Run MyRobot

/EasyConnect
Siemens
SINUMERIK 840D sl Industry
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 Table of contents

Table of contents
Legal information ......................................................................................................... 2
1 Introduction ........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Mode of operation ................................................................................ 5
1.2.1 The individual steps of the unload/load cycle....................................... 5
1.2.2 Robot gripper: single or double gripper ................................................ 5
1.3 Components used ................................................................................ 6
2 Engineering - Hardware .................................................................................... 8
2.1 Hardware setup .................................................................................... 8
2.1.1 PN/PN coupler as interface between machine and robot .................... 8
3 Engineering - Software.................................................................................... 12
3.1 Interface description ........................................................................... 12
3.1.1 Calling the FB 1900 ............................................................................ 12
3.1.2 Calling the FC 1900............................................................................ 14
3.2 Project integration .............................................................................. 15
3.2.1 Workpiece clamping/fixture ................................................................ 15
3.2.2 Loading door ...................................................................................... 16
3.2.3 Starting the NC program from EasyConnect 840 .............................. 16
3.2.4 Integrating the HMI screen "Robot interface" ..................................... 17
3.2.5 Setting up the "Job list" function ......................................................... 18
© Siemens AG 2019 All rights reserved

3.3 Operation ............................................................................................ 19

4.2 Programs for the robot ....................................................................... 22
5 Appendix .......................................................................................................... 23
5.1 Service and support ........................................................................... 23
5.2 Links and literature ............................................................................. 24
5.3 Change documentation ...................................................................... 24

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 1 Introduction

1 Introduction
1.1 Overview

Note This application example complies the requirements of the directive "VDMA
34180 Level 1" and further-reaching functions (e.g. "double gripper sequence").
This description and the associated programs relate to a robot with a double
gripper.
For a single gripper, you can adapt the programs.

Robots are increasingly used to load and unload machine tools.

The VDMA standard sheet "VDMA 34180" describes the interface between an
automation, e.g. a robot, and a machine tool.
This application description provides the means to satisfy the requirements of the
directive "VDMA 34180" to at least Level 1.
The application description takes the requirements of a robot/CNC machine
installation into account, for example:
• The application is not robot- or manufacturer-specific.
• The implementation is kept as simple as possible.
© Siemens AG 2019 All rights reserved

• The robot can service several machines.

Figure 1-1 Machining cell with one robot and several machines

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1.2 Mode of operation

1.2.1 The individual steps of the unload/load cycle

The normal load/unload sequence of a double gripper takes place as follows (The
procedure for a single gripper is similar.):
1. Before the end of the current cycle, the machine sends a signal to the robot to
fetch the next part to be machined
2. The robot with the next part waits outside the machine
3. When the cycle has finished, the machine door is opened
4. The finished part is unloaded
5. The next unfinished part is loaded
6. After the robot has left the loading area, the machine door is closed
7. Via the "Job list", the NC machining program is once again selected for
security reasons
8. The signal "NC Start" is sent automatically

1.2.2 Robot gripper: single or double gripper

If the robot has a double gripper, the finished and unfinished parts can be
© Siemens AG 2019 All rights reserved

exchanged in one working step.

If the robot has a single gripper, the finished part must be putted down before the
unfinished part can be loaded.

Figure 1-2 Robot with a double gripper

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 1 Introduction

Figure 1-3 Robot with a single gripper

© Siemens AG 2019 All rights reserved

Note The FB 1900 and the described sequence are based on a robot with double
gripper.
For a single gripper, you must modify the FB 1900.

1.3 Components used

This application example has been created with the following hardware and
software components:
Table 1-1 Components used
Component Number Article number Note
840D sl NCU 1 6FC5373-0AA30-0AA0 Any 840D sl NCU can be used
PN/PN coupler 1 6ES7158-3AD01-0XA0 The PN/PN coupler is optional
Step 7 1 V5.5SP4 -

This application example consists of the following components:

Table 1-2 Components of the application
Component Directory File name
Run MyHMI files for the card -
diagnosis screen
Application description Documentation -
Step 7 V5.5 project with the Step7 -
EasyConnect 840 PLC
blocks

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 1 Introduction

Component Directory File name

NC program that was used Teileprogramme PROD_PROG_ROBOT_CYCLE.MPF
to test EasyConect 840
Sample NC program and Easyconnect840D -
corresponding PLC logic to _Files for robot
control a robot via a side when
SINUMERIK 840D sl (e.g. cotrolled by
Run MyRobot Machining or Sinumerik840D
Run MyRobo Direct
Control)
© Siemens AG 2019 All rights reserved

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2 Engineering - Hardware
2.1 Hardware setup
2.1.1 PN/PN coupler as interface between machine and robot

An interface according to VDMA 34180 is used to exchange digital signals between

the participants.
Such an interface can be realized with a PN/PN coupler (article number: 6ES7-
158-3AD01-0XA0).
© Siemens AG 2019 All rights reserved

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The following figure shows the statuses of the LEDs for a correct parameterization
of a PN/PN coupler. Please note that no red LEDs should light. They would
indicate an incomplete parameterization or a missing participant.

Figure 2-1 State of the LEDs for a fully commissioned PN/PN coupler
© Siemens AG 2019 All rights reserved

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The following figure shows a PN-PN coupler in the HW Config of a SINUMERIK

840D sl. In this case, the address range starts at "IB44/QB44".

