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<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">Hello everyone,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">I am working on a setup with an EL2262 terminal. I already found the previous thread from March about the EL2262, which helped me clarify some uncertainties and find errors. Thank you for that.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">Now I'm facing another problem: my EL2262 always uses only the first value (0x7000:1 and 0x7000:2) for both channels and ignores all others. I only have a TRUE at the output for one subcycle;
for the remaining subcycles, it is always FALSE, even if I set the bits in the domain correctly.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">I am working on Ubuntu with an RT kernel, isolated RT CPU, and fixed clock.
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">My setup is EK1100, EL1008, EL2008, EL2262, EK1110.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">For example, 10x oversampling with a 5 ms application cycle:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">I set my times as follows:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">cycleTimeNsSync0 = cycleTimeNanoseconds / 10;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">cycleTimeNsSync1 = cycleTimeNanoseconds - cycleTimeNsSync0;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">shiftTimeNsSync0 = (int)cycleTimeNanoseconds / 2;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">shiftTimeNsSync1 = 0;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">I set the SM settings and addresses for the new PDO just as in Beckhoff Twincat (PDO index +1 and entry index +8).<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">ethercat config -p 3 -v then displays:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Alias: 0<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Position: 3<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Vendor Id: 0x00000002<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Product code: 0x08d63052<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Attached slave: 3 (OP)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Watchdog divider: (Default)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Watchdog intervals: (Default)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">SM0, Dir: Output, Watchdog: Default<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1700<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7800:01, 16 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1600<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7000:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1800<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7200:01, 8 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1601<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7008:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1602<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7010:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1603<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7018:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1604<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7020:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1605<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7028:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1606<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7030:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1607<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7038:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1608<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7040:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1609<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7048:01, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">SM1, Dir: Output, Watchdog: Default<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1701<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7800:02, 16 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1680<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7000:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1880<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7200:02, 8 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1681<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7008:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1682<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7010:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1683<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7018:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1684<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7020:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1685<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7028:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1686<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7030:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1687<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7038:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1688<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7040:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1689<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x7048:02, 1 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">SM2, Dir: Input, Watchdog: Default<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO 0x1702<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> PDO entry 0x1d09:98, 32 bit<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">SDO configuration:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> None.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">IDN configuration:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> None.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Feature flags:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> None.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">DC configuration:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> AssignActivate: 0x0730<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> Cycle [ns] Shift [ns]<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> </span>SYNC0 500000 2500000<o:p></o:p></p>
