplies process data to one or several consumers(scanner/controls).

● The maximum number of EtherNet/IP devices per network depends on usedcontrols (scanner).

2.7. Network topolopogy - Interconnection of EtherNet/IP devices

EtherNet/IP is characterised by the virtually free network topology implementation.If the required response times of messages for the automation application areexceeded, the maximum network depth – the number of cascaded EtherNet/IPparticipants – has been reached. The maximum distance between two networkparticipants is 100 metres.When using switches with fibre optic cable communication,distances can be increased.

Due to high multicast data traffic in EtherNet/IP networks, only “managed” industrialswitches with IGMP function should be used. The EtherNet/IP based automationnetwork should be logically separated from the remaining IT infrastructure. Basedon existing network load by office applications, uncoordinated mixing of office networkand automation network can lead to unpredictable problems with the EtherNet/IPapplication. In general, hubs may not be used since this could lead to networkcollision.

With EtherNet/IP, point-to-point or star topologies are possible:

Figure 3: Point-to-point or star topology

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Actuator controlsGeneral information on EtherNet/IP AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

Devices in this topology only have one connection to the DCS (point-to-point) or tothe Ethernet switch (star).

2.8. EtherNet/IP communication cables

According to IEC 61156-6, CAT 5 cables are specified as minimum requirement forEtherNet/IP. However, using CAT 5e and CAT 6 cables is recommended. For furtherreferences on planning and installation of EtherNet/IP networks, a respectivepublication, the “Infrastructure Guide”, is available with ODVA (www.odva.org).

2.9. Supported functionality

Actuator controls offer the following functionality:

Ethernet portFunctionality

● A 100BASE-TX Ethernet port● Auto negotiation, auto crossover and auto polarity exchange

Device functionality EtherNet/IP adapter:

● CIP device profile: Generic device● Supports one cyclic communication relation (implicit messages)● Supports 6 acyclic connections (explicit messages) simultaneously● I/O connection type: Exclusive owner, cyclic

- Originator to target: POINT2POINT- Target to originator: POINT2POINT, MULTICAST

Network:

● DHCP for IP address assignment● Network configuration via “GW-7472 Utility” software

2.10. Protective functions

● Monitoring cyclic input data with adjustable monitoring timer for the EtherNet/IPscanner

● Monitoring the scanner output data via EtherNet/IP adapter● Access protection for inputs and outputs (sync and freeze)

2.11. Device types

● Scanner: e. g. central automation devices such as PLC● Adapter: Devices with binary and analogue input and outputs (e.g. actuators

or valves)● Network components: e. g. switches, access points or routers

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3. Commissioning

3.1. Introduction

Just few steps are required to integrate an AUMA actuator into an EtherNet/IPenvironment. For commissioning the EtherNet/IP device, DCS configuration is possibleusing a configuration file, but not necessarily required. Either a standardised electronicdata sheet (EDS file) is integrated into the DCS or a generic Ethernet module isselected and configured.The process representation input and output bytes are usedto control the actuator and to supply the feedback signals.

Major settings for establishing a connection to the EtherNet/IP scanner are:

● IP address● Assembly instance numbersThe assembly instance numbers are specifically defined and must be correctly setwithin the scanner.This includes the number of data strings or the size of the processrepresentation.

3.2. Electronic Data Sheet (EDS)

Function and properties of an EtherNet/IP device are described by the devicemanufacturer by means of a standardised electronic data sheet (EDS) in ASCIIformat. Here, the EDS is a type of template describing all device data and functions.The EDS file defines the parameters with their class ID, instance ID and attribute IDas well as the respectively permissible minimum and maximum values.The EDS filesimplifies integration and commissioning of an EtherNet/IP adapter via theconfiguration software of the EtherNet/IP scanner used.

For AUMA actuators with actuator controls, the following EDS file is available on theAUMA website (www.auma.com) at "Service & Support / Software":

ESD file EDS-V2.2-AUMA-AC01-2-20181020.eds

Manufacturer ID 0x0323 = 803

Device Type: 0x0C = 12 – Communications Adapter

Product Code 0x20 = 32

Product Name = GW-7472

3.3. EtherNet/IP addressing

Addressing of EtherNet/IP participants within the network is made via the configuredIP address. On the Ethernet level, communication is made on the basis of a worldwideunique MAC address of the network interface. Assignment of IP address is madeeither manually or via a DHCP server.

IP address assignment is arbitrary and should, however, be of the same networkclass as the scanner. Should this not be the case, a gateway must be registered forrouting the protocol accordingly. Data addressing is made via class ID, instance IDand attribute ID.

3.4. Configuration of the EtherNet/IP interface

Configuration of cyclic data transfer is made via the EtherNet/IP scanner which sendsthe configuration when establishing the cyclic data transfer to the device. Noconnection settings are made within the device itself. The configuration proceduredepends on the implemented tool. The number of input and output bytes sent orreceived by the EtherNet/ IP adapter to or from the scanner are predefined withinactuator controls. Accordingly, once the scanner starts cyclic communication, therequired communication relations are negotiated with the adapter.

AUMA actuators currently support the basic objects standardised by EtherNet/IP.Further devices profiles are irrelevant. Data exchange is based on generic I/O objects

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Actuator controlsCommissioning AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

3.5. Communication start

EtherNet/IP is based on the connection-oriented communication model. For this, therespective instances of the “Connection Objects” must be implemented and configuredwithin the EtherNet/IP device.

The EtherNet/IP scanner as originator establishes the communication connectionwith the target device by means of a “Forward Open” command and herebydetermines the update rate (RPI - request packet interval) of the cyclic data exchange.The actuator as EtherNet/IP adapter then confirms the connection and starts sendingor producing the requested input data. At the same time, the EtherNet/IP scannerstarts transmitting the output data to the EtherNet/IP actuator.

An EtherNet/IP connection request (forward open request) contains the followinginformation:

● Timeout information for the connection● Network CID for the connection between originator and target (output data)● Network CID for the connection between target and originator (input data)● Information on the identity of the originator (vendor ID and serial number)● Maximum file size of connections in bytes● Indication relating to the connection type (exclusive owner)● Trigger of data transmission (cyclic)● Indication whether communication is unicast or multicast

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP Commissioning

4. Description of the data interface

Object model The EtherNet/IP interface of AUMA actuator controls provides 6 different CIP objects:

Table 1: List of objects within actuator controls (hex)MessagesInstance IDsClass IDObject Class

Explicit0, 11Identity Object

Explicit02Message Router Object

Explicit and Implicit I/O0, 64, 65, 66, 674Assembly Object

Explicit06Connection ManagerObject

Explicit0, 1F5TCP/IP Interface Object

Explicit0, 1F5Ethernet Link Object

Identity Object: Device ID: Manufacturer ID, device type, serial number, etc. ofdeployed EtherNet/IP communication module. No identification data of the AUMAactuator is stored here.

Message Router Object: distributes received messages to the further objects ofthe EtherNet/IP interface.

