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<body dir="ltr" style="text-align:left; direction:ltr;"><div>The PDO is fixed (look at the XML file), so must specify the PDO exactly as shown in that file.</div><div><br></div><div>The following PDO Entry is missing in <span style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt;">slave_mts_pdo_entries[]</span></div><div>{0x3101, 0x04, 32} /* Acceleration 1 */</div><div><br></div><div>Remember to update entry count to 4 in <span style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt;">slave_mts_pdos[]</span></div><div><br></div><div>On Mon, 2022-09-26 at 10:08 +0000, Joachim Sällvin wrote:</div><blockquote type="cite" style="margin:0 0 0 .8ex; border-left:2px #729fcf solid;padding-left:1ex">
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OK so I tried to configure the pdos in the c++ application and now I get the cstruct output that I want, but still i faile to get the slave into OP state:<br>
<br>
Failed to set SAFEOP state, slave refused state change (PREOP + ERROR)<br>
</div>
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Any obvious reason why?</div>
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Here is what I did:<br>
</div>
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ec_pdo_entry_info_t slave_mts_pdo_entries[] = {
<div> {0x3101, 0x01, 16}, /* Status 1 */</div>
<div> {0x3101, 0x02, 32}, /* Position 1 */</div>
<div> {0x3101, 0x03, 32}, /* Velocity 1 */</div>
<div> };</div>
<div><br>
</div>
<div> ec_pdo_info_t slave_mts_pdos[] = {</div>
<div> {0x1a00, 3, slave_mts_pdo_entries + 0}, /* TxPDO 1 Mapping */</div>
<div> };</div>
<div><br>
</div>
<div> ec_sync_info_t slave_mts_syncs[] = {</div>
<div> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_ENABLE},</div>
<div> {3, EC_DIR_INPUT, 1, slave_mts_pdos + 0, EC_WD_DISABLE},</div>
<div> {0xff}</div>
<div> };</div>
<div><br>
</div>
<div> </div>
<div> if (ecrt_slave_config_pdos(slave_config_ptr_, EC_END, slave_mts_syncs))</div>
<div> {</div>
<div> LOG_EVENT("Failed to configure PDOs!");</div>
<div> throw "Failed to configure PDOs.\n";</div>
}<br>
</div>
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<br>
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<div style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0);" class="elementToProof">
and now I actually get:</div>
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<br>
</div>
<div style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0);" class="elementToProof">
ethercat -m0 -p2 cstruct
<div>/* Master 0, Slave 2, "MTS Temposonics V"</div>
<div> * Vendor ID: 0x00000040</div>
<div> * Product code: 0x0000000f</div>
<div> * Revision number: 0x00000029</div>
<div> */</div>
<div><br>
</div>
<div>ec_pdo_entry_info_t slave_2_pdo_entries[] = {</div>
<div> {0x3101, 0x01, 16},</div>
<div> {0x3101, 0x02, 32},</div>
<div> {0x3101, 0x03, 32},</div>
<div>};</div>
<div><br>
</div>
<div>ec_pdo_info_t slave_2_pdos[] = {</div>
<div> {0x1a00, 3, slave_2_pdo_entries + 0}, /* Magnet 1 */</div>
<div>};</div>
<div><br>
</div>
<div>ec_sync_info_t slave_2_syncs[] = {</div>
<div> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_ENABLE},</div>
<div> {3, EC_DIR_INPUT, 1, slave_2_pdos + 0, EC_WD_DISABLE},</div>
<div> {0xff}</div>
<div>};</div>
</div>
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<br>
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<div style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0);" class="elementToProof">
But I cannot get the slave into OP<br>
<br>
ethercat slaves
<div>Master0</div>
<div> 0 1402:0 OP + ifm IO-Link Master AL1332</div>
<div> 1 1401:0 OP + S300/S400/S600/S700 EtherCAT Drive (CoE)</div>
<div> 2 1403:0 PREOP E MTS Device V</div>
3 1444:0 PREOP + ifm IO-Link Master AL1332</div>
<div style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0);" class="elementToProof">
<br>
</div>
<div style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0);" class="elementToProof">
The log shows:</div>
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Sep 26 11:53:48 ctrlPC5 kernel: [260030.113683] EtherCAT 0: Slave states on main device: PREOP, OP.
