WAGO 2-Channel Analog Input for Resistor Bridges User manual

Type
User manual
Manual
WAGO I/O System 750
750-1491
2AI Resistor Bridge (Strai
n Gauge)
2
-Channel Analog Input for Resistor Bridges
(Strain Gauge)
Version 1.0.0
2 WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
© 2020 WAGO Kontakttechnik GmbH & Co. KG
All rights reserved.
WAGO Kontakttechnik GmbH & Co. KG
Hansastraße 27
D-32423 Minden
Phone: +49 (0) 571/8 87 – 0
Fax: +49 (0) 571/8 87 1 69
Web: www.wago.com
Technical Support
Phone: +49 (0) 571/8 87 4 45 55
Fax: +49 (0) 571/8 87 84 45 55
Every conceivable measure has been taken to ensure the accuracy and
completeness of this documentation. However, as errors can never be fully
excluded, we always appreciate any information or suggestions for improving the
documentation.
We wish to point out that the software and hardware terms as well as the
trademarks of companies used and/or mentioned in the present manual are
generally protected by trademark or patent.
WAGO is a registered trademark of WAGO Verwaltungsgesellschaft mbH.
WAGO I/O System 750 Table of Contents 3
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
Table of Contents
1 Notes about this Documentation ............................................................. 6
1.1 Validity of this Documentation................................................................. 6
1.2 Copyright ................................................................................................ 7
1.3 Symbols ................................................................................................. 8
1.4 Number Notation .................................................................................. 10
1.5 Font Conventions ................................................................................. 10
2 Important Notes ...................................................................................... 11
2.1 Legal Bases .......................................................................................... 11
2.1.1 Subject to Changes .......................................................................... 11
2.1.2 Personnel Qualifications .................................................................. 11
2.1.3 Use of the 750 Series in Compliance with Underlying Provisions ..... 11
2.1.4 Technical Condition of Specified Devices......................................... 12
2.1.4.1 Disposal ...................................................................................... 12
2.1.4.1.1 Electrical and Electronic Equipment ........................................ 12
2.1.4.1.2 Packaging ............................................................................... 13
2.2 Safety Advice (Precautions) ................................................................. 14
3 Device Description .................................................................................. 18
3.1 View ..................................................................................................... 21
3.2 Connectors ........................................................................................... 22
3.2.1 Data Contacts/Local Bus .................................................................. 22
3.2.2 Power Jumper Contacts/Field Supply .............................................. 23
3.2.3 Push-in CAGE CLAMP
®
Connectors ................................................ 25
3.3 Display Elements .................................................................................. 26
3.4 Schematic Diagram .............................................................................. 27
3.5 Technical Data ..................................................................................... 28
3.5.1 Connection Type .............................................................................. 29
3.5.2 Climatic Environmental Conditions ................................................... 29
3.6 Approvals ............................................................................................. 30
3.7 Standards and Guidelines .................................................................... 31
4 Process Image ......................................................................................... 32
4.1 Overview .............................................................................................. 32
4.2 Control and Status Byte ........................................................................ 34
4.2.1 Process Data ................................................................................... 36
4.2.2 Overview of Signal Voltages ............................................................ 36
4.2.3 Conversion of the Process Values ................................................... 37
4.2.4 Resistor Bridge (Strain Gauge) ........................................................ 38
4.2.5 SG Bridge Voltage U
d
(±15 mV) ....................................................... 39
4.2.6 SG Bridge Voltage U
d
(±30 mV) ....................................................... 39
4.2.7 SG Bridge Voltage U
d
(±60 mV) ....................................................... 40
4.2.8 SG Bridge Voltage U
d
(±120 mV) ..................................................... 40
4.2.9 SG Bridge Voltage U
d
(±240 mV) ..................................................... 41
4.2.10 SG Bridge Voltage U
d
(±360 mV) ..................................................... 41
4.2.11 SG Reference Voltage U
ref
(+5 V internal) ........................................ 42
4.2.12 SG Reference Voltage U
ref
(±5 V external) ....................................... 42
4.2.13 SG Reference Voltage U
ref
(±10 V external) ..................................... 43
4 Table of Contents WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
4.2.14 SG Reference Voltage U
ref
(±15 V external) ..................................... 43
5 Mounting .................................................................................................. 44
5.1 Mounting Sequence .............................................................................. 45
5.2 Inserting and Removing Devices .......................................................... 46
