MOTOMAN XRC Robot Controller User’s Manual
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Anúncio
MOTOMAN
MOTOMAN XRC
USER’S MANUAL
MotoDDE version 3.xx
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN ROBOTICS EUROPE
A subsidiary of YASKAWA Electric Corporation
MANUAL NO. MRS55050
MOTOMAN ROBOTICS EUROPE
Revision
000115
Manual updated from old manual (ver. 2.0). New items included.
Also valid for MOTOMAN XRC.
PRELIMINARY ISSUE !
021024
Minor corrections.
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 00-01-14 Revised: 02-10-24 Doc. name: Mrs55050TOC.fm
Page: I
1. General ................................................................. 1
Copyright
MotoDDE-kit
Equipment needed for network communication
Equipment needed for serial communication
Further you may have need for: 2
Hardware and software demands 2
2. Software installation ............................................. 3
1
2
Installation 3
After installation 6
Uninstall 7
3. Communication parameters ................................. 9
4. Robot parameters ............................................... 10
5. Hardware connection .......................................... 11
6. I/O and IRQ installation ...................................... 11
Serial connection
Network connection
12
12
7. Program structure ............................................... 13
Files
Helpprogram
Commands
13
13
14
8. Program running ................................................. 15
Start
Stop
15
15
9. Tags to server ..................................................... 16
10. Client software .................................................... 18
Application software
Client connection
18
18
11. Trouble shooting ................................................. 18
Page: II
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 00-01-14 Revised: 02-10-24 Doc. name: Mrs55050TOC.fm
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Copyright
Created: 99-01-12 Revised: 02-10-24 Doc. name: Mrs55050-ch1.fm
Page: 1
MotoDDE Server
Valid for MotoDDE, ver. 3.xx (Motoman part No. 441129-99).
Fig.1 Main Screen
1. General
MotoDDE is a PC-program.
✔
Machine/Process supervision from PC.
✔
Interface between different application program and robot, see table.
✔
Communication through serial or TCP/IP (Ethernet).
✔
For controllers type YASNAC ERC / MRC or MOTOMAN XRC.
For more basic information about installation and handling of the software, icons, menu bars, etc. refer to the operator’s manual for
Windows95 or Windows NT.
This manual shall always be available to operator.
This Operator’s Manual comprises information about:
✔
Installation / Setup / Handling / Operation
Text written in BOLD letters means command, icon or button.
Text written in ITALIC means text shown on display.
1.1 Copyright
The diskette for MotoDDE-program may not be copied or imparted to a third party nor be used for any unauthorized purpose. Copies may be done only for own backup.
This manual may not be copied or imparted to a third party nor be used for other unauthorized purpose.
Page: 2
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24 Doc. name: Mrs55050-ch1.fm
MotoDDE-kit
1.2 MotoDDE-kit
■
MotoDDE-kit comprises
✔
Installation diskettes
✔
One hardware key
✔
One manual
✔
One registration card
The basic version includes user licence for two (2) Ethernet-clients (two systems).
Licence for serveral clients can be ordered as accessories (part. no. 441132).
■
Equipment needed for network communication
Following equipment demands but are not included in MotoDDE-kit:
✔
YASNAC ERC / MRC or MOTOMAN XRC.
✔
Ethernet board for MRC, JANCD-MIF06, (Motoman part. no. 9050107).
✔
Tranciver, depending on the customers type of network.
✔
Cables / Adaptors
■
Equipment needed for serial communication
Following equipment demands but are not included in MotoDDE-kit:
✔
YASNAC ERC / MRC or MOTOMAN XRC.
✔
Cable for serial communication (MS no. 341779-xx).
■
Further you may have need for:
✔
Programming manual for your robot controller.
✔
Operator’s manual for Windows95/98 or Windows NT.
1.3 Hardware and software demands
✔
One PC type Pentium, 32 Mb RAM, 2 Mb disk space.