Assembly Object: combines attributes of several objects. This allows for dataexchange to the objects comprised using only one connection. This minimises thenumber of messages to be transmitted within a network and allows for reduced cycletimes. The Assembly Object comprises I/O data as well as status information for thecyclic as well as the acyclic data exchange:

Table 2:Process representation input (cyclic)Input Assembly Instance

Process representation output (cyclic)Output Assembly Instance

Status information (acyclic)Status Assembly Instance

Device configuration (acyclic)Configuration Instance

Connection Manager Object: is used for the first establishment of connection priorto exchanging messages.

TCP/IP Interface Object: Information and settings of network interface (IP address,network mask, gateway, ...)

Ethernet Link Object: Information on settings at Ethernet level (speed, MAC address,...).

Upon receipt of an EtherNet/IP message, it is detected whether dealing with anexplicit message or an implicit message. Explicit messages can directly access theassembly object or further objects via the message router object. An implicit messagecan only access the process representation data of the assembly object.

Description of objects and instances

Assembly Object (Class ID 04hex):

Table 3: Class Attributes (Instance ID = 0hex)

Access RuleData ValueData TypeNameAttribute ID

Get02decUINTRevision1

Get03decUINTMax Instance2

Get03decUINTNumber of In-stances

3

Get07decUINTMax Class Attrib-utes ID Number

6

Get03decUINTMax Instances At-tributes ID Number

7

Instance 65hex Attributes (Input Instance)

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Actuator controlsDescription of the data interface AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

The input instance comprises the data of the process representation input, refer topage 16, Input data (process representation input) – signals.

Table 4:Access RuleDefault Data ValueData TypeNameAttribute ID

GetAll 0’sBYTE

[maximum 500]

Serial Read DataStructure ofNode Read Data 1...Node Read Data n

3

Instance 66hex Attributes (Output Instance)

The output instance comprises the data of the process representation output, referto page 31, Output data (process representation output).


Get/SetAll 0’sBYTE

[maximum 500]

Serial DataStructure ofNode Read Data 1...Node Read Data n

3

Instance 67hex Attributes (Command Status Instance).

Connection status between EtherNet/IP interface and actuator logic.

EtherNet/IP interface is internally connected via a Modbus connection to the actuatorlogic.The command status instance of the assembly object allows verification of thestatus of this internal connection.


Get/SetAll 0’sBYTE

[fixed to 30]

Serial DataStructure of1st Command status...30th CommandStatus

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Table 7:SignificationCommand Status (in hex)

No Error00

Illegal device ID01

Illegal function code02

Illegal data adress03

Receiving an Invalid command04

CRC checking error05

Timeout error occurred06

Service Code: 0E hex – Get_Attribute_Single

If connection between interfaces has been successful, the command status signals“00”.

If connection between interfaces has been interrupted, the command status signals“06”.

Instance 64hex Attributes (Configuration Instance)

When opening an implicit messaging connection, most EtherNet/IP scanners alsoprovide a configuration path for input and output data exchange. No additional datafor the configuration instance is required.

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP Description of the data interface

Process interface

Data structure is described on the basis of the automation system:

● Input data: Are sent by the measurement device to the automation system● Output data: Are sent by the automation system to the measuring device

4.1. Input data (process representation input) – signals

The process representation input allows the consumer (PLC) to read the state of thewith producer (actuator).

4.1.1. Process representation input (default process representation)

Grey bits are collective signals. They contain the results of a disjunction (ORoperation) of other information.

Definition

● Assembly Object Class ID: 4 (hex)● Assembly Instance: 102 (66hex)● Attribute: 3 (hex)● Input Size: 46 bytes

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4.1.2. Description of the bytes in the process representation input

Byte 1: Logic signals

Bits 3, 6, and 7 are collective signals.

Bits 5 and 4 of the logical signals (byte1) indicate a logical operation of the actuator,i.e. they are set when the actuator has received the command for an electricaloperation (also active when e.g. the actuator is in a stepping pause during steppingmode or waiting for the end of the dead time).

Table 8: Byte 1: Logic signals

DescriptionValuePrm-Text-Def GSD fileDesignation(process representation)

Bit

For limit seating: Limit switch operated in directionOPEN.For torque seating: Torque switch and limit switch oper-ated in direction OPEN.

1End position OPENEnd position OPEN0

No signal0

For limit seating: Limit switch operated in directionCLOSE.For torque seating: Torque switch and limit switch oper-ated in direction CLOSE.

1End position CLOSEDEnd position CLOSED1

No signal0

The position setpoint is within max. error variable (outerdead band). Is only signalled if EtherNet/IP consumer(controller) has set the Fieldbus SETPOINT bit (processrepresentation output).

1Setpoint reachedSetpoint pos.reached2

No signal0

Collective signal 04:Contains the result of a disjunction (OR-operation) of allbits comprised in bytes 13 and 14 (Not ready REMOTE1 and Not ready REMOTE 2).The actuator cannot be operated from REMOTE.The actuator can only be operated via the local controls.

1Not ready REMOTENot ready REMOTE3

In bytes 13 and 14, no signals are active (all bits are setto 0).

0

An operation command via the local controls push buttonor the communication interface in direction OPEN isperformed: Fieldbus OPEN or Fieldbus SETPOINT(process representation output). This bit remains alsoset during operation pauses (e.g. due to the dead timeor the reversing prevention time).

1Running OPENRunning OPEN4

No operation in direction OPEN is performed via thecommunication interface nor via the local controls.

0

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Bit

An operation command via the local controls push buttonor the communication interface in direction CLOSE isperformed: Fieldbus CLOSE or Fieldbus SETPOINT(process representation output). This bit remains alsoset during operation pauses (e.g. due to the dead timeor the reversing prevention time).

1Running CLOSERunning CLOSE5

No operation in direction CLOSE is performed via thecommunication interface nor via the local controls.

0

Collective signal 02:Contains the result of a disjunction (OR-operation) of allbits of bytes 17 to 20 (Warning 1 to Warning 4).

1WarningsWarning6

In bytes 17 and 20, no warnings are active (all bits areset to 0).

0

Collective signal 03:Contains the result of a disjunction (OR-operation) of allbits of bytes 15 and 16 (Fault 1 and Fault 2).The actuator cannot be operated.

1FaultFault7

In bytes 15 and 16, no faults are active (all bits are setto 0).

0

Byte 2: Actuator signals

Table 9: Byte 2: Actuator signals


Bit

Motor protection tripped.1Thermal faultThermal fault0

No signal0● When connecting to a 3-phase AC system and with

internal 24 V DC supply of the electronics: Phase 2is missing.

● When connecting to a 3-phase or 1-phase AC systemand with external 24 V DC supply of the electronics:One of the phases L1, L2 or L3 is missing.

1Phase failurePhase fault1

All phases are available.0

Selector switch is in position REMOTE.1Selector switch REMOTESelector sw. REMOTE2

Selector switch is not in position REMOTE.0

Selector switch is in position LOCAL.1Selector switch LOCALSelector sw. LOCAL3

Selector switch is not in position LOCAL.0

Limit switch in end position OPEN active.1Limit switch OPENLimit switch OPEN4

No signal0

Limit switch in end position CLOSED active.1Limit switch CLOSELimit switch CLOSED5

No signal0

Torque switch operated in direction OPEN.1Torque switch OPENTorque sw. OPEN6

No signal0

Torque switch operated in direction CLOSE.1Torque switch CLOSETorque sw. CLOSED7

No signal0

Bytes 3 and 4: Actual position

Byte 3 = high byte, byte 4 = low byte.