<div>Sep 26 11:53:49 ctrlPC5 kernel: [260030.871858] EtherCAT ERROR 0-2: SDO upload 0x1A00:01 aborted.</div>
<div>Sep 26 11:53:49 ctrlPC5 kernel: [260030.871861] EtherCAT ERROR 0-2: SDO abort message 0x08000021: "Data cannot be transferred or stored to the application because of local control".</div>
<div>Sep 26 11:53:49 ctrlPC5 kernel: [260030.871862] EtherCAT ERROR 0-2: Failed to read mapped PDO entry.</div>
<div>Sep 26 11:53:49 ctrlPC5 kernel: [260030.871863] EtherCAT WARNING 0-2: Failed to read PDO entries for PDO 0x1A00.</div>
<div>Sep 26 11:53:49 ctrlPC5 kernel: [260030.871863] EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping!</div>
<div>Sep 26 11:53:49 ctrlPC5 kernel: [260030.871864] EtherCAT WARNING 0-2: </div>
<div>Sep 26 11:53:49 ctrlPC5 kernel: [260031.046853] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).</div>
<div>Sep 26 11:53:49 ctrlPC5 kernel: [260031.051856] EtherCAT ERROR 0-2: AL status message 0x001E: "Invalid input configuration".</div>
</div>
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<br>
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<br>
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<div style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0);" class="elementToProof">
Joachim<br>
</div>
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<br>
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<br>
<hr tabindex="-1" style="display:inline-block; width:98%;">
<b>Från:</b> Andreas Stewering-Bone<br>
<b>Skickat:</b> Måndag, 26 september 2022 10:49<br>
<b>Till:</b> Joachim Sällvin; Etherlab-users@etherlab.org<br>
<b>Ämne:</b> Re: Sv: [Etherlab-users] Failing to configure PDOs of a MTS Temposonics V slave
<div><br>
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<div>Dear Joachim,</div>
<div><br>
</div>
<div>No, that is not what I meant.</div>
<div><br>
</div>
<div>Take a simple Beckhoff terminal like EL1004</div>
<div>Do a </div>
<div><b style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt">ethercat -m0 -p2 cstruct</b></div>
<div><font face="Calibri, Arial, Helvetica, sans-serif"><span style="font-size:16px"><b> </b></span></font></div>
<div><font face="Calibri, Arial, Helvetica, sans-serif"><span style="font-size:16px">on it.</span></font></div>
<div><font face="Calibri, Arial, Helvetica, sans-serif"><span style="font-size:16px">You will see some PDos and PDo-Entries.</span></font></div>
<div><font face="Calibri, Arial, Helvetica, sans-serif"><span style="font-size:16px"><br>
</span></font></div>
<div><font face="Calibri, Arial, Helvetica, sans-serif"><span style="font-size:16px">The cstruct output of the MTS sensor is empty. </span></font></div>
<div><font face="Calibri, Arial, Helvetica, sans-serif"><span style="font-size:16px">You will have to fill it with PDos and PDo-Entries in your C++ application.</span></font></div>
<div><font face="Calibri, Arial, Helvetica, sans-serif"><span style="font-size:16px">After this the master can configure the PDos on the slave automatically.</span></font></div>
<div><font face="Calibri, Arial, Helvetica, sans-serif"><span style="font-size:16px">So no need to configure it via sdo call.</span></font></div>
<div><b style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt"><br>
</b></div>
<div><span style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt">Best regards</span></div>
<div><br>
</div>
<div>Andreas</div>
<div><br>
</div>
<div>Am Montag, dem 26.09.2022 um 08:35 +0000 schrieb Joachim Sällvin:</div>
<blockquote type="cite" style="margin:0 0 0 .8ex; border-left:2px #729fcf solid;padding-left:1ex">
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Hi Andreas,</div>
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<br>
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<div class="x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
Thank you for your reply.<br>
</div>
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<br>
</div>
<div class="x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
I've tried to configure from the c++ application (is this what you meant?) using:</div>
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<br>
</div>
<div class="x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
ecrt_slave_config_sdo8( slave_config, 0x1C13, 0, 0 ); // clear sm pdo 0x1c13
<div> ecrt_slave_config_sdo8( slave_config, 0x1A00, 0, 0 ); // clear TxPdo 0x1A00</div>
<div> // Define TxPdo <br>
</div>
<div> ecrt_slave_config_sdo32( slave_config, 0x1A00, 1, 0x31010010 ); // Status</div>
<div> ecrt_slave_config_sdo32( slave_config, 0x1A00, 2, 0x31010020 ); // Pos</div>
<div> ecrt_slave_config_sdo32( slave_config, 0x1A00, 3, 0x31010020 ); // Velocity</div>
<div> ecrt_slave_config_sdo8( slave_config, 0x1A00, 0, 3 ); // Number of PDO entries for 0x1A00</div>
<div> ecrt_slave_config_sdo16( slave_config, 0x1C13, 1, 0x1A00 ); // TxPdo in 0x1C13:1</div>
ecrt_slave_config_sdo8( slave_config, 0x1C13, 0, 1 ); // Number of TxPDO<br>
</div>
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<br>
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<div class="x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
But I get this in the log:<br>
</div>
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<div>
<div class="x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
Sep 26 10:10:06 ctrlPC5 kernel: [253808.144369] EtherCAT ERROR 0-2: SDO download 0x1A00:00 (1 bytes) aborted.