✔
3,5”-diskette station, 1,44 Mb (or CD-setup)
✔
Colour monitor (not necessary).
✔
Windows 95/98 or Windows NT.
✔
Ethernetboard (at network communication).
✔
Protective hood, if the PC is installed in the workshop.
MOTOMAN ROBOTICS EUROPE
Software installation
Installation
Created: 96-01-31 Revised: 02-10-24
Page: 3
Doc. name: Software-installation.fm
2. Software installation
Note!
This chapter shows a general installation phase of any software. In this example the software FDDWIN is installed. Select the right software by choosing the appropriate software name.
2.1 Installation
There are three ways to start installation of this software, all will give the same result. The most common way is described below.
a) Put the first diskette named #1 in the disk-drive.
b) Click on the Start button on the menu-bar.
c) Choose Run from the menu.
d) Browse to drive A:\
e) Choose the file named SETUP.EXE
f) Click OK.
Fig.2 Choose installation file
g) Choose OK and the installation guide will start.
h) You can quit the installation att any time by clicking the Cancel-button and then confirm by Yes-button.
Fig.3 You can cancel installation at any time
i)
Mark the language you want to use during installation. Note! This will not influence the language you use in FDDWIN32 later.
Page: 4
Created: 96-01-31 Revised: 02-10-24
MOTOMAN ROBOTICS EUROPE
Software installation
Doc. name: Software-installation.fm
Installation
j)
Click on the OK-button.
Fig.4 Language selection during installation
k) Pass this information screen by clicking the Next-button.
Fig.5 Information screen
l)
Read through the license agreement and accept by clicking on the Next-button.
Fig.6 License agreement. Accept by clicking Next.
m) Set directory for FDDWIN32. It’s advisable to install the software in the directory which is set as default by the installation guide.
MOTOMAN ROBOTICS EUROPE
Software installation
Installation
Created: 96-01-31 Revised: 02-10-24
Page: 5
Doc. name: Software-installation.fm
n) Accept by clicking Next-button.
Fig.7 Choose directory
o) Accept installation process by clicking Next-button.
Fig.8 Start installation
p) Installation starts.
Fig.9 Installation progress counter
q) After some time you are told to enter disk #2/2.
r) Insert disk and click on OK-button.
Fig.10 Insert disk #2
s) The installation is finished and the last screen appears.
Page: 6
Created: 96-01-31 Revised: 02-10-24
MOTOMAN ROBOTICS EUROPE
Software installation
Doc. name: Software-installation.fm
After installation
t) Accept installation by clicking the Finish-button.
Fig.11 Installation complete
u) Before it is possible to run the software, the hardware key must be installed on the parallel port.
2.2 After installation
After installation, fill in and return the registration card to Motoman
Robotics Europe AB.
During installation the main directory is automatically created and all necessary files are installed in the specified drive.
In the end of the setup a program group (MOTOMAN) and a icon is created. To start FDD for Windows just double-click on the Start Menu.
If you want to create a shortcut to FDDWIN32, see Windows manual for further information
MOTOMAN ROBOTICS EUROPE
Software installation
Uninstall
Created: 96-01-31 Revised: 02-10-24
Page: 7
Doc. name: Software-installation.fm
2.3 Uninstall
As in all WIN95/NT softwares there are an uninstall facility if you want to remove the software from the hard disk.
a) Start the Control panel from the start menu. Select Add/Remove button from the menu.
b) Mark the line FDDWIN32 from the menu.
c) Click Add/Remove button.
Fig.12 Mark the FDDWIN32 software
d) Activate uninstall guide by Next-button.
Fig.13 Automatic uninstall
e) End the operation by clicking the Finish-button.
Fig.14 Uninstall
Page: 8
Created: 96-01-31 Revised: 02-10-24
MOTOMAN ROBOTICS EUROPE
Software installation
Doc. name: Software-installation.fm
Uninstall
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24 Doc. name: Mrs55050-ch3.fm
Page: 9
3. Communication parameters
The communication protocol is very special, (for more information see YASNAC
ERC / MRC or MOTOMAN XRC computer communication User’s manual.)