If a position transmitter (potentiometer, RWG, EWG, or MWG) is installed in theactuator, bytes 3 and 4 are used to transmit the current actuator position. The valueis transmitted in per mil (value: 0 – 1,000).

19


Byte 5: Device status

Table 10: Byte 5: Device status


Bit

Collective signal 04:Contains the result of a disjunction (OR-operation) of allbits comprised in bytes 13 and 14 (Not ready REMOTE1 and Not ready REMOTE 2).The actuator cannot be operated from REMOTE.The actuator can only be operated via the local controls.

1Not ready REMOTENot ready REMOTE0


0

Collective signal 02:Contains the result of a disjunction (OR-operation) of allbits of bytes 17 to 20 (Warning 1 to Warning 4).

1WarningsWarning1

In bytes 17 and 20, no warnings are active (all bits areset to 0).

0


1FaultFault2

In bytes 15 and 16, no faults are active (all bits are set to0).

0

Collective signal 09:Indication according to NAMUR recommendation NE 107Recommendation to perform maintenance.Contains the result of a disjunction (OR-operation) of allbits of byte 24 (Maintenance required).

1Maintenance requiredNAMUR mainten. req.3

In all bits of byte 24, no signals are active (all bits are setto 0).

0

Collective signal 07:Indication according to NAMUR recommendation NE 107Actuator is operated outside the normal operation condi-tions.Contains the result of a disjunction (OR-operation) of allbits of bytes 25 to 28 (Out of specification 1 to 4).

1Out of specificationNAMUR out of spec.4


0

Collective signal 08:Indication according to NAMUR recommendation NE 107The actuator is being worked on; output signals are tem-porarily invalid.Contains the result of a disjunction (OR-operation) of allbits of bytes 29 and 30 (Function check 1 and 2).

1Function checkNAMUR funct. check5


0

Collective signal 10:Indication according to NAMUR recommendation NE 107Actuator function failure, output signals are invalid.Contains the result of a disjunction (OR-operation) of allbits of byte 23 (Failure).

1FailureNAMUR failure6

In all bits of byte 23, no signals are active (all bits are setto 0).

0

Collective signal 05:The device is ready for remote control.No AUMA warnings, AUMA faults or signals according toNAMUR are present.Bit 7 is set if bits 0 to 6 are deleted.

1Device okDevice ok7

Contains the result of a disjunction (OR-operation) of bits0 to 6 (device status).

0

20


Byte 6: Operation status

They include information about the actuator movement.

Table 11: Byte 6: Operation status


Bit

The actuator is in off-time (e.g. reversing prevention time).1Operation pause activeOperation pause active0

No signal0

The actuator is in an intermediate position e.g. neither inend position OPEN nor in end position CLOSED.

1In intermediate positionIn intermediate pos.1

No signal0

The actuator is within the set stepping range.1Start stepping modeStart stepping mode2

The actuator is outside the set stepping range.0

MPV position reached—MPV/LPV pos. reached3

Actuator is running (output drive is moving)Hard wired collective signal consisting of signals:● (26) Running LOCAL● (27) Running REMOTE● (28) Handwheel oper.

1Actuator runningActuator running4

No signal0

Output drive rotates without electric operation command.1Handwheel operationHandwheel oper.5

No signal0

Output drive rotates due to operation command fromREMOTE.

1Running REMOTERunning REMOTE6

No signal0

Output drive rotates due to operation command fromLOCAL.

1Running LOCALRunning LOCAL7

No signal0

Byte 7: Intermediate positions

Table 12: Byte 7: Intermediate positions


Bit

Intermediate position 1 reached1Intermediate position 1Intermediate pos. 10

No signal0


No signal0


No signal0


No signal0


No signal0


No signal0


No signal0


No signal0

21


Byte 8: Discrete inputs

Table 13: Byte 8: Discrete inputs


Bit

A high signal (+24 V DC) is present at digital input 1.1Input DIN 1Input DIN 10

No signal0


No signal0


No signal0


No signal0


No signal0


No signal0

No signal (reserved)——6

The Bluetooth interface is connected.1Input DIN 7Bluetooth connected7

No signal0

Bytes 9 and 10: Input AIN 1


Byte 9 and 10 transmit the value of the first additional free analogue current input ofthe actuator controls.The start and end values can be set at the AC via push buttonsand display. (For operation, please refer to the respective operation instructions forthe actuator.)

If the measuring values are 0.3 mA below the initial value, a signal loss is indicated.

The value is transmitted in per mil (value: 0 – 1,000).

Bytes 11 and 12:Torque


Bytes 11 and 12 transmit the current torque of the actuator (only if an MWG is installedin the actuator).

The value transmitted is the current torque in percent or per mil of the nominal actuatortorque.


● The value 1,000 corresponds to 127.0 % torque in direction OPEN.● The value 500 is the torque zero point.● The value 0 corresponds to 127.0 % torque in direction CLOSE.

22


Byte 13: Not ready REMOTE 1

Table 14: Byte 13: Not ready REMOTE 1


Bit

Wrong operation commandIndicates that several operation commands were receivedsimultaneously via EtherNet/IP (e.g. Remote OPEN andRemote CLOSE simultaneously or Remote CLOSE/Re-mote OPEN and Remote SETPOINT simultaneously) orthat the max. value for a setpoint position has been ex-ceeded (setpoint position > 1,000).

1Wrong operation commandWrong oper. cmd0

Operation commands are ok.0

Selector switch is in position Local control (LOCAL) or0 (OFF).

1Selector switch not RE-MOTE

Sel. sw. not REMOTE1

Selector switch is in position Remote control (REMOTE).0

Actuator is locked.1Interlock activeInterlock active2

No signal0

Push button STOP of local controls is operated.1Local STOPLocal STOP3

No signal0

Operation mode EMERGENCY stop is active (EMER-GENCY stop button has been pressed).

1EMCY stop activeEMCY stop active4

EMERGENCY stop button not pressed (normal operation).0

Operation mode EMERGENCY behaviour is active(EMERGENCY signal was sent).

1EMCY behavior activeEMCY behav. active5

No signal0

No valid communication via communication interface(despite available connection).

1Fail Safe fieldbusFailState fieldbus6

Communication via communication interface is ok.0

The actuator is controlled via the I/O interface (parallel).1I/O interfaceI/O interface7

The actuator is controlled via the communication interface0

Byte 14: Not ready REMOTE 2

Table 15: Byte 14: Not ready REMOTE 2


Bit

Fail safe unit operates to defined end position—FQM fail safe act.0

Initialisation of the actuator-FQM-valve combination isactive

—FQM fail safe ini.1

Safety function of the SIL module is active.1SIL function activeSIL function active1)2

No signal0

The actuator is in operation mode Disabled.1DisabledDisabled3

No signal0

Bypass of interlock function is active.1Interlock by-passInterlock by-pass4

No signal0

Partial Valve Stroke Test (PVST) is active.1PVST activePVST active5

No signal0

Operation mode Service is active.1Service activeService active6

No signal0

Manual operation is active (handwheel is engaged); op-tional signal

1Handwheel activeHandwheel active7

No signal0

The safety function indications via communication interface are for information only and must not be used as part of a safety function.The digital I/O signals of the SIL module must be used for this purpose.

