Ping - Andreas and or Others: Anyone know have any ideas why I am getting the errors that are discussed in this thread?
Thanks for all the help! On Tue, Nov 23, 2010 at 9:34 AM, Newell Jensen <[email protected]> wrote: > Andreas, > > Here is the output from: > > 1. $ ethercat slaves -v > > === Master 0, Slave 0 === > State: PREOP > Flag: + > Identity: > Vendor Id: 0x00000002 > Product code: 0x044c2c52 > Revision number: 0x00110000 > Serial number: 0x00000000 > DL information: > FMMU bit operation: no > Distributed clocks: yes, 64 bit > DC system time transmission delay: 0 ns > Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] > NextDc [ns] > 0 MII up open yes - 2549051802 > 0 0 > 1 EBUS up open yes 1 2549052242 > 440 220 > 2 MII down closed no - - > - - > 3 N/A down closed no - - > - - > General: > Group: SystemBk > Image name: > Order number: EK1100 > Device name: EK1100 EtherCAT-Koppler (2A E-Bus) > Flags: > Enable SafeOp: no > Enable notLRW: no > Current consumption: -2000 mA > === Master 0, Slave 1 === > State: PREOP > Flag: + > Identity: > Vendor Id: 0x00000002 > Product code: 0x07d43052 > Revision number: 0x00100000 > Serial number: 0x00000000 > DL information: > FMMU bit operation: no > Distributed clocks: yes, 64 bit > DC system time transmission delay: 220 ns > Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] > NextDc [ns] > 0 EBUS up open yes 0 2549892332 > 0 220 > 1 EBUS up open yes - 2549892482 > 150 0 > 2 N/A down closed no - - > - - > 3 N/C down closed no - - > - - > General: > Group: DigOut > Image name: TERM_DO > Order number: EL2004 > Device name: EL2004 4K. Dig. Ausgang 24V, 0.5A > Flags: > Enable SafeOp: no > Enable notLRW: no > Current consumption: 100 mA > > > 2. $ ethercat master -v > > Master0 > Phase: Idle > Active: no > Slaves: 2 > Ethernet devices: > Main: 00:04:5f:b0:8e:49 (attached) > Link: UP > Tx frames: 126992 > Rx frames: 126991 > Lost frames: 0 > Tx bytes: 7619664 > Tx errors: 0 > Tx frame rate [1/s]: 525 542 534 > Tx rate [KByte/s]: 30.8 31.8 31.3 > Loss rate [1/s]: 0 0 0 > Frame loss [%]: 0.0 0.0 0.0 > > Backup: None. > Distributed clocks: > Reference clock: Slave 0 > Application time: 0 > 2000-01-01 00:00:00.000000000 > > > 3. And here is my code (I just modified the user example main.c a bit): > > > > /***************************************************************************** > * > * $Id$ > * > * Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH > * > * This file is part of the IgH EtherCAT Master. > * > * The IgH EtherCAT Master is free software; you can redistribute it > and/or > * modify it under the terms of the GNU General Public License version 2, > as > * published by the Free Software Foundation. > * > * The IgH EtherCAT Master is distributed in the hope that it will be > useful, > * but WITHOUT ANY WARRANTY; without even the implied warranty of > * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU > General > * Public License for more details. > * > * You should have received a copy of the GNU General Public License along > * with the IgH EtherCAT Master; if not, write to the Free Software > * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 > USA > * > * --- > * > * The license mentioned above concerns the source code only. Using the > * EtherCAT technology and brand is only permitted in compliance with the > * industrial property and similar rights of Beckhoff Automation GmbH. > * > > ****************************************************************************/ > > #include <errno.h> > #include <signal.h> > #include <stdio.h> > #include <string.h> > #include <sys/resource.h> > #include <sys/time.h> > #include <sys/types.h> > #include <unistd.h> > > > /****************************************************************************/ > > #include "ecrt.h" > > > /****************************************************************************/ > > // Application parameters > #define FREQUENCY 100 > #define PRIORITY 1 > > // Optional features > #define CONFIGURE_PDOS 1 > #define SDO_ACCESS 0 > > > /****************************************************************************/ > > // EtherCAT > static ec_master_t *master = NULL; > static ec_master_state_t master_state = {}; > > static ec_domain_t *domain1 = NULL; > static