<div>Sep 26 10:10:06 ctrlPC5 kernel: [253808.144372] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to write a read-only object".</div>
<div>Sep 26 10:10:06 ctrlPC5 kernel: [253808.144373] EtherCAT ERROR 0-2: SDO configuration failed.</div>
<div style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<br>
</div>
<br>
<div>Is there something that needs to be enabled in order to configure?</div>
<div><br>
</div>
<div>The device seems to be configured for one magnet:</div>
<div>ethercat -m0 -p2 upload 0x2000 0x0b replies with 0x01 1<br>
<br>
</div>
<div><br>
</div>
<div>Best regards,</div>
<div><br>
</div>
<div>Joachim<br>
</div>
<br>
</div>
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<br>
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<br>
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<br>
<hr tabindex="-1" style="display:inline-block; width:98%">
<b>Från:</b> Andreas Stewering-Bone<br>
<b>Skickat:</b> Måndag, 26 september 2022 08:30<br>
<b>Till:</b> Joachim Sällvin; etherlab-users@etherlab.org<br>
<b>Ämne:</b> Re: [Etherlab-users] Failing to configure PDOs of a MTS Temposonics V slave
<div><br>
</div>
</div>
<div class="x_rps_f4f1">
<div dir="ltr">
<div>Dear Joachim,</div>
<div><br>
</div>
<div>The master configures the specific slaves during application startup. </div>
<div>So no need to do it manually.</div>
<div><br>
</div>
<div>The PDO mapping for this slave is dynamically, </div>
<div>because you can configure the number of measurment magnets.</div>
<div>Please read the sensor EtherCAT documentation and the XML slave description.</div>
<div>With this information you can extend the cstruct to configure the specific PDO mapping.</div>
<div>Please see the user space example in the master git repo.</div>
<div><br>
</div>
<div>Best regards</div>
<div><br>
</div>
<div>Andreas</div>
<div><br>
</div>
<div>Am Sonntag, dem 25.09.2022 um 17:08 +0000 schrieb Joachim Sällvin:</div>
<blockquote type="cite" style="margin:0 0 0 .8ex; border-left:2px #729fcf solid;padding-left:1ex">
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Hi all,</div>
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<br>
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Any ideas on how to configure the pdos of a MTS Temposonics slave? A brand new linear position sensor that doesn't seem to have any default configuration. Shouldn't it be possible to configure it from the command line?<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
When I try I get: <br>
</div>
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<br>
<div class="x_x_elementToProof" style="font-size:12pt">SDO transfer aborted with code 0x08000000: General error (see details below), why?<br>
</div>
</div>
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<br>
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<b><br>
</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b>Some information about the system<br>
</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b>ethercat slaves</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<div>Master0</div>
<div> 0 1402:0 PREOP + ifm IO-Link Master AL1332</div>
<div> 1 1401:0 PREOP + S300/S400/S600/S700 EtherCAT Drive (CoE)</div>
<div> <i> 2 1403:0 PREOP + MTS Device V</i></div>
3 1444:0 PREOP + ifm IO-Link Master AL1332<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b>ethercat -m0 -p2 cstruct</b>
<div>/* Master 0, Slave 2, "MTS Temposonics V"</div>
<div> * Vendor ID: 0x00000040</div>
<div> * Product code: 0x0000000f</div>
<div> * Revision number: 0x00000029</div>
<div> */</div>
<div><br>
</div>
<div>ec_sync_info_t slave_2_syncs[] = {</div>
<div> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_ENABLE},</div>
<div> {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},</div>
<div> {0xff}</div>
};<br>
</div>
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<br>