1)

23


Byte 15: Fault 1

The fault signals contain the causes why the actuator cannot be operated.

Table 16: Byte 15: Fault 1


Bit

Incorrect configuration, i.e. the current setting of the actu-ator controlsis invalid.

1Configuration errorConfiguration error0

Configuration is ok.0

Due to insufficient mains quality, actuator controls cannotdetect the phase sequence (sequence of phase conduct-ors L1, L2 and L3) within the pre-set time frame providedfor monitoring.

1Mains qualityMains quality1

No signal0

Motor protection tripped.1Thermal faultThermal fault2

No signal0● When connecting to a 3-phase AC system and with

internal 24 V DC supply of the electronics: Phase 2is missing.

● When connecting to a 3-phase or 1-phase AC systemand with external 24 V DC supply of the electronics:One of the phases L1, L2 or L3 is missing.

1Phase failurePhase fault3

No signal0

Torque fault in direction OPEN1Torque fault OPENTorque fault OPEN4

No signal0

Torque fault in direction CLOSE1Torque fault CLOSETorque fault CLOSE5

No signal0

Collective signal 14: Internal error1Internal faultInternal error6

No internal fault0

No actuator reaction to operation commands within theset reaction time.

1No reactionWrn no reaction7

No signal0

Byte 16: Fault 2

The fault signals contain the causes why the actuator cannot be operated.

Table 17: Byte 16: Fault 2


Bit






Incorrect direction of rotation—Incorrect rotary direct.5

Config. error of REMOTE interface active.1Configuration error RE-MOTE

Config. error REMOTE6

No signal0

The phase conductors L1, L2 and L3 are connected inthe wrong sequence.

1Incorrect phase sequenceIncorrect phase seq7

Phase sequence is ok.0

Byte 17: Warnings 1

The warning signals are for information only and do not interrupt or disable anoperation (as opposed to faults).

24


Table 18: Byte 17: Warnings 1


Bit

No signal (reserved)—Maintenance Required0



FQM Fail Safe fault active:- "FQM FS-Ready" not ready although "FQM FS-Esd-Active" not active- "FQM FS-Ready" ready although "FQM FS-Esd-Active"active- "FQM-Timeout-Tension" active- "FQM-Timeout- limit" active

—FQM fail safe flt3

Warning: Limit value for torque warning in directionCLOSE exceeded.

1Torque Warning CLOSETorque wrn CLOSE4

No signal0

Warning: Limit value for torque warning in direction OPENexceeded.

1Torque Warning OPENTorque wrn OPEN5

No signal0

Warning: A SIL fault of the SIL module has occurred.1SIL faultSIL fault1)6

No signal0

Warning: No actuator reaction to operation commandswithin the set reaction time.

1Warning no reactionWrn no reaction7

No signal0

The safety function indications via communication interface are for information only and must not be used as part of a safety function.The digital I/O signals of the SIL module must be used for this purpose.

1)

Byte 18: Warnings 2



Bit

Warning: Temperature within actuator controls housingtoo high.

1Warning controls temperat-ure

Wrn controls temp.0

No signal0



The external 24 V DC voltage supply of the actuatorcontrols has exceeded the power supply limits.

124 V DC, external24 V DC external3

No signal0


Warning: Voltage of RTC button cell too low.1RTC button cellRTC voltage5

No signal0

The real time clock has not yet been set on the basis ofvalid values.

1RTC not setTime not set6

No signal0

Warning: Configuration setting is incorrect.The device can still be operated with restrictions.

1Configuration warningConfig. warning7

No signal0

25


Byte 19: Warnings 3



Bit

Warning: FO cable system reserve reached (critical orpermissible Rx receive level)

1Warning FO cable budgetWrn FO cable budget0

No signal0

Warning:Optical receiving signal (channel 1) incorrect (no or insuf-ficient Rx receive level) or RS-485 format error.

1Warning FOCWrn FOC1

No signal0

Warning: Loss of signal analogue input 21Warning Input AIN 2Wrn input AIN 22

No signal0

Warning: Loss of signal analogue input 11Warning Input AIN 1Wrn input AIN 13

No signal0

Collective signal 15: Internal warning1Internal WarningInternal warning4

No internal warning0

Warning: Max. number of motor starts (starts) exceeded1Warning On time StartsWrn op.mode starts5

No signal0

Warning: Max. running time/h exceeded1Warning On time RunningWrn op.mode run time6

No signal0

Warning: Max. permissible operating time for an operation(OPEN-CLOSE) exceeded

1Operation time warningOp. time warning7

No signal0

Byte 20: Warnings 4



Bit



Warning: Signal loss of actuator setpoint position.1Warning Setpoint positionWrn setpoint position2

No signal0

Warning: A Partial Valve Stroke Test (PVST) should beperformed.

1PVST requiredPVST required3

0

Warning: FO cable connection is not available.1Warning FOC connectionWrn FOC connection4

No signal0

The failure behaviour is active.1Failure behaviour acticeFailure behav. active5

No signal0

Partial Valve Stroke Test (PVST) was aborted or couldnot be started. Remedy: Perform RESET or restart PVST.

1PVST abortPVST abort6

No signal0

Partial Valve Stroke Test (PVST) could not be successfullycompleted.

1PVST faultPVST fault7

No signal0

Bytes 21 and 22: Input AIN 2


Bytes 9 and 10 transmit the value of the second, additionally free analogue currentinput of the actuator controls. The start and end values can be set at the AC via thepush buttons and the display. (For operation, please refer to the respective operationinstructions for the actuator.)

If the measuring values are 0.3 mA below the initial value, a signal loss is indicated.

26



Byte 23: Failure

Causes of the Failure signal in accordance with NAMUR recommendation NE 107.

Table 22: Byte 23: Failure


Bit









1FaultFault7

In bytes 15 and 16, no faults are active (all bits are set to0).

0

Byte 24: Maintenance required

Causes of the Maintenance required signal in accordance with NAMURrecommendation NE 107.

Table 23: Byte 24: Maintenance required


Bit

Mechanic maintenance requirement (AUMA Service)1Maintenance mechanicsMainten. mechanics0

No signal0

Seal maintenance requirement (AUMA Service)1Maintenance sealsMainten. seals1

No signal0

Lubricant maintenance requirement (AUMA Service)1Maintenance lubricantMainten. lubricant2

No signal0

Contactor maintenance requirement (AUMA Service)1Maintenance contactorsMainten. contactors3

No signal0

The set maintenance interval has expired.1Maintenance intervalMainten. interval4

No signal0




Byte 25: Out of specification 1

Causes of the Out of specification signal in accordance with NAMUR recommendationNE 107.

