Twido, Magelis XBT-G2330 and LEXIUM05 via CANopen Version 1.35

Transcription

1 Twido, Magelis XBT-G2330 and LEXIUM05 via CANopen Version 1.35 This document describes a small application using a Twido-PLC, a LEXIUM05 drive connected via CANopen and a Magelis XBT-G2330 HMI connected via Modbus. The program example includes -How to activate the operation modes: -Homing -Set position -Velocity mode -Point to point -Manual -How to write and read parameters -Error handling Designed by Patrick Friedmann Berger Lahr GmbH Customer Support Center - Technical Support Gewerbestraße 9 D Hohberg-Niederschopfheim. Tel.: / Fax: / mailto:patrick.friedmann@berger-lahr.com 1

2 Components TWIDO Modular TWDLMDA20RT 16 Digital Inputs Sink/Source integrated 8 Digital Outputs (6 Relays and 2 Transistor source) integrated Expandable with 7 additional modules 2

3 Lexium05 A universal drive with: Auto tuning on board, manual optimisation of the control loop with PowerSuite 2 +/- 10V analogue signal interface Pulse/direction and A/B signal interface Field bus interface CANopen DS402 and ModBus RTU, optional (in the future): Profibus DP Safety stop integrated in the drive 4 sizes (0,4-6kW) Standard motors & drives combination are defined 3

4 Magelis XBT-G2330 TFT-screen, 5,7 256 colours Uni-Telway, Modbus, Modbus-TCP/IP Ethernet 24V supply voltage CF Memory card Configuration software: Vijeo Designer 4

5 System configuration Magelis XBTG2330 COM1 XBTZG999 TOOL XBTZG915 XBT Z968 TSXPCX1031 Standard CAN cable RS485 Serial link TWDNOZ485D TWIDO CPU TWDLMDA20DRT Port 1 CANopen Master TWDNCO1M Lexium05 Node-ID. 2 5

6 Visualization Typical screen structure Switch to Trend screen Name of Screen Switch to Fault screen (appears only when a fault is active) Parameter (Read and write values) Display of Actual and set values Action buttons Switchboard Button Trend Fault Main Home Set Pos Vel PtP Para Quit Save Para Function Trend display of the velocity Fault page (only visible if a fault is active) Main page with actual and set values Homing mode Set position mode Profile velocity mode Point to point mode, manual mode Read parameter and write parameter Quit drive error Saving the Magelis parameter values on the plc 6

7 Structure of the screens Main Page Homing Mode Homing Parameter Set position Velocity mode Point to point mode Manual mode Parameter Quit drive faults Fault Page Save XBT parameter Trend Only possible if an error is active 7

8 Software Hardware configuration At first, the CANopen Master must be added on the extension bus (see also the Twido software reference guide). Then the eds-file of Lexium05 must be imported in the CANopen configuration tool. In this example a Lexium05 is used with node-id 2. Import EDS Edit Slave-Address Insert Slaves Supervision Baud rate 8

9 The next step is the mapping of the PDO-objects. For the Lexium05 the first three PDOs are statically mapped and cannot be changed. PDO4 is free usable. 9

10 List of Objects Transmission/Reception Object indices COB-ID 10

11 After the mapping the objects must be linked with the PLC. Slave-PDO Insert Master-PDO Transmission/Reception 11

12 Finally the linked objects get symbols. Symbols Object-name PLC-Address 12

13 Internal memory words The following table shows the used internal memory words Group Subroutine Names of the variables Type Address Comment Internal Bits Internal Type Address Internal help flag Bool % M20 Internal help flag HF_00 Bool % M200 Internal help flag HF_01 Bool % M201 Internal help flag HF_02 Bool % M202 Internal help flag HF_03 Bool % M203 Internal help flag HF_04 Bool % M204 Internal help flag HF_05 Bool % M205 Internal help flag HF_06 Bool % M206 Internal help flag HF_07 Bool % M207 Internal help flag HF_08 Bool % M208 Internal help flag HF_09 Bool % M209 Internal help flag HF_10 Bool % M210 Internal help flag HF_11 Bool % M211 Internal help flag HF_12 Bool % M212 Internal help flag HF_13 Bool % M213 Internal help flag HF_14 Bool % M214 Internal help flag HF_15 Bool % M215 System signals First_cyle_in_ run Restore_ memory Backup_OK PLC_Status Slave_Status Number_of_ words_to_ save Config_ok Data_ exchange_on System_ stopped Can_cmd_ done Can_cmd_ fault Fault_ initialization Save_memory _words Application_ok S13 S95 S96 SW6 SW20 SW97 SW81:X0 SW81:X1 SW81:X2 SW81:X3 SW81:X4 SW81:X5 SW96:X0 SW96:X6 13