Communication parameters in the PC shall be set as follows:
Baud rate
4800
Data bits
Stop bits
Parity check
8
1
0 (None)
a) Click on Edit in the menu.
b) Click on Set Com Port.
Fig.15 Port setting menu
c) Choose parameters for the robot (see above)
d) Name the robot, for example Robot 1
e) Choose Serial or TCP/IP.
f) If you select TCP/IP the robots IP-address has to be entered.
g) In the field Update data you tell the program how often update from robot shall take place.
The value is written in time; miliseconds. (1000 milisec = 1 sec).
In this example the update will take place every second.
h) When the settings are ok, click on the OK-button.
Page: 10
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24 Doc. name: Mrs55050-ch3.fm
4. Robot parameters
For communication some parameters in the robot controller has to be set as follows. For changing of SD and FD parameters you have to open the robot controller which is protected by a code.
Contact your MOTOMAN-representative for support.
ERC MRC
RS000= (*) Std. port #1
RS001= (*) Std. port #2
Data bit RS00=8
Stop bit RS01=0
Parity
Speed
RS02=0
RS03=64
RS030=8
RS031=0
RS032=0
RS033=6
RS06=100 RS034=100
RS07=255 RS035=255
RS08=4
RS09=5
RS036=30
RS037=10
XRC
SD78=1
SD110=1
FD0=1
FD1=1
FD3=1
FD5=1
FD7=1
FD14=1
FD15=1
*) To run MotoDDE RS000 or RS001 must be set in value ”2” according to the contact you want to use. (Std. port #1 or Std. port #2).
These two parameters must not have the same setting!
Some parameters have to be set under ”Maintenance mode” also.
I/O= NOT USED
COMMAND= USED
PP/PBOX= NOT USED
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24 Doc. name: Mrs55050-ch3.fm
Page: 11
5. Hardware connection
■
ERC
Connect the 25-pole cable connector to the 25-pole socket underneath the lid at the front of the CRT-panel.
■
MRC
Connect the 25-pole cable connector to the 25-pole socket underneath the lid at the front of the door-panel = Std. port #1.
Connect the 9-pole adaptor to the 9-pole socket inside MRC located at MCP01board = Std. port #2.
(*) Settings for parameter RS000 / RS001:
0 = Not used
1 = Printer
2 = Data transmission protocol (PC as host)
3 = FC1 protocol (FDD software)
Hardware key
To be able to run the program it is necessary to apply the hardware key. Mount the hardware key on the parallel port of the PC.
For Windows NT application a parallellport must be installed/created, see Windows NT manual.
■
XRC
........
6. I/O and IRQ installation
For connection following settings are recommended in the PC.
Port
Com1
Com2
Com3
Com4
I/O
03F8
02F8
03E8
02E8
IRQ
5
9
4
3
Settings of I/O and IRQ are made of the software in Windows, choose Control
panel/ Port.
Page: 12
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24 Doc. name: Mrs55050-ch3.fm
Serial connection
6.1 Serial connection
Connection between the PC and the robot controller through serial RS232 interface.
Maximum cable length are 15 meters for every robot controller. It’s possible to use short distance modem if the distance is longer.
Com1 and Com3 are 9-pole plug.
Com2 and Com4 are 25-pole plug.
Cable layout, see figure.
(Ground/shield)
1
2
3
4
5
6
7
8
13
20
25
ERC / MRC / XRC
Cabel
7
8
9
20
25
4
5
6
1
2
3
PC 25-pole
1
2
3
4
7
8
9
5
6
Adaptor
PC 9-pole
Fig.16 Cabel and adaptor
6.2 Network connection
For information about network connection, see separate manual for Ethernet-connection (only MRC).