27


Table 24: Byte 25: Out of specification 1


Bit




FQM Fail Safe fault active:- "FQM FS-Ready" not ready although "FQM FS-Esd-Active" not active- "FQM FS-Ready" ready although "FQM FS-Esd-Active"active- "FQM-Timeout-Tension" active- "FQM-Timeout- limit" active

—FQM fail safe flt3

Warning: Limit value for torque warning in directionCLOSE exceeded.

1Torque warning CLOSETorque wrn CLOSE4

No signal0

Warning: Limit value for torque warning in direction OPENexceeded.

1Torque warning OPENTorque wrn OPEN5

No signal0

Warning: A SIL fault of the SIL module has occurred.1SIL faultSIL fault1)6

No signal0

Warning: No actuator reaction to operation commandswithin the set reaction time.

1Warning no reactionWrn no reaction7

No signal0

The safety function indications via communication interface are for information only and must not be used as part of a safety function.The I/O signals of the SIL module must be used for this purpose.

1)




Bit

Warning: Temperature within actuator controls housingtoo high.

1Warning controls temperat-ure

Wrn controls temp.0

No signal0

Warning gearbox temperature1—Wrn gearbox temp.1

No signal0

Warning motor temperature1—Wrn motor temp.2

No signal0

The external 24 V DC voltage supply of the actuatorcontrols has exceeded the power supply limits.

124 V DC, external24 V DC external3

No signal0


Warning: Voltage of RTC button cell too low.1RTC button cellRTC voltage5

No signal0

The real time clock has not yet been set on the basis ofvalid values.

1RTC not setTime not set6

No signal0

Warning: Configuration setting is incorrect.The device can still be operated with restrictions.

1Configuration warningConfig. warning7

No signal0

28





Bit

Reserved for future FO cable variant1Warning FO Cable budgetWrn FO cable budget0

No signal0

Reserved for future FO cable variant1Warning FOCWrn FOC1

No signal0

Warning: Loss of signal analogue input 21Warning input AIN 2"Wrn input AIN 22

No signal0

Warning: Loss of signal analogue input 11Warning input AIN 1"Wrn input AIN 13

No signal0

Collective signal 15: Internal warning1Internal warningInternal warning4

No internal warning0

Warning: Max. number of motor starts (starts) exceeded1Warning On time StartsWrn op.mode starts5

No signal0

Warning: Max. running time/h exceeded1Warning On time RunningWrn op.mode run time6

No signal0

Warning: Max. permissible operating time for an operation(OPEN-CLOSE) exceeded

1Operation time warningOp. time warning7

No signal0




Bit



Warning: Signal loss of actuator setpoint position.1Warning setpoint positionWrn setpoint position2

No signal0

Warning: A Partial Valve Stroke Test (PVST) should beperformed.

1PVST requiredPVST required3

0

Reserved for future FO cable variant1Warning FOC connectionWrn FOC connection4

No signal0

The failure behaviour is active.1Failure behaviour activeFailure behav. active5

No signal0

Partial Valve Stroke Test (PVST) was aborted or couldnot be started. Remedy: Perform RESET or restart PVST.

1PVST abortPVST abort6

No signal0

Partial Valve Stroke Test (PVST) could not be successfullycompleted.

1PVST faultPVST fault7

No signal0

Byte 29: Function check 1

Causes of the Function check signal in accordance with NAMUR recommendationNE 107.

29


Table 28: Byte 29: Function check 1


Bit

Push button STOP of local controls is operated.1Local STOPLocal STOP0

No signal0

Selector switch is in position Local control (LOCAL) or0 (OFF).

1Selector switch not RE-MOTE

Sel. sw. not REMOTE1

Selector switch is in position Remote control (REMOTE).0

Operation mode Service is active.1Service activeService active2

No signal0

Manual operation is active (handwheel is engaged); op-tional signal

1Handwheel activeHandwheel active3

No signal0

Operation mode EMERGENCY stop is active (EMER-GENCY stop button has been pressed).

1EMERGENCY stop activeEMCY stop active4

EMERGENCY stop button not pressed (normal operation).0

Partial Valve Stroke Test function (PVST) is active.1PVST activePVST active5

No signal0



Byte 30: Function check 2

The contents are reserved for further Function check signals in accordance withNAMUR recommendation NE 107.

Byte 31: Status fieldbus

Information on the status of the EtherNet/IP interface

Table 29: Byte 31: Status fieldbus


Bit

Channel 1 is the active operation command channel.1Channel 1 activeChannel 1 active0

No signal0

No signal (reserved for future variants)1Channel 2 activeChannel 2 active1

No signal0

Channel 1 is in the data exchange state (DataEx).1Channel 1 DataExChannel 1 DataEx2

No signal0

No signal (reserved for future variants)1Channel 2 DataExChannel 2 DataEx3

No signal0

No valid network communication via channel 1 (applicationdoes not communicate with the DCS).

1Channel 1 FailSafe Field-bus

Ch.1 FailState Fieldb.4

No signal0

No signal (reserved for future variants)1Channel 2 FailSafe Field-bus

Ch.2 FailState Fieldb.5

No signal0

Network communication on channel/port 11Channel 1 activitiyChannel 1 activity6

No signal0

Network communication on channel/port 21Channel 2 activityChannel 2 activity7

No signal0

Byte 32: SIL signals

Causes of the Maintenance required signal in accordance with NAMURrecommendation NE 107.

30


Table 30: Byte 32: SIL signals


Bit

Safe ESD (Emergency Shut Down) safety function of theSIL module is active.

1Safe ESDSafe ESD1)0

No signal0

Safe STOP safety function of the SIL module is active.1Safe STOPSafe Stop1)1

No signal0

Collective signalWarning: A SIL fault of the SIL module has occurred.

1SIL faultSIL fault1)2

No signal0

A safety function of the SIL module is active.1SIL function activeSIL function active1)3

No signal0

FQM Failsafe Active—FQM fail safe act.4

FQM Failsafe Init—FQM fail safe ini.5

FQM Failsafe Error—FQM fail safe flt6


The safety function indications via communication interface are for information only and must not be used as part of a safety function.The I/O signals of the SIL module must be used for this purpose.

1)

Byte 33 to byte 40: Reserve

The contents are reserved for future extensions.

4.2. Output data (process representation output)

The consumer (PLC) can control the producer (actuator) via the processrepresentation output.

4.2.1. Process representation output arrangement

Information To perform remote operations, the selector switch must be in position Remotecontrol (REMOTE).

Definition

● Assembly Object Class ID: 4 (hex)● Assembly Instance: 101 (65hex)● Attribute: 3 (hex)● Input Size: 14 bytes

31


4.2.2. Description of the output data

Byte 1: Commands

Table 31: Byte 1: Commands

DescriptionValueDesignation(process representation)

Bit

Operation command in direction OPEN.1Fieldbus OPEN0

No command0

Operation command in direction CLOSE.1Fieldbus CLOSE1

No command0

32



Bit

Run to setpointSetpoint is provided via bytes 3 and 4.In combination with a process controller, this bit isused to select between process controller operationand OPEN - CLOSE operation.

1Fieldbus SETPOINT2

No commandIn combination with a process controller, this bit isused to select between process controller operationand OPEN - CLOSE operation.