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<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b>ethercat -m0 -p2 pdos</b>
<div>SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1</div>
<div>SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1</div>
<div>SM2: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x74, Enable 1</div>
<div>SM3: PhysAddr 0x1400, DefaultSize 448, ControlRegister 0x30, Enable 1</div>
</div>
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<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b>ethercat -m0 -p2 sdos</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
.....</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
SDO 0x1a00, "Magnet 1"
<div> 0x1a00:00, r-r-r-, uint8, 8 bit, "Number of elements"</div>
<div> 0x1a00:01, rwrwrw, uint16, 16 bit, "Status"</div>
<div> 0x1a00:02, rwrwrw, uint32, 32 bit, "Position"</div>
<div> 0x1a00:03, rwrwrw, uint32, 32 bit, "Velocity"</div>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
0x1a00:04, rwrwrw, uint32, 32 bit, "Acceleration"<b><br>
</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b>......<br>
</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
SDO 0x1c13, "Sync Manager TxPDO Assign"
<div> 0x1c13:00, rwrwrw, uint8, 8 bit, "Number of elements"</div>
<div> 0x1c13:01, rwrwrw, uint16, 16 bit, ""</div>
<div> 0x1c13:02, rwrwrw, uint16, 16 bit, ""</div>
<div> 0x1c13:03, rwrwrw, uint16, 16 bit, ""</div>
<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b>I thought I could do like this </b><br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
sudo ethercat -m0 -p2 download 0x1C13 0 -tuint8 0 # Clear SM PDO 0x1c13<br>
sudo ethercat -m0 -p2 download 0x1A00 0 -tuint8 0 # Clear TxPDO 0x1A00<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
ethercat -m0 -p2 download 0x1A00 2 -tuint32 0x31010020<br>
SDO transfer aborted with code 0x08000000: General error</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b>dmesg</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
Failed to process SDO request.
<div> EtherCAT ERROR 0-2: SDO download 0x1A00:02 (4 bytes) aborted.</div>
<div> EtherCAT ERROR 0-2: SDO abort message 0x08000000: "General error".</div>
<div> EtherCAT ERROR 0-2: Failed to process SDO request.</div>
<b><br>
</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b><br>
</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
Thanks,<br>
<br>
Joachim Sällvin<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<br>
</div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
Joachim Sällvin<b><br>
</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<b><br>
</b></div>
<div class="x_x_elementToProof" style="font-family:Calibri,Arial,Helvetica,sans-serif; font-size:12pt; color:rgb(0,0,0)">
<br>
</div>
</blockquote>
<div><br>
</div>
<div><span></span></div>
</div>
</div>
</div>
</blockquote>
<div><br>
</div>
<div><span></span></div>
</div>
</div>
</div>
</blockquote><div><span><pre>-- <br></pre><div> Mit freundlichem Gruß </div><div><br></div><div> Richard Hacker </div><div><br></div><div> -- </div><div> ------------------------------------------------------------------------ </div><div><br></div><div> Richard Hacker M.Sc. </div><div> richard.hacker@igh.de </div><div> Tel.: +49 201 / 36014-16 </div><div><br></div><div> Ingenieurgemeinschaft IgH </div><div> Gesellschaft für Ingenieurleistungen mbH </div><div> Nordsternstraße 66 </div><div> D-45329 Essen </div><div><br></div><div> Amtsgericht Essen HRB 11500 </div><div> USt-Id.-Nr.: DE 174 626 722 </div><div> Geschäftsführung: </div><div> - Dr.-Ing. Siegfried Rotthäuser </div><div> - Dr. Sven Beermann, Prokurist </div><div> Tel.: +49 201 / 360-14-0 </div><div> http://www.igh.de </div><div><br></div><div> ------------------------------------------------------------------------ </div></span></div></body></html>