5.2.1 Inserting the I/O Module ................................................................... 46
5.2.2 Removing the I/O Module ................................................................ 47
6 Connect Devices ..................................................................................... 48
6.1 Connecting a Conductor to the Push-in CAGE CLAMP
®
...................... 48
6.2 Connection Examples ........................................................................... 50
6.2.1 6-Wire Operation .............................................................................. 50
6.2.2 4-Wire Operation (Internal Supply) ................................................... 51
6.2.3 4-Wire Operation (External Supply) .................................................. 51
6.2.4 Calibration ........................................................................................ 52
6.2.4.1 Connection Examples with External Power Supply ...................... 52
6.2.4.2 Connection Examples with Internal Power Supply ....................... 53
7 Commissioning ....................................................................................... 54
7.1 Preparation ........................................................................................... 54
7.1.1 Filter Mode ....................................................................................... 54
7.2 Tooling ................................................................................................. 55
7.3 Configuration and Parameterization with WAGO-I/O-CHECK .............. 56
7.3.1 Parameterization Dialog ................................................................... 58
7.3.1.1 Title Bar ....................................................................................... 58
7.3.1.2 Information Bar ............................................................................ 59
7.3.1.3 Buttons ........................................................................................ 59
7.3.1.4 Menu ........................................................................................... 60
7.3.2 Settings via the Menu....................................................................... 60
7.3.2.1 Common ...................................................................................... 61
7.3.2.2 Input Settings .............................................................................. 62
7.3.2.3 Scaling ........................................................................................ 65
7.3.2.4 Calibration ................................................................................... 68
7.4 Configuration and Parameterization with e!COCKPIT ........................... 73
7.5 Configuration and Parameterization via GSD File ................................. 73
7.5.1 750-1491 (2AI Resistor Bridge (Strain Gauge)) Configuration .......... 73
7.5.1.1 PROFIBUS DP Fieldbus Couplers 750-333(/0xx-000) ................. 73
7.5.1.2 PROFINET IO Fieldbus Couplers 750-375(/025-000),
750-377(/025-000) ....................................................................... 74
7.5.2 750-1491 (2AI Resistor Bridge (Strain Gauge)) Parameterization .... 74
7.5.2.1 PROFIBUS DP Fieldbus Couplers 750-333(/0xx-000) ................. 74
7.5.2.2 PROFINET IO Fieldbus Couplers 750-375(/025-000),
750-377(/025-000) ....................................................................... 75
7.5.2.3 All PROFIBUS DP and PROFINET IO Fieldbus Couplers ........... 76
7.5.2.4 PROFIBUS DP Fieldbus Couplers 750-333(/0xx-000) ................. 76
7.5.2.5 PROFINET IO Fieldbus Couplers 750-375(/025-000),
750-377(/025-000) ....................................................................... 77
8 Scaling Measured Values ....................................................................... 78
9 Calibrating Measured Values ................................................................. 79
9.1 Calibration when Operating with an External Power Supply ................. 79
WAGO I/O System 750 Table of Contents 5
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
9.2 Calibration when Operating with an Internal Power Supply ................... 82
10 Diagnostics.............................................................................................. 84
10.1 Behavior of the I/O Module in the Event of Error ................................... 84
10.2 Diagnostics via LED Indicators ............................................................. 87
11 Use in Hazardous Environments ........................................................... 89
11.1 Marking Configuration Examples .......................................................... 90
11.1.1 Marking for Europe According to ATEX and IECEx .......................... 90
11.1.2 Marking for the United States of America (NEC) and Canada
(CEC) ............................................................................................... 94
11.2 Installation Regulations......................................................................... 97
11.2.1 Special Notes including Explosion Protection ................................... 97
11.2.2 Special Notes Regarding UL Hazardous Location ............................ 99
12 Service ................................................................................................... 100
12.1 Factory Setting (Default Values) ......................................................... 100
12.2 Firmware Update/Downgrade ............................................................. 100
12.3 Recalibration ...................................................................................... 102
12.4 WAGO UII (Unique Item Identifier) ..................................................... 103
13 Strain Gauge Application Example ...................................................... 103
List of Figures ................................................................................................ 104
List of Tables .................................................................................................. 106
6 Notes about this Documentation WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
1 Notes about this Documentation
Always retain this documentation!