0

Certain indications of the actuator controls can bereset using this command in selector switch positionRemote control (REMOTE) via the communicationinterface (e.g. PTC tripping device and torque fault).The function of this bit corresponds to the push but-ton RESET at the local controls.

1Fieldbus RESET3

No command0

No command (reserved)—4




Bits 0, 1, 2 = operationcommands

Bits 0 – 2 are used to transmit operation commands to the actuator. Only one ofthese bits may be set to 1 at any given time. If several bits are set at the same time,no operation is performed and the following signal is given: Wrong oper. cmdFor operation commands via bit 2 (Fieldbus SETPOINT):

● Condition: Position transmitter (potentiometer, RWG, EWG or MWG) installedin the actuator.

● If the setpoint is 0 per mil, the actuator runs to end position CLOSED; it runsto end position OPEN for 1000 per mil.

● If the limit of 1,000 is exceeded, the actuator completely runs to end positionOPEN.

● To avoid placing too much strain on the actuator mechanics, reversion of direc-tion is delayed. The default setting in the factory for the reversing preventiontime is 300 ms.

Bits 4, 5, 6 , 7 Bits 4 through 7 are not used and must be set to 0.

Byte 2: Fieldbus speed setpoint

Byte 2 - Fieldbus speed setpoint in % (value range 0 – 100)

Byte 2 - Fieldbus speed setpoint in % (value range 0 – 100). Speed setting is onlyavailable for actuator equipped with ACV variable speed actuator controls.

Bytes 3 and 4: Setpoint /(process setpoint, option)


The setpoint position is transmitted via bytes 3 and 4 (value: 0 – 1,000), using theposition controller.

● The value 1,000 corresponds to the maximum setpoint, e.g. end position OPEN.● The value 0 corresponds to the minimum setpoint, e.g. end position CLOSED.As an alternative, the process setpoint can be transmitted via bytes 3 and 4 (value0...1,000), using a process controller (option). Value 1,000 corresponds to themaximum process setpoint, value 0 to the minimum process setpoint.

33


Byte 5: Additional commands

Table 32: Byte 5: Additional commands


Bit

Actuator operation via local controls enabled1Fieldb. enable LOCAL0

Actuator operation via local controls disabled0

Enabling operation command in direction OPEN1Fieldb. enable OPEN1

Operation command in direction OPEN disabled.0

Enabling operation command in direction CLOSE.1Fieldb. enable CLOSE2

Operation command in direction CLOSE disabled.0

Activation of Bluetooth interface.1BluetoothActivDigIn3

Activation of Bluetooth interface disabled.0

Initiate change-over to channel 11Fieldbus channel 14

No operation command0

No command (reserved for future variants)1Fieldbus channel 25


EMERGENCY signal, triggers EMERGENCY beha-viour.

1Fieldbus EMCY6

No command0

Start Partial Valve Stroke Test (functional test)1PVST7


Byte 6: Intermediate positions

Table 33: Byte 6: Intermediate positions


Bit

Run to intermediate position 1.1Intermediate pos. 10

No command0


No command0


No command0


No command0


No command0


No command0


No command0


No command0

Bits 0 – 7 allow the direct selection of 8 intermediate positions via fieldbus commands.Hereby, the selected intermediate position is approached directly, without stoppingin another intermediate position.

In this case, the actuator continues running until the selected intermediate positionhas been reached. Example: Operation from position 5 to 7 without stopping atposition 6.

For further information, please refer to the AUMATIC AC 01.2 EtherNet/IP manual(operation and setting).

If the multiport valve function is active (option), the entire byte 6 is used for codingof multiport valve operation commands. Up to 16 positions can either be approached

34


selecting the shortest travel, in clockwise direction (CW), or in counterclockwisedirection (CCW). Furthermore, the actuator can also be operated without any positionindications in clockwise or counterclockwise direction (CW or CCW).

Table 34: Operation commands via byte 6 for activated multiport valve function

Behaviour≙ Operation direction/posi-tion

Value

Position 1 is approached selecting the shortesttravel.

Position 10x01


Position 20x02


Position 30x04


Position 40x08


Position 50x10


Position 60x20


Position 70x40


Position 80x80


Position 90x81


Position 100x82


Position 110x83


Position 120x84


Position 130x85


Position 140x86


Position 150x87


Position 160x88

Actuator operates in clockwise direction (withoutstop at any position).

CW0x90

Position 1 is approached in clockwise direction(CW).

CW Position 10x91


CW Position 20x92


CW Position 30x93


CW Position 40x94


CW Position 50x95


CW Position 60x96


CW Position 70x97


CW Position 80x98


CW Position 90x99


CW Position 100x9A

35


Behaviour≙ Operation direction/posi-tion

Value


CW Position 110x9B


CW Position 120x9C


CW Position 130x9D


CW Position 140x9E


CW Position 150x9F


CW Position 160xB0

Actuator operation in counterclockwise direction(without stop at any position).

CCW0xA0

Position 1 is approached in counterclockwise direc-tion (CCW).

CCW Position 10xA1


CCW Position 20xA2


CCW Position 30xA3


CCW Position 40xA4


CCW Position 50xA5


CCW Position 60xA6


CCW Position 70xA7


CCW Position 80xA8


CCW Position 90xA9

Position 10 is approached in counterclockwise dir-ection (CCW).

CCW Position 100xAA


CCW Position 110xAB


CCW Position 120xAC


CCW Position 130xAD


CCW Position 140xAE


CCW Position 150xAF


CCW Position 160xC0

Byte 7: Digital outputs 1

The digital outputs Fieldbus DOUT 1 – DOUT 6 of the fieldbus interface can be usedas commands for the output contacts. For this, the outputs of the output contactshave to be assigned with the signals Fieldbus DOUT 1 – Fieldbus DOUT 6.

36


Table 35: Byte 7: Digital outputs 1


Bit









Byte 8: Digital outputs 2

Table 36: Byte 8: Digital outputs 2


Bit

Digital output 1 is activated.1Fieldbus DOUT 10

Output is deactivated.0













Bytes 9 and 10: Actual process value


Byte 9 and byte 10 in combination with a process controller (option) can be used totransmit the actual process value.

Bytes 11 and 12: Fieldbus output AOUT 1


Bytes 11 and 12 can be used to send an analogue value to the actuator.


The outputs "Fieldbus output AOUT 1" and "Fieldbus output AOUT 2) can be usedas output values via the analogue outputs. For this, the outputs of the analogueoutputs have to be assigned with the signals Fieldbus AOUT 1 or Fieldbus AOUT 2.

Bytes 13 and 14: Fieldbus output AOUT 2


Bytes 13 and 14 can be used to send a second analogue value to the actuator.


Byte 15 to byte 26: Reserve

The contents are reserved for future extensions.

37


4.3. EtherNet/IP services

Acyclic communication

Acyclic communication by means of explicit messaging is performed viarequest/response messages which are managed within the device by the messagerouter object. Acyclic requests comprise a service code with path indication to thedesired object within the target device. Acyclic communication allows alternativeaccess to the data of all described objects.

Example: Request of connection status between EtherNet/IP interface and actuatorlogic. EtherNet/IP interface is internally connected via a Modbus connection to theactuator logic. The command status instance of the assembly objects allowsverification of the status of this internal connection.