Files
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24
Page: 13
Doc. name: Mrs55050-ch3.fm
7. Program structure
DdeSvr is a DDE-server ( Dynamic Data Exchange ) software. The program work as a link between a client and ERC/MRC/XRC. DdeSvr control the status of the tags which the user set up in the client program continously. If any of the tags are changed the application software is notified and data is updated. Tags are functions and variables in ERC/MRC/XRC which can be red to, written to or both from external units.
7.1 Files
PC
Application e.g. InTouch
DdeSvr
Main file
MOTOCOM32
.dll
Robot controller
Fig.17 Data flow
MotoDDE consist of one main file communicating with the application software and controlling the functions. The main file is written as a Windows based program. Therefore, the functions and the menus are the same as for Windows.
MotoDDE uses the colours set up for Windows, which can be set under the Windows Control panel.
MotoDDE also contains a Dll-file whos supervice the communication between the
PC and the robot controller, type ERC/MRC/XRC.
7.2 Helpprogram
When MotoDDE runs via Ethernet a help program called: High Speed Link Server is used. This program was installed at the same time as MotoDDE.
Page: 14
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24 Doc. name: Mrs55050-ch3.fm
Commands
7.3 Commands
New
Open
Save
Cut
Copy
Paste
About
MotoDDE
File
New
Open
Save
Save As
Exit
Edit
Set Com Port
View
Start / Stop communication
Toolbar
Statusbar
Help
About DdeSvr
Start
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24
Page: 15
Doc. name: Mrs55050-ch3.fm
8. Program running
The MotoDDE-program is activated and runs in the background. MotoDDE is used like a “translator” between the application program and the MOTOMANrobot.
8.1 Start
MotoDDE activates and runs by the application program.
a) Start the program by double-click on the icon, the start menu is shown, (Fig. 1).
b) Click on Open and inform which file with settings of file transfer you are going to use, for more information about the file system, see
Windows manual.
Fig.18 Choose file
c) Set the robot in REMOTE-mode.
d) Start High Speed Link Server (only at network!).
e) Minimize HSLS (only at network!).
f) Start the communication by double-click on the Z-button.
g) Now MotoDDE can be minimized.
h) Start the application program, e.g. InTouch.
8.2 Stop
a) Stop the communication by clicking on the Z-button again.
b) Finish HSLS.
c) Finish MotoDDE.
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MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24 Doc. name: Mrs55050-ch3.fm
Stop
9. Tags to server
Following tags, items, are available in the DDE-server with name if any are able to read or write or both, together with comments about the function.
SERVO Read/Write
JOBNAME
PLAY-
MODE
MODE-
TEACH
ALARM
CYCLELO
OP
CYCLE-
ONE
CYCLESTE
P
IO0xxx
IO1xxx
IO2xxx
IO3xxx
IO4xxx
IO5xxx
IO6xxx
IO7xxx
IO80xx
IO82xx
Read
Read/Write
Read/Write
Read
Read/Write
Read/Write
Read/Write
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read: Indicates whether voltage is supplied for the servo's.
Write: Turns servovoltage ON when item is set to 1. Turns off servo voltage when item is set to 0. Write only applies for XRC.
Read: Get name of the selected job.
Read: Indicates if the robot is in Play mode.
Write: Sets robot in Play mode when item is set to 1. When item is set to 0 no change is applied.
Read: Indicates Teach mode.
Write: Sets Teach mode when item is set to 1. When item is set to 0 no change is applied.
Read: Indicates if any alarm is given in robot.
Read: Indicates if robot is in "Cycle loop".
Write: Sets robot in "Cycle loop" when item is set to1. When item is set to 0 no change is applied.
Read: Indicates if robot is in "One cycle".
Write: Sets "One cycle" when item is set to 1. When item is set to 0 no change is applied.
Read: Indicates if robot is in "Cycle step".
Write: Sets "Cycle step" when item is set to 1. When item is set to 0 no change is applied.
Robot universal input. Read: Reads status for I/O bits in the 0000 serie.
Xxx must be between 010 and 167.