ec_domain_state_t domain1_state = {}; > > static ec_slave_config_t *sc_ana_in = NULL; > static ec_slave_config_state_t sc_ana_in_state = {}; > > // Timer > static unsigned int sig_alarms = 0; > static unsigned int user_alarms = 0; > > > /****************************************************************************/ > > // process data > static uint8_t *domain1_pd = NULL; > > // nj -- this was found from command: $ ethercat slaves > #define BusCouplerPos 0, 0 > #define DigOutSlavePos 0, 1 > #define DigInSlavePos 0, 2 > #define AnaOutSlavePos 0, 3 > #define AnaInSlavePos 0, 4 > > // nj -- this was found from the command: $ ethercat slaves -v > // or it can be found when using ethercat cstruct option > #define Beckhoff_EK1100 0x00000002, 0x044c2c52 // bus coupler > #define Beckhoff_EL2004 0x00000002, 0x07d43052 // digital output > #define Beckhoff_EL1004 0x00000002, 0x03ec3052 // digital input > #define Beckhoff_EL4132 0x00000002, 0x10243052 // analog output > #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 // analog input > > > // offsets for PDO entries > static unsigned int off_ana_in_status; > static unsigned int off_ana_in_value; > static unsigned int off_ana_out; > static unsigned int off_dig_out; > static unsigned int off_dig_in; // nj -- added > > const static ec_pdo_entry_reg_t domain1_regs[] = { > {DigOutSlavePos, Beckhoff_EL2004, 0x7000, 1, &off_dig_out}, > {DigInSlavePos, Beckhoff_EL1004, 0x6000, 1, &off_dig_in}, > {AnaOutSlavePos, Beckhoff_EL4132, 0x3001, 1, &off_ana_out}, > {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status}, > {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value}, > {} > }; > > static unsigned int counter = 0; > static unsigned int blink = 0; > > > /*****************************************************************************/ > > #if CONFIGURE_PDOS > // DIGITAL OUTPUT > /* Master 0, Slave 1, "EL2004" > * Vendor ID: 0x00000002 > * Product code: 0x07d43052 > * Revision number: 0x00100000 > */ > > ec_pdo_entry_info_t el2004_pdo_entries[] = { > {0x7000, 0x01, 1}, /* Output */ > {0x7010, 0x01, 1}, /* Output */ > {0x7020, 0x01, 1}, /* Output */ > {0x7030, 0x01, 1}, /* Output */ > }; > > ec_pdo_info_t el2004_pdos[] = { > {0x1600, 1, el2004_pdo_entries + 0}, /* Channel 1 */ > {0x1601, 1, el2004_pdo_entries + 1}, /* Channel 2 */ > {0x1602, 1, el2004_pdo_entries + 2}, /* Channel 3 */ > {0x1603, 1, el2004_pdo_entries + 3}, /* Channel 4 */ > }; > > ec_sync_info_t el2004_syncs[] = { > {0, EC_DIR_OUTPUT, 4, el2004_pdos + 0, EC_WD_ENABLE}, > {0xff} > }; > > // DIGITAL INPUT > /* Master 0, Slave 2, "EL1004" > * Vendor ID: 0x00000002 > * Product code: 0x03ec3052 > * Revision number: 0x00100000 > */ > > ec_pdo_entry_info_t el1004_pdo_entries[] = { > {0x6000, 0x01, 1}, /* Input */ > {0x6010, 0x01, 1}, /* Input */ > {0x6020, 0x01, 1}, /* Input */ > {0x6030, 0x01, 1}, /* Input */ > }; > > ec_pdo_info_t el1004_pdos[] = { > {0x1a00, 1, el1004_pdo_entries + 0}, /* Channel 1 */ > {0x1a01, 1, el1004_pdo_entries + 1}, /* Channel 2 */ > {0x1a02, 1, el1004_pdo_entries + 2}, /* Channel 3 */ > {0x1a03, 1, el1004_pdo_entries + 3}, /* Channel 4 */ > }; > > ec_sync_info_t el1004_syncs[] = { > {0, EC_DIR_INPUT, 4, el1004_pdos + 0, EC_WD_DISABLE}, > {0xff} > }; > > // ANALOG OUTPUT > /* Master 0, Slave 3, "EL4132" > * Vendor ID: 0x00000002 > * Product code: 0x10243052 > * Revision number: 0x00000000 > */ > > ec_pdo_entry_info_t el4132_pdo_entries[] = { > {0x3001, 0x01, 16}, /* Value */ > {0x3002, 0x01, 16}, /* Value */ > }; > > ec_pdo_info_t el4132_pdos[] = { > {0x1600, 1, el4132_pdo_entries + 0}, /* RxPDO 001 mapping */ > {0x1601, 1, el4132_pdo_entries + 1}, /* RxPDO 002 mapping */ > }; > > ec_sync_info_t el4132_syncs[] = { > {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, > {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, > {2, EC_DIR_OUTPUT, 2, el4132_pdos + 0, EC_WD_DISABLE}, > {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, > {0xff} > }; > > // ANALOG INPUT > /* Master 0, Slave 4, "EL3102" > * Vendor ID: 0x00000002 > * Product code: 0x0c1e3052 > * Revision number: 0x00000000 > */ > > ec_pdo_entry_info_t el3102_pdo_entries[] = { > {0x3101, 0x01, 8}, > {0x3101, 0x02, 16}, > {0x3102, 0x01, 8}, > {0x3102, 0x02, 16}, > }; > > ec_pdo_info_t