This documentation is part of the product. Therefore, retain the documentation
during the entire service life of the product. Pass on the documentation to any
subsequent user. In addition, ensure that any supplement to this documentation
is included, if necessary.
1.1 Validity of this Documentation
This documentation is only applicable to the I/O module 750-1491
(2AI Resistor Bridge (Strain Gauge)).
The I/O module 750-1491 shall only be installed and operated according to the
instructions in this manual and in the manual for the used fieldbus coupler or
controller.
Consider power layout of the WAGO I/O System 750!
In addition to these operating instructions, you will also need the manual for the
used fieldbus coupler or controller, which can be downloaded at www.wago.com
.
There, you can obtain important information including information on electrical
isolation, system power and supply specifications.
WAGO I/O System 750 Notes about this Documentation 7
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
1.2 Copyright
This Manual, including all figures and illustrations, is copyright-protected. Any
further use of this Manual by third parties that violate pertinent copyright
provisions is prohibited. Reproduction, translation, electronic and phototechnical
filing/archiving (e.g., photocopying) as well as any amendments require the
written consent of WAGO Kontakttechnik GmbH & Co. KG, Minden, Germany.
Non-observance will involve the right to assert damage claims.
8 Notes about this Documentation WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
1.3 Symbols
Personal Injury!
Indicates a high-risk, imminently hazardous situation which, if not avoided, will
result in death or serious injury.
Personal Injury Caused by Electric Current!
Indicates a high-risk, imminently hazardous situation which, if not avoided, will
result in death or serious injury.
Personal Injury!
Indicates a moderate-risk, potentially hazardous situation which, if not avoided,
could result in death or serious injury.
Personal Injury!
Indicates a low-risk, potentially hazardous situation which, if not avoided, may
result in minor or moderate injury.
Damage to Property!
Indicates a potentially hazardous situation which, if not avoided, may result in
damage to property.
Damage to Property Caused by Electrostatic Discharge (ESD)!
Indicates a potentially hazardous situation which, if not avoided, may result in
damage to property.
Important Note!
Indicates a potential malfunction which, if not avoided, however, will not result in
damage to property.
WAGO I/O System 750 Notes about this Documentation 9
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
Additional Information:
Refers to additional information which is not an integral part of this
documentation (e.g., the Internet).
10 Notes about this Documentation WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
1.4 Number Notation
Table 1: Number Notation
Number Code
Example
Note
Decimal
100
Normal notation
Hexadecimal
0x64
C notation
Binary
'100'
'0110.0100'
In quotation marks, nibble separated
with dots (.)
1.5 Font Conventions
Table 2: Font Conventions
Indicates
Names of paths and data files are marked in italic-type.
e.g.: C:\Program Files\WAGO Software
Menu items are marked in bold letters.
e.g.: Save
A greater-than sign between two names means the selection of a
menu item from a menu.
e.g.: File > New
Designation of input or optional fields are marked in bold letters,
e.g.: Start of measurement range
Input or selective values are marked in inverted commas.
e.g.: Enter the value “4 mA” under
Start of measurement range
.
Pushbuttons in dialog boxes are marked with bold letters in square
brackets.
e.g.: [Input]
Keys are marked with bold letters in square brackets.
e.g.: [F5]
WAGO I/O System 750 Important Notes 11
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
2 Important Notes
This section includes an overall summary of the most important safety
requirements and notes that are mentioned in each individual section. To protect
your health and prevent damage to devices as well, it is imperative to read and
carefully follow the safety guidelines.