14 Magelis XBT XBT to Twido Twido to XBT Type XBT Start_Homing Bool % MW100:X0 Start_Setpos Bool % MW100:X1 Start_Velmode Bool % MW100:X2 PTP_absolute Bool % MW100:X3 Start_PTP Bool % MW100:X4 Start_Para_Read Bool % MW100:X5 Start_Para_Write Bool % MW100:X6 Quit_Drive_Fault Bool % MW100:X7 Setpos_absolute Bool % MW100:X8 Stop_Velmode Bool % MW100:X9 Read_Error-Code Bool % MW100:X10 Save_OK Bool % MW100:X11 Save Bool % MW100:X12 Restore Bool % MW100:X13 Start_man_right_slow Bool % MW101:X0 Start_man_right_fast Bool % MW101:X1 Start_man_left_slow Bool % MW101:X2 Start_man_left_fast Bool % MW101:X3 Actpos Dint % MD102 Actvel Dint % MD104 Setpos Dint % MD106 Setvel Dint % MD108 Home_Type Int % MW110 Home_Axis Int % MW111 Home_Homepos Dint % MD112 Home_VHome Int % MW114 Home_VOutHome Int % MW115 Home_POutHome Dint % MD116 Home_PDisHome Dint % MD118 Setpos_Pos Dint % MD130 Setpos_Axis Int % MW132 Vel_Setspeed Dint % MD140 Vel_Axis Int % MW142 PTP_Setpos Dint % MD150 PTP_Setspeed Int % MW152 PTP_Axis Int % MW153 Pararead_Index Int % MW160 Pararead_Subindex Int % MW161 Pararead_Axis Int % MW162 Pararead_Data Int % MD164 Parawrite_Index Int % MW170 Parawrite_Subindex Int % MW171 Parawrite_Length Int % MW172 Parawrite_Data Dint % MD174 Parawrite_Axis Int % MW176 Error Dint % MD178 Fault_Homing Bool % MW180:X0 Fault_Setpos Bool % MW180:X1 14

15 Fault_Move_Vel Bool % MW180:X2 Fault_PTP Bool % MW180:X3 Fault_Read_Para Bool % MW180:X4 Fault_Write_Para Bool % MW180:X5 Fault_Move_Manual Bool % MW180:X6 Fault_Drive Bool % MW180:X7 Manual_Slow Int % MW182 Manual_Fast Int % MW183 Manual_Axis Int % MW184 Functions Name Subroutine Inputs Outputs Internal Type Address BL_POWER_LX05 0 Enable Bool % MW1000:X0 not used at the moment! Initialization Axis Int % MW1004 not used at the moment! Status Bool % MW1002:X0 not used at the moment! Error Bool % MW1002:X1 not used at the moment! BL_HOME_LX05 1 Execute Bool % MW1100:X0 Homing Mode Position Dint % MD1104 HomeMode Int % MW1108 VHome Int % MW1110 VOUTHome Int % MW1112 POUTHome Dint % MD1114 PDISHome Dint % MD1118 Axis Int % MW1120 Temp1 Int % MW1122 Temp2 Int % MW1124 Done Bool % MW1102:X0 CommandAborted Bool % MW1102:X1 not used at the moment! Error Bool % MW1102:X2 Busy Bool % MW1102:X3 BL_SETPOS_LX05 2 Execute Bool % MW1200:X0 Set position Mode Bool % MW1200:X1 Position Dint % MD1204 Axis Int % MW1206 Temp Int % MW1208 Done Bool % MW1202:X0 CommandAborted Bool % MW1202:X1 not used at the moment! Error Bool % MW1202:X2 Busy Bool % MW1202:X3 BL_MOVE_VELOCITY_LX 05 3 Execute Bool % MW1300:X0 Velocity mode Velocity Dint % MD1304 Axis Int % MW1308 Temp Int % MW1310 InVelocity Bool % MW1302:X0 15