Class 3 communication: Acyclic request/response communication via explicitmessaging

● Service Code: 0E hex – Get_Attribute_Single● Assembly Object Class ID: 4 (hex)● Assembly Instance: 103 (67hex)● Attribute: 3 (hex)● Input Size: 1 byte

38


5. EtherNet/IP module

5.1. Indications and switch functions

Figure 4: EtherNet/IP module

Table 37: Functions of system LED S1FunctionBehaviour LED S1

Firmware activeBlinking (every 1.0 seconds)

Error when checking the hardwareBlinking (every 0.3 seconds)

Hardware failureoff

Table 38: Run/Init mode switch functionsFunctionSwitch position

Run mode: Operation modeRun (default setting)

Init mode: Update configuration mode for firmwareInit

LEDs of RJ-45 socket

Table 39: Function of PoE LEDFunctionPower over Ethernet LED (green) behaviour

Power supply via EthernetOn

Power supply via internal 24 V supply of actuatorcontrols

Off

Table 40: Link/Act LED functionsFunctionLink/Act LED (orange) behaviour

Ethernet connection is active and data packets arebeing received

On

No Ethernet connectionOff

5.2. Connection between EtherNet/IP module and computer: check

1. Ensure that power supply is switched off.2. Set Run/Init switch to “Run”.3. Connect EtherNet/IP module via RJ-45 or M12 connector to a computer within

the same subnet and switch on power supply (boot process).

39

Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP EtherNet/IP module

4. Start the Windows Desktop App “command prompt” at computer and enter theping 192.168.255.1 command.

→ If responses are sent: Connection between module and computer isOK.

→ If no responses are sent: Check whether module and computer areconnected to the same subnet.

IP address 192.168.255.1 is the default network setting. If the module has beenpreviously configured, the manually set IP address must be used. Should thisaddress be unknown, the connection of the EtherNet/IP module can be tempor-arily tested via the default IP address.

Please heed the following procedure:

4.1 Set the Run/Init switch to “Init” during the booting procedure.

➥ The default network settings of the EtherNet/IP interface are used in Initmode:

Static IPAddress Type

192.168.255.1Static IP Address

255.255.0.0Subnet Mask

192.168.0.1Default Gateway

4.2 Perform step 4.

4.3 Disconnect EtherNet/IP module from power supply and set the Run/Initswitch to “Run” prior to rebooting.

➥ Now, the module can be configured.

5.3. EtherNet/IP module configuration

Configure the EtherNet/IP module using the “GW-7472 Utility” Windows software.The software is available for download on the AUMA website (www.auma.com) at“Service & Support / Software”.

1. Ensure that the Run/Init module switch is set to “Run”.2. Connect EtherNet/IP module via RJ-45 or M12 connector to a computer within

the same subnet and switch on power supply.3. Start “GW-7472 Utility” software and click the Network Scan button.

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Actuator controlsEtherNet/IP module AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

4. Select the interface card in the next window and confirm with Select.

➥ Now, the software searches for the EtherNet/IP module.

Information Should the scan fail, either the Windows firewall or the antivirus software might haveto be deactivated.

5. Select the line with the respective module and open by clicking Configure.

6. Perform the selected settings and save using the Update Settings and Rebootbutton.

Deactivated safety behaviour due to missing setting.

→ Ensure that the box in front of Modbus Polling With EIP Connection is ticked.

➥ If required, only the IP interface must be adapted to the requirements of thenetwork. All further settings of the EtherNet/IP module (in particular the serialport settings) are set as default in the factory.

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP EtherNet/IP module

7. Confirm reboot with OK.

➥ The process is started.

➥ After rebooting, the settings are saved and active.

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Actuator controlsEtherNet/IP module AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

6. Corrective action

6.1. Troubleshooting

In case of problems with EtherNet/IP communication, the actuator controls provideimportant information on trouble-shooting via the display (menu Diagnostics M0022).

Information The internal device logic is connected to the EtherNet/IP interface of the actuatorvia Modbus protocol. Diagnostics of communication connection is therefore madevia Modbus parameters.

The indication and diagnostic LEDs on the Modbus board can also be used assupport.

Table 41: Troubleshooting tableCauses and remedies

No faultYesActuator can be controlled viaEtherNet/IP?

1.

→ Continue with 2No

→ Continue with 3Select menu:DiagnosticsM0022

2.

→ Continue with 4Select menu:for channel 1:Modbus MD1M0241

3.

Valid telegrams to the own addressEtherNet/IP or Modbus communication via channel 1 is OK.Connection to an EtherNet/IP scanner active and valid data receivedIf yes: → Continue with 6If no: → Continue with 5

Channel 1 DataExor LED on Modbus board[DX1] is illuminated.

Select menu:for channel 1:Modbus MD1M0241

4.

If yes: Network connection to scanner available, no communication→ Check network address→ Check scanner configuration→ Correct scanner parameter dataIf no: No network connection→ Check cables and connection→ Check LED S1 of module: If the LED is neither illuminated nor blinking,the power supply has failed.

Link/Act LED (orange) at RJ-45 socket of EtherNet/IPmodule is illuminated

Network status5.

Possible causes and remedies:● Scanner does not issue an operation command.● Scanner issues incorrect operation command.

→ Check program of DCS

YesOperation via push button ofthe local controls possible?

6.

Possible causes and remedies:Faults such as torque, thermal or internal fault→ Check logic board, motor control and motor.

No

6.2. Diagnostics

Various internal Modbus communication states to the EtherNet/IP module can bechecked via the Diagnostics M0022 menu.

Table <Information on internal Modbus communication to EtherNet/IP module> showsthe menus for the first Modbus interface.

Table 42: Information on internal Modbus communication to the EtherNet/IP moduleValue and descriptionIndication on display

Bus address (slave address)MD1 slave address M0412

Baud rateBaud rate M0766

Channel 1 is in the data exchange state (DataEx).Channel 1 DataEx M0784

Activity on channel 1 availableChannel 1 activity M0767

Number of valid messages received (including all addresses).Number of messages that the remote device has detected on the communications system since itslast restart, clear counters operation, or power–up. Messages with bad CRC are not taken into account.

Bus Message Count M0918

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP Corrective action

Value and descriptionIndication on display

Number of messages with CRC or parity/block check/data loss error.Number of CRC errors recorded by the remote device since its last restart, clear counters operation,or power–up. In case of an error detected on the character level, (overrun, parity error), or in case ofa message length < 3 bytes, the recipient is not able to perform the CRC test. In such cases, thiscounter is also incremented.

Bus Com Err Count M0919

Number of sent exceptions.Number of Modbus exceptions detected by the remote device since its last restart, clear countersoperation, or power–up. It comprises also the error detected in broadcast messages even if an excep-tion message is not returned in this case.Exception responses are described and listed in "MODBUS Application Protocol Specification" docu-ment.

Slave Except Err Count M0920

Number of messages received (including slave addresses).Number of messages addressed to the remote device, including broadcast messages, that the remotedevice has processed since its last restart, clearing of the diagnostic counters, or power–up.