2.1 Legal Bases
2.1.1 Subject to Changes
WAGO Kontakttechnik GmbH & Co. KG reserves the right to provide for any
alterations or modifications. WAGO Kontakttechnik GmbH & Co. KG owns all
rights arising from the granting of patents or from the legal protection of utility
patents. Third-party products are always mentioned without any reference to
patent rights. Thus, the existence of such rights cannot be excluded.
2.1.2 Personnel Qualifications
All sequences implemented on WAGO I/O System 750 devices may only be
carried out by electrical specialists with sufficient knowledge in automation. The
specialists must be familiar with the current norms and guidelines for the devices
and automated environments.
All changes to the coupler or controller should always be carried out by qualified
personnel with sufficient skills in PLC programming.
2.1.3 Use of the 750 Series in Compliance with Underlying
Provisions
Fieldbus couplers, controllers and I/O modules found in the modular WAGO I/O
System 750 receive digital and analog signals from sensors and transmit them to
actuators or higher-level control systems. Using controllers, the signals can also
be (pre-) processed.
The devices have been developed for use in an environment that fulfills the
requirements of protection type IP20 and are designed for use in dry interior
spaces. Protection against finger injury and solid impurities up to 12.5 mm
diameter is assured; protection against water damage is not ensured. Unless
otherwise specified, operation of the devices in wet and dusty environments is
prohibited.
Use without additional protective measures in environments within which dust,
corrosive fumes, gases or ionized radiation can occur is considered improper
use.
Operating the WAGO I/O System 750 devices in home applications without
further measures is only permitted if they meet the emission limits (emissions of
interference) according to EN 61000-6-3. You will find the relevant information in
12 Important Notes WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
the section “Device Description” > “Standards and Guidelines” in the manual for
the used device.
Appropriate housing (per 2014/34/EU) is required when operating the WAGO I/O
System 750 in hazardous environments. Please observe the installation
regulations! Please note that a prototype test certificate must be obtained that
confirms the correct installation of the system in a housing or switch cabinet.
The implementation of safety functions such as EMERGENCY STOP or safety
door monitoring must only be performed by the F I/O modules within the modular
WAGO I/O System 750. Only these safe F I/O modules ensure functional safety
in accordance with the latest international standards. WAGO's interference-free
output modules can be controlled by the safety function.
2.1.4 Technical Condition of Specified Devices
The devices to be supplied ex works are equipped with hardware and software
configurations, which meet the individual application requirements. These
modules contain no parts that can be serviced or repaired by the user. The
following actions will result in the exclusion of liability on the part of WAGO
Kontakttechnik GmbH & Co. KG:
Repairs,
Changes to the hardware or software that are not described in the
operating instructions,
Improper use of the components.
Further details are given in the contractual agreements. Please send your
request for modified and new hardware or software configurations directly to
WAGO Kontakttechnik GmbH & Co. KG.
2.1.4.1 Disposal
2.1.4.1.1 Electrical and Electronic Equipment
Electrical and electronic equipment may not be disposed of
with household waste. This also applies to products without
this symbol.
Electrical and electronic equipment contain materials and substances that can be
harmful to the environment and health. Electrical and electronic equipment must
be disposed of properly after use.
WEEE 2012/19/EU applies throughout Europe. Directives and laws may vary
nationally.
WAGO I/O System 750 Important Notes 13
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
Environmentally friendly disposal benefits health and protects
the environment from harmful substances in electrical and
electronic equipment.
Observe national and local regulations for the disposal of electrical and
electronic equipment.
Clear any data stored on the electrical and electronic equipment.
Remove any added battery or memory card in the electrical and
electronic equipment.
Have the electrical and electronic equipment sent to your local
collection point.
Improper disposal of electrical and electronic equipment can be harmful to the
environment and human health.