16 CommandAborted Bool % MW1302:X1 not used at the moment! Error Bool % MW1302:X2 Busy Bool % MW1302:X3 BL_MOVE_PTP_LX05 4 Execute Bool % MW1400:X0 Point to Point: absolute + relative Absolute Bool % MW1400:X1 Position Dint % MD1404 Velocity Int % MW1408 Axis Int % MW1410 Temp Int % MW1412 Done Bool % MW1402:X0 CommandAborted Bool % MW1402:X1 not used at the moment! Error Bool % MW1402:X2 Busy Bool % MW1402:X3 BL_READ_PARAMETER 5 Enable Bool % MW1500:X0 Read Parameter Index Int % MW1504 Subindex Int % MW1506 Axis Int % MW1508 Done Bool % MW1502:X0 Error Bool % MW1502:X1 Busy Bool % MW1502:X2 Value Dint % MD1510 Length Int % MW1512 BL_WRITE_PARAMETER 6 Execute Bool % MW1600:X0 Write Parameter Value Dint % MD1604 Index Int % MW1608 Subindex Int % MW1610 Length Int % MW1612 Axis Int % MW1614 Done Bool % MW1602:X0 Error Bool % MW1602:X1 Busy Bool % MW1602:X2 BL_MOVE_MANUAL_LX05 7 Execute Bool % MW1700:X0 Manual movement Right_slow Bool MW1700:X0 Right_fast Bool MW1700:X1 Left_slow Bool MW1700:X2 Left_fast Bool MW1700:X3 Vel_Slow Int % MW1704 Vel_Fast Int % MW1706 Axis Int % MW1708 Done Bool % MW1702:X0 Error Bool % MW1702:X1 Busy Bool % MW1702:X2 Temp Int % MW

17 Overview of the application: Name Rung Backup of the internal memory words 0-3 Initialization 4-8 Fault reset, application reset, helpflag reset 9-11 Data Exchange Twido -> Magelis XBT Call Subroutines Subroutine 1: Homing Subroutine 2: Set position Subroutine 3: Velocity mode Subroutine 4: Point to point mode Subroutine 5: Read Parameter Subroutine 6: Write Parameter Subroutine 7: Manual mode Backup of the internal memory words (rung0-3) After the first software download to the plc the contents of all memory words is zero. Some default values for those memory words are stored in the animation table V100_XBT.tat. Download them and start a backup (description see below). Now it is possible to save and restore the actual settings with the HMI. Here an example: Go to page Vel Change the parameter Set speed to 1111 Go to page Save Para Press the button Save XBT parameter (the button is green if it is possible) Go to page Vel Change the parameter Set speed to 2222 Go to page Save Para Press the button Restore XBT parameter Go to page Vel The parameter Set speed is

18 The Online help of Twidosoft describes how to save data in the internal EEPROM: 18

19 Here is the description of the system bits (source: online help): %S97 is true after the memory words are saved without an error. In the application it is not used. Here is the description of the system words (source: online help): 19

20 %SW96:X6 is true if the application is ok. %SW97 is the number of words to be saved, starting with %MW0. In the application the value is 185, because the highest memory word of the Magelis XBT-interface is %MW

21 Initialization (rung4-8) This initialization routine is a possibility to start and check the used hardware. At first the state machines of all nodes are switched back to initialization mode. When the Slave is in status pre-operational and there was no error during the initialization all nodes are switched to operational. After the slave has switched his status the state machine of the drive is switched to enable and a fault reset is done. After that some system signals are checked. Here is the description of the Can-command (source: online help): 21

22 Here is the description of the system words %SW20 - %SW27 (source: online help): Here is the description of system word %SW81 (source: online help): 22

23 Here is the description of system word %SW6 (source: online help): Fault reset, application reset and helpflag reset (rung 9-11) In rung 9 the reset bit is sent from the HMI to the drive. To reset the applications it is necessary to reset the busy-signals from the subroutines. The helpflags %M200-%M215 are used in the subroutines and get a reset every cycle. Data exchange Twido->Magelis XBT (rung 12-20) In these rungs the errors, the actual and set values of position and speed are sent from the Twido to the HMI. 23