Robot universal output. Read: Reads status for I/O bits in the 1000 serie.
Xxx must be between 010 and 167.
Robot external input. Read: Reads status for I/O bits in the 2000 serie. Xxx must be between 010 and 187.
Robot external output. Read: Reads status for I/O bits in the 3000 serie.
Xxx must be between 010 and 187.
Robot specific input. Read: Reads status for I/O bits in the 4000 serie. Xxx must be between 010 and 167.
Robot specific output. Read: Reads status for I/O bits in the 5000 serie.
Xxx must be between 010 and 247.
Timer/Counter. Present status: neither Read nor Write. Xxx must be between 010 and 047.
Auxilary relay. Read: Reads status for I/O bits in the 7000 serie. Xxx must be between 010 and 327.
Control status signals. Read: Reads status for I/O bits in the 8000 serie. Xx must be between 10 and 87.
Psuedo input signals. Read: Reads status for I/O bits in the 8200 serie. Xx must be between 10 and 47.
Stop
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24
Page: 17
Doc. name: Mrs55050-ch3.fm
IO9xxx
BYTExxx
INTxxx
JOBLINE
JOBSTEP
PULSES xRySz
PULSESx
FRAMEBA-
SEx
FRAMETx
FRAMEx
HOLD
CONTINUE
PLAYSTOP
PLAYBACK
PLAYSPE-
CIAL
ALARMDA-
TAx
COMMUNI-
CATION
ERROR
Read/Write
Read/Write
Read/Write
Read
Read
Read
Read
Read
Read
Read
Read/Write
PANEL-
HOLD
PENDAN-
THOLD
EXTER-
NALHOLD
COM-
MAND-
HOLD
START
Read
Read
Read
Read
Read/Write
Write
Read
Read
Read
Read
Read
Network input. Read: Reads status for I/O bits in the 9000 serie. Write:
Sets new status for I/O bits. Xxx must be between 010 and 167.
Read: Reads value on byte variable.
Write: Sets new value on byte variable. Xxx must be between 000 and 999.
Read: Reads value on integer variable.
Write: Sets new value on integer variable. Xxx must be between 000 and
999.
Read: Indicates current line in the active job.
Read: Indicates current step in the active job.
Read: Reads the pulsenumber for a axis. Axis x can be
S,L,U,R,B,T,7,8,9,10,11,12. Y is robotnumber, Z is stationsnumber.
Read: Reads the pulsenumber for a axis. Axis x can be
S,L,U,R,B,T,7,8,9,10,11,12. This item is for robot 1 and station 1.
Read: Pulsenumber for för a axis. X can be X,Y or Z.
Read: Reads the"wrist angle" of the robot in degrees. X can be X,Y or Z.
Read: Reads the robotposition in XYZ coordinates. X can be X,Y or Z.
Read: Indicates "Panel hold" in the robot.
Write: Sets robot to "hold" when item is set to 1. When item is set to 0
"hold" is exited.
Read: Indicates "Panel hold" in robot.
Read: Indicates "Programming pendant hold" in robot.
Read: Indicates "External hold" in robot.
Read: Indicates "Command hold" in robot.
Read: 1 indicates that the robot is running.
Write: When item is set to 1 the selected job starts from the beginning.
When item is set to 0 no change is applied.
Write: The robot continues from the current jobline when item is set to 1
Read: Indicates if the robot is stopped.
Read: Indicates if the robot is running with normal velocity.
Read : Indicates if the robot is running with safe velocity.
Read: Up to 4 alarm codes. Integer. 0 if no alarm. X can be between 0 and
3.
Read: 1 indicates communication-error between the robot and the PC , otherwise 0.
Page: 18
MOTOMAN ROBOTICS EUROPE
MotoDDE Server, ver. 3.xx
Created: 99-01-12 Revised: 02-10-24 Doc. name: Mrs55050-ch3.fm
Application software
10. Client software
10.1 Application software
Following application software can be used together with MotoDDE:
Brand*
InTouch
FactoryLink
Citect
Fix
Manufacturer
Wonderware Inc.