el3102_pdos[] = { > {0x1a00, 2, el3102_pdo_entries + 0}, /* TxPDO 001 mapping */ > {0x1a01, 2, el3102_pdo_entries + 2}, /* TxPDO 002 mapping */ > }; > > ec_sync_info_t el3102_syncs[] = { > {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, > {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, > {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, > {3, EC_DIR_INPUT, 2, el3102_pdos + 0, EC_WD_DISABLE}, > {0xff} > }; > #endif > > > /*****************************************************************************/ > > #if SDO_ACCESS > static ec_sdo_request_t *sdo; > #endif > > > /*****************************************************************************/ > > void check_domain1_state(void) > { > ec_domain_state_t ds; > > ecrt_domain_state(domain1, &ds); > > if (ds.working_counter != domain1_state.working_counter) > //printf("Domain1: WC %u.\n", ds.working_counter); > if (ds.wc_state != domain1_state.wc_state) > //printf("Domain1: State %u.\n", ds.wc_state); > > domain1_state = ds; > } > > > /*****************************************************************************/ > > void check_master_state(void) > { > ec_master_state_t ms; > > ecrt_master_state(master, &ms); > > if (ms.slaves_responding != master_state.slaves_responding) > //printf("%u slave(s).\n", ms.slaves_responding); > if (ms.al_states != master_state.al_states) > //printf("AL states: 0x%02X.\n", ms.al_states); > if (ms.link_up != master_state.link_up) > //printf("Link is %s.\n", ms.link_up ? "up" : "down"); > > master_state = ms; > } > > > /*****************************************************************************/ > > void check_slave_config_states(void) > { > ec_slave_config_state_t s; > > ecrt_slave_config_state(sc_ana_in, &s); > > if (s.al_state != sc_ana_in_state.al_state) > //printf("AnaIn: State 0x%02X.\n", s.al_state); > if (s.online != sc_ana_in_state.online) > //printf("AnaIn: %s.\n", s.online ? "online" : "offline"); > if (s.operational != sc_ana_in_state.operational) > //printf("AnaIn: %soperational.\n", > //s.operational ? "" : "Not "); > > sc_ana_in_state = s; > } > > > /*****************************************************************************/ > > #if SDO_ACCESS > void read_sdo(void) > { > switch (ecrt_sdo_request_state(sdo)) { > case EC_REQUEST_UNUSED: // request was not used yet > ecrt_sdo_request_read(sdo); // trigger first read > break; > case EC_REQUEST_BUSY: > fprintf(stderr, "Still busy...\n"); > break; > case EC_REQUEST_SUCCESS: > fprintf(stderr, "SDO value: 0x%04X\n", > EC_READ_U16(ecrt_sdo_request_data(sdo))); > ecrt_sdo_request_read(sdo); // trigger next read > break; > case EC_REQUEST_ERROR: > fprintf(stderr, "Failed to read SDO!\n"); > ecrt_sdo_request_read(sdo); // retry reading > break; > } > } > #endif > > > /****************************************************************************/ > > void cyclic_task() > { > int i; > > // receive process data > ecrt_master_receive(master); > ecrt_domain_process(domain1); > > // check process data state (optional) > check_domain1_state(); > > /* if (counter) { */ > /* counter--; */ > /* } else { // do this at 1 Hz */ > // counter = FREQUENCY; > > // calculate new process data > blink = !blink; > > // check for master state (optional) > //check_master_state(); > > // check for islave configuration state(s) (optional) > //check_slave_config_states(); > > #if SDO_ACCESS > // read process data SDO > read_sdo(); > #endif > > // } > > #if 0 > // read process data > printf("AnaIn: state %u value %u\n", > EC_READ_U8(domain1_pd + off_ana_in_status), > EC_READ_U16(domain1_pd + off_ana_in_value)); > #endif > > #if 1 > // write process data > EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x01 : 0x00); > #endif > > // send process data > ecrt_domain_queue(domain1); > ecrt_master_send(master); > } > > > /****************************************************************************/ > > void signal_handler(int signum) { > switch (signum) { > case SIGALRM: > sig_alarms++; > break; > } > } > > > /****************************************************************************/ > > int main(int argc, char **argv) > { > ec_slave_config_t *sc; > struct sigaction sa; > struct itimerval tv; > > master = ecrt_request_master(0); > if (!master) > return -1; > > domain1 = ecrt_master_create_domain(master); > if (!domain1) > return -1; > > if (!