2.1.4.1.2 Packaging
Packaging contains materials that can be reused.
PPWD 94/62/EU and 2004/12/EU packaging guidelines apply throughout
Europe. Directives and laws may vary nationally.
Environmentally friendly disposal of the packaging protects the environment and
allows sustainable and efficient use of resources.
Observe national and local regulations for the disposal of packaging.
Dispose of packaging of all types that allows a high level of recovery,
reuse and recycling.
Improper disposal of packaging can be harmful to the environment and wastes
valuable resources.
14 Important Notes WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
2.2 Safety Advice (Precautions)
For installing and operating purposes of the relevant device to your system the
following safety precautions shall be observed:
Do not work on devices while energized!
All power sources to the device shall be switched off prior to performing any
installation, repair or maintenance work.
Install device in only one suitable enclosure!
The device is an open system. Install the device in a suitable enclosure. This
enclosure must:
Guarantee that the max. permissible degree of pollution is not exceeded.
Offer adequate protection against contact.
Prevent fire from spreading outside of the enclosure.
Offer adequate protection against UV irradiation.
Guarantee mechanical stability
Restrict access to authorized personnel and may only be opened with tools
Ensure disconnect and overcurrent protection!
The device is intended for installation in automation technology systems.
Disconnect protection is not integrated. Connected systems must be protected by
a fuse.
Provide suitable disconnect and overcurrent protection on the system side!
Ensure a standard connection!
To minimize any hazardous situations resulting in personal injury or to avoid
failures in your system, the data and power supply lines shall be installed
according to standards, with careful attention given to ensuring the correct
terminal assignment. Always adhere to the EMC directives applicable to your
application.
WAGO I/O System 750 Important Notes 15
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
Power from SELV/PELV power supply only!
All field signals and field supplies connected to this I/O module (750-1491)
must
be powered from SELV/PELV power supply(s)!
System supply only with appropriate fuse protection!
Without overcurrent protection, the electronics can be damaged.
For 24V system supply input voltage an external fuse, rated max. 2 A, slow
acting, min. 30 VDC shall be used.
Field supply only with appropriate fuse protection!
Without overcurrent protection, the electronics can be damaged.
For 24V field supply input voltage an external fuse, rated max. 10 A, slow acting,
min. 30 VDC shall be used.
Do not exceed maximum values via power contacts!
The maximum current that can flow through the power jumper contacts is 10 A.
The power jumper contacts can be damaged and the permissible operating
temperature can be exceeded by higher current values.
When configuring the system, do not exceed the permissible maximum current
value. If there is a higher power requirement, you must use an additional supply
module to provide the field voltage.
Do not exceed the maximum total current for I/O modules (5 VDC) via data
contacts!
The maximum permissible total current for internal system supply of the I/O
modules may not be exceeded. The permissible total current is specified in the
technical data of the head station and power supply. The data contacts for
internal system supply can be damaged and the permissible operating
temperature can be exceeded by higher values.
When configuring the system, do not exceed the permissible total current. If there
is a higher power requirement, you must use an additional supply to provide the
system voltage (5 VDC)!
16 Important Notes WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
Ensure proper contact with the DIN-rail!
Proper electrical contact between the DIN-rail and device is necessary to
maintain the EMC characteristics and function of the device.
Replace defective or damaged devices!
Replace defective or damaged device/module (e.g., in the event of deformed
contacts).
Protect the components against materials having seeping and insulating
properties!
The components are not resistant to materials having seeping and insulating
properties such as: aerosols, silicones and triglycerides (found in some hand
creams). If you cannot exclude that such materials will appear in the component
environment, then install the components in an enclosure being resistant to the
above-mentioned materials. Clean tools and materials are imperative for
handling devices/modules.
Clean only with permitted materials!
Clean housing and soiled contacts with propanol.
Do not use any contact spray!
Do not use any contact spray. The spray may impair contact area functionality in
connection with contamination.
Do not reverse the polarity of connection lines!