24 Subroutines The subroutines are basing on a function block model: Inputs BL_NAME-OF-THE-FUNCTION_LX05 Axis Done Execute Error Parameter 1 Busy Parameter 2... Parameter Outputs Internal variables Axis corresponds with the Node-ID. With a rising edge at the execute input the function starts. You can write a value to all input parameters. During the function is active, the busy signal is true. When the function is finished the output done is true until the next execution of the function. Error is true if a fault appears during the execution of the function. The internal variables are some memory words which are needed inside of the function block. In Twidosoft it is not possible to write function blocks that can be called directly in a rung. For those cases Twidosoft provides subroutines. 24

25 Homing mode (rung 34-74; function call in rung 21-22) Axis Execute Position Home mode VHome VOutHome POutHome PDisHome BL_HOME_LX05 Done Error Busy Name Subroutine Inputs Outputs Internal Type Address Comment BL_HOME_LX05 1 Execute Bool % MW1100:X0 Start of the movement Position on reference Homing Mode Position Dint % MD1104 point HomeMode Int % MW1108 Type of reference run VHome Int % MW1110 Speed for search for the switch VOUTHome Int % MW1112 Speed for retraction from switch POUTHome Dint % MD1114 Maximum run-off distance PDISHome Dint % MD1118 Maximum search distance after traversing over the switch Axis Int % MW1120 Node-ID Temp1 Int % MW1122 Temp2 Int % MW1124 Done Bool % MW1102:X0 CommandAborted Bool % MW1102:X1 not used at the moment! Error Bool % MW1102:X2 Busy Bool % MW1102:X3 The homing mode is a standardised operation mode. Generally, to activate it the parameter operation mode (6060:0h) must be set to 06h. Then, after the reading of the actual operation mode (6061:0h) the reference type must be set (6098:0h). To start the movement the bit number 4 in the control word PDO1 must be true. The status word gives detailed status information. 25

26 The CAN open technical documentation describes also the activation of the operation mode (source: Lexium05 CANopen documentation): The NMT command Start Remote node is done automatically during the initialization of the bus. The activation of the power circuit happens in rung 7. 26

27 In the program example the function block BL_HOME_LX05 is called in the rung In rung 21 the values from the HMI are connected with the function inputs. In rung 22 is the function call of subroutine 1. It is active as long as the busy-bit is true. Generally, the subroutines are programmed as a sequence using the internal memory words. For example the bit %MW1122:X0 sets the bit %MW1122:X1, the bit %MW1122:X1 sets the bit %MW1122:X2, and so on. The last bit resets them all. The subroutine starts in rung 34. Rung 35 is the initialization of the internal and output signals. Rung writes parameter Position after reference (3028:Bh). When the data transfer on the Can bus is in progress, the system bit %SW81:X3 is false (rung 38). When the data transfer is done that bit is true again (rung 38). Then it is possible to write the next parameters Vhome (6099:1h), VoutHome (6099:2h), PoutHome (3028:6h) and PdisHome (3028:Dh) (rung 40-55). Now, as the technical documentation describes, the operation mode must be started by writing parameter 6060:0h with 6h (rung 56-59). After that the operation status must be checked by reading parameter 6061:0h. The contents must be 6h (rung60-63). In the rungs the parameter reference movement method 6098:0h is transmitted and the start bit in the control word is set to false. Rung 69 starts the movement by setting the start bit directly in the control word. Rung is the end of the operation mode. Therefore the information of the status word are used (source: Lexium05 documentation): If everything is ok, the busy output is false, the done output is true, the internal help flags get a reset and also the start bit in the control word. When an error appears during that movement, an alarm bit is true and the function gets a complete reset (rung 72-73). With the return in rung 74 the subroutine is finished and the program continues in the main program. 27

28 Set position (rung 75-98; function call in rung 23) Axis Execute Position Mode BL_SETPOS_LX05 Done Error Busy Name Subroutine Inputs Outputs Internal Type Address Comment BL_SETPOS_LX05 2 Execute Bool % MW1200:X0 Start of the function Absolute or relative set Set position Mode Bool % MW1200:X1 position Position Dint % MD1204 Position Axis Int % MW1206 Node-ID Temp Int % MW1208 Done Bool % MW1202:X0 CommandAborted Bool % MW1202:X1 not used at the moment! Error Bool % MW1202:X2 Busy Bool % MW1202:X3 The operation mode set position is a special way of the homing mode. The drive does not move. In absolute mode (input mode = false) with the rising edge on the execute input the value on the position input is the actual position of the drive. In mode relative the actual position is the old actual value plus the position value (source: Lexium05 documentation). 28