USDATA Corporation
Ci Technologies Pty ltd
Intellution Inc.
*) Product name are registered trademarks by the manufacturer.
10.2 Client connection
The DDE server has applicationname"MotoDde"
DDE client topic shall be set to the same name as DDE server robot name. (e.g.
Robot 1).
11. Trouble shooting
Following error messages can appear in MotoDDE.
Communication fail
If these messages appears;
✔
Check the communication and network.
✔
Check the parameter setting in MotoDDE and in ERC/MRC/XRC.
✔
Check that the robot is set in REMOTE-mode.
Notes
Distributors:
Czech Republic
Greece
Hungary
Israel
Norway
South Africa
Switzerland
Headquarters:
Sweden
Group companies:
Finland
France
Germany
Germany
Great Britain
Italy
Netherlands
Portugal
Slovenia
Spain
Sweden
MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden
Tel: +46-486-48800, +46-486-41410
MOTOMAN Robotics Finland OY
Messinkikatu 2, FI-20380 Turku, Finland
Tel: +358-403000600, Fax: +358-403000660
MOTOMAN Robotics SARL
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignan-de-Grand-Lieu, France
Tel: +33-2-40131919, Fax: +33-40754147
MOTOMAN Robotec GmbH
Kammerfeldstraße 1, DE-85391 Allershausen, Germany
Tel: +49-8166-90-0, Fax: +49-8166-90-103
MOTOMAN Robotec GmbH
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany
Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
MOTOMAN Robotics UK (Ltd)
Johnson Park, Wildmere Road, Banbury, Oxon OX16 3JU, Great Britain
Tel: +44-1295-272755, Fax: +44-1295-267127
MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy
Tel: +39-059-280496, Fax: +39-059-280602
MOTOMAN benelux B.V
Zinkstraat 70, NL-4823 AC Breda, Netherlands
Tel: +31-76-5424278, Fax: +31-76-5429246
MOTOMAN Robotics Iberica S.L. - Sucursal em Portugal
Z. Ind. Aveiro Sul, Lote 21, N. S. Fátima, PT-3810 Aveiro, Portugal
Tel: +351-234 943 900, Fax: +351-234 943 108
RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia
Tel: +386-61-861113, Fax: +386-61-861227
MOTOMAN Robotics Iberica S.L.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain
Tel: +34-93-6303478, Fax: +34-93-6543459
MECATRON Robotic Systems AB
Box 4004, SE-390 04 Kalmar, Sweden
Tel: +46-480-444600, Fax: +46-480-444699
MGM Spol s.r.o.
Trebízského 1870, CZ-39002 Tábor, Czech Republic
Tel: +420-361-254571, Fax: +420-361-256038
Kouvalias Industrial Robots
25, El. Venizelou Ave., GR-17671 Kallithea, Greece
Tel: +30-1-9589243-6, Fax: +30-1-9567289
REHM Hegesztéstechnika Kft.
Tápiószele, Jászberényi út 4., H-2766, Hungary
Tel: +36-30-9510065, Fax: +36-1-2562012
KNT Engineering Ltd.
9 Hapalmach Street, IL-Kfar Azar 55905, Israel
Tel: +972-3 9231944, Fax: +972-3 9231933
ROBIA ASA
Industriveien 1, NO-3300 Hokksund, Norway
Tel: +47-32252820, Fax: +47-32252840
Robotic Systems S.A. PTY Ltd
4 Friesland Drive, Longmeadow Business Estate-South Modderfontein 1610, Johannesburg, South Africa
Tel: +27-11-4943604, Fax: +27-11-4942320
Messer SAG
Langweisenstrasse 12, CH-8108 Dällikon, Switzerland
Tel: +41-18471717, Fax: +41-18442432
a subsidiary of YASKAWA Electric Corporation
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