(sc_ana_in = ecrt_master_slave_config( > master, AnaInSlavePos, Beckhoff_EL3102))) { > fprintf(stderr, "Failed to get slave configuration.\n"); > return -1; > } > > #if SDO_ACCESS > fprintf(stderr, "Creating SDO requests...\n"); > if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, > 2))) { > fprintf(stderr, "Failed to create SDO request.\n"); > return -1; > } > ecrt_sdo_request_timeout(sdo, 500); // ms > #endif > > #if CONFIGURE_PDOS > printf("Configuring PDOs...\n"); > if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) { > fprintf(stderr, "Failed to configure PDOs (3102).\n"); > return -1; > } > > if (!(sc = ecrt_master_slave_config( > master, AnaOutSlavePos, Beckhoff_EL4132))) { > fprintf(stderr, "Failed to get slave configuration.\n"); > return -1; > } > > if (ecrt_slave_config_pdos(sc, EC_END, el4132_syncs)) { > fprintf(stderr, "Failed to configure PDOs (4132).\n"); > return -1; > } > > if (!(sc = ecrt_master_slave_config( > master, DigOutSlavePos, Beckhoff_EL2004))) { > fprintf(stderr, "Failed to get slave configuration.\n"); > return -1; > } > > if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { > fprintf(stderr, "Failed to configure PDOs (2004).\n"); > return -1; > } > > if (!(sc = ecrt_master_slave_config( > master, DigInSlavePos, Beckhoff_EL1004))) { > fprintf(stderr, "Failed to get slave configuration.\n"); > return -1; > } > > if (ecrt_slave_config_pdos(sc, EC_END, el1004_syncs)) { > fprintf(stderr, "Failed to configure PDOs (1004).\n"); > return -1; > } > #endif > > // Create configuration for bus coupler > sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); > if (!sc) > return -1; > > if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { > fprintf(stderr, "PDO entry registration failed (EK1100)!\n"); > return -1; > } > > //printf("Activating master...\n"); > if (ecrt_master_activate(master)) > return -1; > > if (!(domain1_pd = ecrt_domain_data(domain1))) { > return -1; > } > > #if PRIORITY > pid_t pid = getpid(); > if (setpriority(PRIO_PROCESS, pid, -19)) > fprintf(stderr, "Warning: Failed to set priority: %s\n", > strerror(errno)); > #endif > > sa.sa_handler = signal_handler; > sigemptyset(&sa.sa_mask); > sa.sa_flags = 0; > if (sigaction(SIGALRM, &sa, 0)) { > fprintf(stderr, "Failed to install signal handler!\n"); > return -1; > } > > //printf("Starting timer...\n"); > tv.it_interval.tv_sec = 0; > tv.it_interval.tv_usec = 250;//1000000 / FREQUENCY; > tv.it_value.tv_sec = 0; > tv.it_value.tv_usec = 1000; > if (setitimer(ITIMER_REAL, &tv, NULL)) { > fprintf(stderr, "Failed to start timer: %s\n", strerror(errno)); > return 1; > } > > while (1) { > pause(); > > #if 0 > struct timeval t; > gettimeofday(&t, NULL); > printf("%u.%06u\n", t.tv_sec, t.tv_usec); > #endif > > while (sig_alarms != user_alarms) { > cyclic_task(); > user_alarms++; > } > } > > return 0; > } > > > /****************************************************************************/ > > > > > > > On Mon, Nov 22, 2010 at 11:43 PM, Andreas Stewering-Bone <[email protected] > > wrote: > >> Hello Newell, >> >> There seems to be a communication problem. >> >> can you reduce the slaves only using the EK1100 and the EL2004 >> >> and post >> >> ethercat slaves -v >> >> and >> >> ethercat master -v >> >> and maybe your code >> >> Greatings >> >> >> Andreas >> >> >> >> Newell Jensen schrieb: >> >>> Hello All, >>> >>> I am in the middle of trying to test a simple cyclic loop that toggles >>> the digital output of the EL2004 which is attached to the EK1100. We have >>> an oscilloscope attached to this digital output so that we can verify the >>> square waveform that is created from the toggling of this digital output to >>> see how fast the system can respond. However, we are getting some bleeps in >>> this waveform and I believe they are coming from the following errors: >>> >>> [ 24.920744] EtherCAT: Accepting device 00:04:5F:B0:8E:49 for master 0. >>> [ 24.920924] ec_generic: Binding socket to interface 3 (eth1). >>> [ 24.930057] EtherCAT 0: Starting EtherCAT-IDLE thread. >>> [ 25.532553] e1000e: eth1 NIC Link is Up 100 Mbps Full Duplex, Flow >>> Control: None >>> [ 25.532724] 0000:02:00.0: eth1: 10/100 speed: disabling TSO >>> [ 25.533311] EtherCAT 0: Link state changed to UP. >>> [ 25.533401] ADDRCONF(NETDEV_CHANGE): eth1: link becomes ready >>> [ 25.535026] EtherCAT 0: 5 slave(s) responding. >>> [ 25.535160] EtherCAT 0: Slave states: PREOP. >>> [ 25.537370] EtherCAT 0: Scanning bus. >>> [ 27.158003] e1000e: eth0 NIC Link is Up 1000 Mbps Full Duplex, Flow >>> Control: RX/TX >>> [ 27.384322] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 27.596617] EtherCAT ERROR 0-4: Reception of CoE upload request for >>> SDO 0x1c12:0 failed with timeout after 1000 ms: No response. >>> [ 27.596636] EtherCAT ERROR 0-4: Failed to read number of assigned PDOs >>> for SM2. >>> [ 28.596325] EtherCAT ERROR 0-4: Reception of CoE upload request for >>> SDO 0x1c13:0 failed with timeout after 1000 ms: No response. >>> [ 28.596344] EtherCAT ERROR 0-4: Failed to read number of assigned PDOs >>> for SM3. >>> [ 28.596355] EtherCAT 0: Bus scanning completed in 3061 ms. >>> [ 28.596364] EtherCAT ERROR 0: Failed to calculate bus topology. >>> [ 215.389287] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 215.389324] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 341.602318] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 341.602339] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 403.613306] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 403.613369] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 469.944365] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 469.944387] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 500.001363] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 500.001384] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 523.217296] EtherCAT WARNING 0: 2 datagrams TIMED OUT! >>> [ 523.217332] EtherCAT WARNING 0: 2 datagrams UNMATCHED! >>> [ 683.901311] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 683.901395] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 757.067347] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 757.067368] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 759.003291] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 759.003331] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 1060.422312] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 1060.422370] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 1492.539299] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 1492.539339] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 2260.018306] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 2260.018364] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> [ 2435.205290] EtherCAT WARNING 0: 1 datagram TIMED OUT! >>> [ 2435.205325] EtherCAT WARNING 0: 1 datagram UNMATCHED! >>> >>> >>> Any one have any ideas how I can get rid of all these different errors? >>> >>> Plus, we are shooting for having a system that polls (cyclic task) at 0.5 >>> ms (2 kHz) with a jitter of about 10 us and from everything that I have read >>> in the ethercat master documentation pdf...it seems like this should not be >>> a problem at all. >>> >>> My setup: >>> Linux ubuntu-ioc 2.6.31-11-rt #154-Ubuntu SMP PREEMPT RT Wed Jun 9 >>> 12:28:53 UTC 2010 i686 GNU/Linux >>> generic driver >>> IgH EtherCAT master devel e9f722488fcd >>> >>> Thanks! >>> >>> -- >>> >>> Newell >>> >>> >>> ------------------------------------------------------------------------ >>> >>> _______________________________________________ >>> etherlab-users mailing list >>> [email protected] >>> http://lists.etherlab.org/mailman/listinfo/etherlab-users >>> >>> >> >> >> -- >> >> ------------------------------------------------------------------------ >> >> Dipl.-Ing. Andreas Stewering-Bone Amtsgericht Essen HRB 11500 >> Ingenieurgemeinschaft IgH USt-Id.-Nr.: DE 174 626 722 >> Gesellschaft für Ingenieurleistungen mbH Geschäftsführung: >> Heinz-Bäcker-Str. 34 Dr.-Ing. S. Rotthäuser >> D-45356 Essen Dr.-Ing. T. Finke >> Tel.: +49 201 / 360-14-15 Dr.-Ing. W. Hagemeister >> Fax.: +49 201 / 360-14-14 Tel.: +49 201 / 360-14-0 >> [email protected] http://www.igh-essen.com >> ------------------------------------------------------------------------ >> >> > > > -- > > Newell > > > -- Newell
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