29 Velocity mode (rung ; function call in rung 24) BL_MOVE_VELOCITY_LX05 Axis InVelocity Execute Error Velocity Busy Name Subroutine Inputs Outputs Internal Type Address Comment BL_MOVE_VELOCITY_LX05 3 Execute Bool % MW1300:X0 Start of the movement Velocity mode Velocity Dint % MD1304 Set speed Axis Int % MW1308 Node-ID Temp Int % MW1310 InVelocity Bool % MW1302:X0 Set speed reached CommandAborted Bool % MW1302:X1 not used at the moment! Error Bool % MW1302:X2 Busy Bool % MW1302:X3 In the profile velocity mode the drive is accelerated to an adjustable setpoint speed. When it is reached the output InVelocity is true. To stop the operation mode, the set speed must be zero. The profile velocity mode is also a standardised operation mode. Generally, to activate it the parameter operation mode (6060:0h) must be set with 03h. Then, after the reading of the actual operation mode (6061:0h) the movement starts by writing a set value directly to the target velocity on PDO3. The status word gives detailed information. In the program example the function block BL_MOVE_VELOCITY_LX05 is called in rung 24. The subroutine starts in rung 99. Rung 100 is the initialization of the internal and output signals. The operation mode must be started by writing parameter 6060:0h with 3h (rung ). After that the operation status must be checked by reading parameter 6061:0h. The contents must be 3h (rung ). In rung 109 the movement starts if the set speed is different from zero, otherwise it stops. Rung 110 generates a help flag if the set speed is zero. Rung 111 is the end of the operation mode depending on the information of the status word. Rung 112 is necessary to delay the execution of rung 111. Rung 113 writes the output InVelocity. When an error appears during that movement, an alarm bit is true and the function gets a complete reset (rung ). With the return in rung 116 the subroutine is finished and the program continues in the main program. 29

30 Here are the information from the status word (source: Lexium05 documentation): 30

31 The CAN open technical documentation describes also the activation of the operation mode: The enabling of the PDO is done automatically during the initialization of the bus, also the NMT command Start Remote node. The activation of the power circuit happens in rung 7. To set the acceleration ramp, deceleration ramp and restrict setpoint speed is optional. 31

32 Point to point mode (rung ; function call in rung 25) Axis Execute Velocity Position BL_MOVE_PTP_LX05 InVelocity Error Busy Name Subroutine Inputs Outputs Internal Type Address Comment BL_MOVE_PTP_LX05 4 Execute Bool % MW1400:X0 Start movement Relative (false) or absolute (true) position Point to Point: absolute + relative Absolute Bool % MW1400:X1 mod Position Dint % MD1404 Target position Velocity Int % MW1408 Set speed for the movement Axis Int % MW1410 Node-ID Temp Int % MW1412 Done Bool % MW1402:X0 CommandAborted Bool % MW1402:X1 not used at the moment! Error Bool % MW1402:X2 Busy Bool % MW1402:X3 In the point to point operating mode the drive makes a relative or absolute positioning with a adjustable speed. The profile point to point mode is also a standardised operation mode. Generally, to activate it the parameter operation mode (6060:0h) must be set with 01h. Then, after the reading of the actual operation mode (6061:0h) the movement starts by setting the bits in the control word of PDO2. The status word gives detailed information. In the program example the function block BL_MOVE_VELOCITY_LX05 is called in rung 25. The subroutine starts in rung117. Rung 118 is the initialization of the internal and output signals. In rung the set speed (6081:0h) is set. The operation mode must be started by writing parameter 6060:0h with 1h (rung ). After that the operation status must be checked by reading parameter 6061:0h (rung ). In the rungs the set position is set in the target position in PDO2. Depending on the setting of the bits in the control word of PDO 2 the movement starts (in this program example Bit 5 is not used; source: Lexium05 documentation). 32

33 Rung 133 is the end of the operation mode depending on the information of the status word. When an error appears during that movement, an alarm bit is true and the function gets a complete reset (rung ). With the return in rung 136 the subroutine is finished and the program continues in the main program (source: Lexium05 documentation). 33