Avoid reverse polarity of data and power supply lines, as this may damage the
devices involved.
WAGO I/O System 750 Important Notes 17
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
Avoid electrostatic discharge!
The devices are equipped with electronic components that may be destroyed by
electrostatic discharge when touched. Please observe the safety precautions
against electrostatic discharge per DIN EN 61340-5-1/-3. When handling the
devices, please ensure that environmental factors (personnel, work space and
packaging) are properly grounded.
Correct grounding required!
Incorrectly grounded power supply units can distort the measurement signal.
Make sure that the mounting rail and power supply unit(s) are properly
grounded.
18 Device Description WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
3 Device Description
The analog input module 750-1491 (2AI Resistor Bridge (Strain Gauge)) directly
connects to two resistor bridges.
Connection assignment is described in Section “Connections”; connection
examples are given in Section “Connecting Devices” > ... > “Connection
Examples.”
The bridge voltage U
d
and supply voltage U
ref
of the respective bridge are
digitized with a 16-bit resolution. The two input channels for the respective
resistor bridge are available as two 16-bit values for additional processing.
The bridge detuning can be determined from the quotients of the two
measurement values U
d
and U
ref
.
Use resistor bridges only!
The analog input module 750-1491 (2AI Resistor Bridge (Strain Gauge)) is
designed for connecting two resistor bridges.
Use as a 4-channel module for simple voltage measurement with different
measurement ranges is not intended.
Such use could lead to higher measurement errors.
One green status LED per input indicates the operating status and error-free
local bus communication. One red error LED per input indicates a measurement
underrange/overrange, an overflow/underflow or an internal error. The meaning
of the LEDs is described in Section “Display Elements.”
Field and system levels are electrically isolated. Both channels (resistor bridges)
are electrically isolated from one another.
Any I/O module configuration is possible in the design of the fieldbus node, if the
power jumper contacts are taken into account. An arrangement in blocks within
the potential group is not necessary.
The I/O module 750-1491 (2AI Resistor Bridge (Strain Gauge)) can be used with
the fieldbus couplers/controllers of the WAGO 750 I/O System listed in the
“Compatibility List” table starting with the version indicated.
WAGO I/O System 750 Device Description 19
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
Table 3: Compatibility List 750-1491
Bus System
Fieldbus Coupler/
Controller/PFC
Item No.
Firmware
Version
PROFINET Fieldbus Coupler
750-375
09
750-377
09
PROFIBUS
Fieldbus Coupler
750-333
23
ETHERNET
Fieldbus Coupler
750-341
09
750-342
19
750-352
14
750-362
07
750-363
07
Controller
750-823
07
750-841
21
750-842
19
750-843
03
750-852
14
750-862
07
750-871
09
750-872
05
750-873
05
750-880
14
750-881
14
750-882
14
750-885
14
750-890
07
750-891
07
750-893
07
Application Controller BA
750-884
14
PFC100
750-810x
16
PFC200
750-82xx
16
DeviceNet
Fieldbus Coupler
750-306
4M
ECO Fieldbus Coupler
750-346
11
Controller
750-806
11
CANopen
Fieldbus Coupler
750-337
22
750-338
22
ECO Fieldbus Coupler
750-347
12
750-348
12
Controller
750-837
18
750-838
18
20 Device Description WAGO I/O System 750
750-1491 2AI Resistor Bridge (Strain Gauge)
Manual
Version 1.0.0
Table 3: Compatibility List 750-1491
Bus System
Fieldbus Coupler/
Controller/PFC
Item No.
Firmware
Version
Modbus
®
Fieldbus Coupler
750-315/300-000
01
750-316/300-000
01
Controller
750-815/300-000
01
750-816/300-000
01
EtherCat
Fieldbus Coupler
750-354
05
BACnet
Fieldbus Coupler
750-330
09
750-332
02
Controller
750-829
09
750-832
02
750-831
13
KNX Controller
750-849
05
750-889
14
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WAGO 2-Channel Analog Input for Resistor Bridges User manual

Type
User manual

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