<p class="MsoPlainText"> SYNC1 4500000 0<o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">My own debug output shows:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7000, Subindex=0x01, Offset=3, BitPos=0<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7000, Subindex=0x02, Offset=8, BitPos=0<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7008, Subindex=0x01, Offset=4, BitPos=1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7008, Subindex=0x02, Offset=9, BitPos=1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7010, Subindex=0x01, Offset=4, BitPos=2<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7010, Subindex=0x02, Offset=9, BitPos=2<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7018, Subindex=0x01, Offset=4, BitPos=3<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7018, Subindex=0x02, Offset=9, BitPos=3<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7020, Subindex=0x01, Offset=4, BitPos=4<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7020, Subindex=0x02, Offset=9, BitPos=4<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7028, Subindex=0x01, Offset=4, BitPos=5<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7028, Subindex=0x02, Offset=9, BitPos=5<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7030, Subindex=0x01, Offset=4, BitPos=6<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7030, Subindex=0x02, Offset=9, BitPos=6<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7038, Subindex=0x01, Offset=4, BitPos=7<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7038, Subindex=0x02, Offset=9, BitPos=7<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7040, Subindex=0x01, Offset=5, BitPos=0<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7040, Subindex=0x02, Offset=10, BitPos=0<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7048, Subindex=0x01, Offset=5, BitPos=1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7048, Subindex=0x02, Offset=10, BitPos=1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7200, Subindex=0x01, Offset=3, BitPos=1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7200, Subindex=0x02, Offset=8, BitPos=1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7800, Subindex=0x01, Offset=1, BitPos=0<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 VRB] Rx PDO entry registered: Index=0x7800, Subindex=0x02, Offset=6, BitPos=0<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">[20:40:50 INF] Successfully configured slave at position 3<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">And ethercat domain -v after setting values:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Domain0: LogBaseAddr 0x00000000, Size 11, WorkingCounter 2/2<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> SlaveConfig 0:2, SM0 (Output), LogAddr 0x00000000, Size 1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> 01<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> SlaveConfig 0:3, SM0 (Output), LogAddr 0x00000001, Size 5<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> 00 00 01 04 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> SlaveConfig 0:3, SM1 (Output), LogAddr 0x00000006, Size 5<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US"> </span>00 00 00 00 00<o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">You can see that Slave3 is set to SM0 3.0 and 4.2, with addresses matching the debug output. Nevertheless, the terminal only outputs TRUE for bit 3.0; all other nine subcycles are FALSE (measured
with an oscilloscope). I have already manually changed other bits than those returned during registration in order to perhaps find an incorrect address, but that did not help either.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">I don't understand why the terminal ignores the transmitted values.
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">Am I overlooking a setting that is necessary for DC? The values are visibly sent in Wireshark as in “ethercat domain -v”. I am grateful for any advice, as I have been struggling with this for
a few days now.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">My cycle is always<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">- Receive<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">- Process<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">- Set Application Data (e.g. writing bits 3.0 and 4.2)<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">- Queue<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">- Sync Slave Clocks every ten cycles<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt">- Send<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt">Thank you very much!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:DE">Regards</span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:DE">David Breunig</span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:DE"> </span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:DE">--<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;color:black;mso-fareast-language:DE">Dr.-Ing. David A. Breunig</span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;color:black;mso-fareast-language:DE">Projektleiter</span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;color:black;mso-fareast-language:DE"> </span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;color:black;mso-fareast-language:DE">Fraunhofer</span><span style="font-size:10.0pt;font-family:"Cambria Math",serif;color:black;mso-fareast-language:DE">-</span><span style="font-size:10.0pt;color:black;mso-fareast-language:DE">Institut
für</span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;color:black;mso-fareast-language:DE">Produktionstechnik und Automatisierung IPA</span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;color:black;mso-fareast-language:DE">IT-Architekturen für die Produktion</span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;color:black;mso-fareast-language:DE">Nobelstraße 12 ¦ 70569 Stuttgart</span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;color:black;mso-fareast-language:DE">Telefon +49 711 970</span><span style="font-size:10.0pt;font-family:"Cambria Math",serif;color:black;mso-fareast-language:DE">-</span><span style="font-size:10.0pt;color:black;mso-fareast-language:DE">1375</span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
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<p class="MsoNormal"><u><span style="font-size:10.0pt;color:#467886;mso-fareast-language:DE"><a href="mailto:david.albert.breunig@ipa.fraunhofer.de">david.albert.breunig@ipa.fraunhofer.de</a></span></u><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><u><span style="font-size:10.0pt;color:#467886;mso-fareast-language:DE"><a href="http://www.ipa.fraunhofer.de/">www.ipa.fraunhofer.de</a></span></u><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><u><span style="font-size:10.0pt;color:#467886;mso-fareast-language:DE"><a href="http://www.retavi.de/">www.retavi.de</a></span></u><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Calibri",sans-serif;color:#25BBE3;mso-fareast-language:DE"> </span><span style="font-size:10.0pt;font-family:"Calibri",sans-serif;color:#25BBE3;mso-ligatures:none;mso-fareast-language:DE"><img border="0" width="225" height="63" style="width:2.3416in;height:.6583in" id="Bild_x0020_2" src="cid:image001.png@01DC3C85.15046A00"></span><span style="mso-fareast-language:DE"><o:p></o:p></span></p>
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