Slave Message Count M0921

Number of messages without response.Number of messages received by the remote device for which it returned no response (neither anormal response nor an exception response), since its last restart, clear counters operation, orpower–up (number of broadcast messages received).

Slave No Resp. Count M0922

Number of messages answered with NAK.Number of messages addressed to the remote device for which it returned a Negative Acknowledge(NAK) exception response, since its last restart, clearing of the diagnostic counters, or power–up.Exception responses are described and listed in "MODBUS Application Protocol Specification" docu-ment.

Slave NAK Count M0923

Quantity of messages addressed to the remote device for which it returned a Slave Device Busy ex-ception response, since the last reboot, the clearing of diagnostic counters or the power-up. Exceptionresponses are described and listed in "MODBUS Application Protocol Specification" document.

Slave Busy Count M0924

Number of messages with data loss error.Quantity of messages addressed to the remote device that it could not be handled due to a characteroverrun condition, since its last restart, clearing of the diagnostic counters, or power–up. A characteroverrun is caused by data characters arriving at the port faster than they can be stored, or by the lossof a character due to a hardware fault.

Bus Char Overr Count M0925

Number of parity errorsParity Error Count M0926

Table 43: Modbus detailsValue and descriptionIndication on display

The Modbus interface of channel 1 is used for communication with theEtherNet/IP module.

Channel 1 active

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Actuator controlsCorrective action AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

7. Technical data

Information The following tables include standard and optional features. For detailed informationon the customer-specific version, refer to the order-related data sheet.The technicaldata sheet can be downloaded from the Internet in both German and English at ht-tp://www.auma.com (please state the order number).

7.1. EtherNet/IP interface

Settings/programming the EtherNet/IP interface

Setting is performed via a Windows tool or DHCPDefault settings of the IP interface:

IP Address Selection

Static IPAddress Type

192.168.255.1Static IP Address

255.255.0.0Subnet Mask

192.168.0.1Default gateway

Setting the EtherNet/IP module

General data EtherNet/IP

EtherNet/IP according to IEC 61158 and IEC 61784Communication protocol

Star structure, point-to-point wiringNetwork topology

Ethernet IEEE 802.32-pair cabling in compliance with IEC 61784-5-3, cable recommendation: Cat. 6A

Auto negotiation and auto crossover are supported.

Connection

1 x RJ-45, connection via connector for field assembly,an RJ-45 connector for Cat.6 is supplied with the electrical connection.

Standard:EtherNet/IP connection

M12 connectionOption:

100 Mbits/s (100BASE-TX), full duplexTransmission rate

Max. 100 mCable length

Producer - Consumer modelFieldbus access

● Data exchange based on generic I/O objects● Number of cyclic communication relations (Implicit Messages): 1● Number of acyclic connections (Explicit Messages): 6● I/O connection type: Exclusive-Owner, Cyclic

- Originator to Target Type: POINT2POINT- Target to Originator Type: POINT2POINT, MULTICAST

● Cyclic I/O communication (class1 connection):- Process representation input 46 bytes - Input Assembly Instance- Process representation output 14 bytes - Output Assembly Instance

● Acyclic request/response communication (UCMM or class 3 connection):- Status information - Status Assembly Instance- Device configuration - Configuration Instance- Device identification - Identity Object- Network interface settings - TCP/IP Object- Ethernet information – Ethernet Link Object

Supported EtherNet/IP functions

0x0C = 12 - Communications AdapterEtherNet/IP device type

Generic DeviceCIP Device Profile

ARP (Address Resolution Protocol)ICMP (Internet Control Message Protocol)

Supported network diagnostic andmanagement protocols

Via ESD fileDevice integration

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP Technical data

Commands and signals of the Ethernet IP interface

OPEN, STOP, CLOSE, position setpoint, RESET, EMERGENCY operation command, enable localcontrols, Interlock OPEN/CLOSE

Process representation output(command signals)

● End positions OPEN, CLOSED● Actual position value● Actual torque value, requires magnetic limit and torque transmitter (MWG) in actuator● Selector switch in position LOCAL/REMOTE● Running indication (directional)● Torque switches OPEN, CLOSED● Limit switches OPEN, CLOSED● Manual operation by handwheel or via local controls● Analogue (2) and digital (4) customer inputs

Process representation input(feedback signals)

● Motor protection tripped● Torque switch tripped in mid-travel● One phase missing● Failure of analogue customer inputs

Process representation input(fault signals)

The behaviour of the actuator is programmable:● Stop in current position● Travel to end position OPEN or CLOSED● Travel to any intermediate position● Execute last received operation command

Connection status between EtherNet/IP interface and actuator logic can be acyclically read within thedevice.

Behaviour on loss of communication

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Actuator controlsTechnical data AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

8. Configuration example (Allen Bradley controls)

Configure a generic Ethernet profile in a controller application with the following“assembly instance” and connection points.Your profile could be created inaccordance with the following example:

1. Add a new module and select “ETHERNET-MODULE”

Figure 5:

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP Configuration example (Allen Bradley controls)

2. Configure the window “Module Properties”. For this, select the following config-urations: for “Input” the value 101 at “Assembly Instance” and 46 Bytes (23 x16-bit words) at “Size”. For “Output” the value 102 at “Assembly Instance” and14 Bytes (7 x 16-bit words) at “Size”. For a Size of 0 bytes (0 x 8-bit words),the “Configuration” line requires the value 100 at “Assembly Instance”. Thedevice is basically identified via its IP address.

Figure 6:

48

Actuator controlsConfiguration example (Allen Bradley controls) AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

3. Configure the input messages as follows:

Figure 7:

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP Configuration example (Allen Bradley controls)

4. Configuration of output messages:

Figure 8:

5. Example of program sequence of cyclic data exchange for input and output (inthe example shown, the cyclic data is updated every 150 ms):

Figure 9:

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Actuator controlsConfiguration example (Allen Bradley controls) AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP

Index

AAdapter 7Addressing 12

BBus access 10

CCheck connection to module 39Commissioning 4, 12Communication 7, 9Communication cables 11Communication connections 8Communication technology 10Communication types 7Consumer 7Corrective action 43

DData exchange 7Data interface description 14Device functionality 11Device types 11Diagnostics 43Directives 4

EEtherNet/IP module configur-ation

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Ethernet port 11Explicit messaging 8

FFunctionality 11

IImplicit messaging 8Input data 16

MMaintenance 5Multiport valve function 34

NNetwork topology 10

OObject model 14Operation 4Originator 8Output data 31

PProcess interface 16Process representation input 16Process representation output 31Producer 7Producer - Consumer model 7Protective functions 11Protective measures 5

QQualification of staff 4

SSafety instructions 4Safety instructions/warnings 4Scanner 7Signals 16Slave address 43Standards 4

TTarget 8Technical data 45Topology 10Troubleshooting 43

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Actuator controls AC(V) 01.2/AC(V)ExC 01.2 EtherNet/IP Index

AUMA Riester GmbH & Co. KG

P.O. Box 1362DE 79373 MuellheimTel +49 7631 809 - 0Fax +49 7631 809 - [email protected]

Y008.870/003/en/1.20

For detailed information on AUMA products, refer to the Internet: www.auma.com

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