34 Read parameter (rung ; function call in rung 26) Axis Enable Index Subindex BL_READ_PARA_LX05 Done Error Busy Value Name Subroutine Inputs Outputs Internal Type Address Comment BL_READ_PARAMETER 5 Enable Bool % MW1500:X0 Start function Read Parameter Index Int % MW1504 Parameter index Subindex Int % MW1506 Parameter subindex Axis Int % MW1508 Node-ID Done Bool % MW1502:X0 Error Bool % MW1502:X1 Busy Bool % MW1502:X2 Value Dint % MD1510 Data value Length Int % MW1512 This function reads a parameter from the drive. In the program example the function block is called in rung 26. In rung 27 the output value is copied to the HMI-variables. The subroutine starts in rung 137. In rung 138 is the read operation. Rung 139 sets the output done and rung 140 copies the value to the output. Rung 141 is the end of the subroutine. Rung reads the error code of the drive (603F:0) and copies the value to the HMI. This is an example how to use the functions. 34

35 Write parameter (rung ; function call in rung 30) BL_WRITE_PARA_LX05 Axis Execute Value Index Subindex Length Done Error Busy Name Subroutine Inputs Outputs Internal Type Address Comment BL_WRITE_PARAMETER 6 Execute Bool % MW1600:X0 Start function Write Parameter Value Dint % MD1604 Value to write Index Int % MW1608 Parameter index Subindex Int % MW1610 Parameter subindex Length Int % MW1612 Parameter length in byte Axis Int % MW1614 Node-ID Done Bool % MW1602:X0 Error Bool % MW1602:X1 Busy Bool % MW1602:X2 This function writes a parameter to the drive. In the program example the function block is called in rung 30. The subroutine starts in rung 142. In rung 143 is the write operation. Rung 144 sets the output done and rung 145 is the end of the subroutine. Important is the correct data length. Otherwise the operation does not work. 35

36 Manual mode (rung ; function call in rung 31-32) BL_MOVE_MAN_LX05 Axis Execute Vel_Slow Vel_Fast Right_slow Right_Fast Left_slow Left_Fast Done Error Busy Name Subroutine Inputs Outputs Internal Type Address Comment BL_MOVE_MANUAL_LX05 7 Execute Bool % MW1700:X0 Manual movement Right_slow Bool MW1700:X0 Right_fast Bool MW1700:X1 Left_slow Bool MW1700:X2 Left_fast Bool MW1700:X3 Vel_Slow Int % MW1704 Vel_Fast Int % MW1706 Axis Int % MW1708 Done Bool % MW1702:X0 Error Bool % MW1702:X1 Busy Bool % MW1702:X2 Temp Int % MW1710 In the manual operating mode the drive has two speeds for each direction. The profile velocity mode is a manufacturer-specific operation mode. Generally, to activate it the parameter operation mode (6060:0h) must be set with FFh. Then, after the reading of the actual operation mode (6061:0h) the movement starts with writing parameter JOGactivate (301B:9h). 36

37 In the program example the function block BL_MOVE_MAN_LX05 is called in rung The subroutine starts in rung 146. Rung 147 is the initialization of the internal and output signals. In rung the slow speed (3029:4h) is set, in rung the fast speed (3029:5h). The operation mode must be started with writing parameter 6060:0h with FFh (rung ). After that the operation status must be checked by reading parameter 6061:0h. The contents must be FFh (rung ). In rung 164 the movement starts in the right direction. In rung 165 the movement starts in the left direction. Rung 166 is necessary to stop the drive. When the movement has started the signal X_END in the status word is false (rung 167). When all of the four input bits are false and the X_END is true again the operation mode is finished rung 168). Rung 169 is for the error bit. The reset of the function is disabled. This is necessary if the manual should work although an error is active, for example to move the drive in the right direction from left limit switch. With the return in rung 171 the subroutine is finished and the program continues in the main program. Summary This application shows one possibility how to activate different operation modes at one drive, using the subroutines and memory words. It would be also possible to activate the modes using a sequence, step counter, To use more drives is possible, but the software needs to be extended with the input and output variables of the further drives. This application does not use all available operation modes. There are some more, for example the current control mode. To use this example it is also necessary to use the Lexium05 device manual and the Lexium05 CANopen manual. Designed by Patrick Friedmann Berger Lahr GmbH Customer Support Center - Technical Support Gewerbestraße 9 D Hohberg-Niederschopfheim. Tel.: / Fax: / mailto:patrick.friedmann@berger-lahr.com 37