Figure 2-2 PN/PN coupler in the Step 7 V5.5 HW Config

© Siemens AG 2019 All rights reserved

2.2 Parameterization
Two PLC blocks need to be called from a cyclic PLC program (i.e. from the OB1) to
operate EasyConnect 840. The data block numbers can be modified.
PLC data blocks:
• FB 1900 and its instance data block DB 1900 handle the signal exchange
between the PLC program of the machine and the robot
• FC 1900 is the interface to the HMI diagnostic screen

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The following figure shows a sample call for the FB 1900 from the OB1.

Figure 2-3 Calling the FB 1900 for EasyConnect 840 from the OB1
© Siemens AG 2019 All rights reserved

The following figure shows a sample call of the FC 1900.

Figure 2-4 Calling the FC 1900 for EasyConnect 840 from the OB1

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3 Engineering - Software
3.1 Interface description
3.1.1 Calling the FB 1900

The FB 1900 and its instance data block DB 1900 need to be integrated into the
PLC program. You can number, optimize, and modify the block.
Under Calling the FC 1900, you will find a cross reference of the signal names to
VDMA 34180.
In the following, the parameters of the FB 1900 are described (see also Figure 2-2)
Table 3-1 FB 1900 - Parameter overview
Input or Type Signal Description
output name/parameter of the (m= Start address of the PN/PN
FB 1900 coupler, e.g. in Figure 2-2 m = 44)
I INT ChanNr Number of the robot NC channel
I BOOL Prepare trig Signal to the robot to fetch the next
part to be machined
Implementation via an M function in
the machining program, with enough
time for the robot to fetch the next
part
© Siemens AG 2019 All rights reserved

In the sample program: M64

Comparation: when changing tools
T=<next tool> is executed before the
M06 command
I BOOL Prepare is done Message of the robot: "Waiting with
the next part outside the loading
door"
Address = E(m+0.1)
I BOOL Robot is outside Robot is outside the machine
machine Address = E(m+0.0)
I BOOL Prepare after startup Start the process
Signal (Prepare Q(m+0.0) to the
robot to fetch the next part
I BOOL Door is open Loading door is open
The signal …
• must be implemented by the
developer
• is sent to the robot
• is used as input in the FB 1900
Address = A(m+0.3)
I BOOL Door is closed Loading door is closed
The signal …
• must be implemented by the
developer
• is used as input in the FB 1900

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Input or Type Signal Description

output name/parameter of the (m= Start address of the PN/PN
FB 1900 coupler, e.g. in Figure 2-2 m = 44)
I BOOL Station empty Machining area is empty
The process can only be started via
the "Prepare after startup" signal
when this signal is "1"
The signal …
• must be implemented by the
developer
• is sent to the robot
• is used as input in the FB 1900
Address = A(m+1.2)
I BOOL Load part active 0/1 edge when the robot receives the
"Prepare" command
1/0 edge for the 1/0 edge of the robot
signal "Load complete"
I BOOL Unload complete The robot signals that unload is
complete
Address = E(m+0.2)
I BOOL Load complete The robot signals that the load is
complete
Address = E(m+0.3)
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I BOOL Finish production Command to empty or purge the

machine
The finished part will be unloaded,
but no new part will be fetched
The signal must be implemented by
the developer
I BOOL Abort Reset the FB 1900 (also the
sequence)
I BOOL NegAchn Negative acknowledge of the robot to
an unload or load request
The effect is identical with "Abort"
I INT AddressofClockbyte Number of the "clock memory" byte
Background: the FB 1900 uses a bit
of the byte for the "clock memory"
(that can be configured via HW
Config)
I INT DBNo_DiagFC Number of the data block that is used
by the FC 1900 (in the example:
DB1901)
O BOOL Request open door Request to the PLC of the machine
to open the loading door
O BOOL Request close door Request to the PLC of the machine
to close the loading door
O BOOL Start NC Request to the PLC of the machine
to execute "NC Start" to start the
machining program (issued as 1/0
pulse and reset when the NC
program has started)
O BOOL Prepare to robot Signal to the robot to fetch the next
part to be machined
Address = A(m+0.0)

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Input or Type Signal Description

output name/parameter of the (m= Start address of the PN/PN
FB 1900 coupler, e.g. in Figure 2-2 m = 44)
O BOOL Unload request to robot Signal to the robot to unload the
finished part
Address = A(m+2.3)
O INT Load request to robot Signal to the robot to load the part to
be machined
Address = A(m+2.4)

3.1.2 Calling the FC 1900

The FC 1900 provides the data to display the diagnosis screen "Robot interface".
You can number, optimize, and edit the block.
In the following, the parameters of the FC 1900 are described.
Table 3-2 FC 1900 - Parameter overview
Input or Type Signal Description
output name/parameter of the (m = Start address of the PN/PN
FC 1900 coupler, e.g. in Figure 2-2 m = 44)
I INT DiagDB Number of the data block in which
the information for the screen "Robot
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interface" is saved
The number must correspond to the
entry in the file "econn840.ini"
I BOOL Req open door Request to open the loading door
I BOOL Req close door Request to close the loading door
I BOOL NC Start to PLC Request to execute "NC Start"
I BOOL Door is opened Status from the PLC program:
"Loading door open"
I BOOL Door is closed Status from the PLC program:
"Loading door closed"
I BOOL Request unload Request to unload
I BOOL Request load Request to load
I BOOL Fixture is unclamped Status: "Part not fixed"
I BOOL Ficture is clamped Status: "Part fixed"
I BOOL Alive signal to robot Keepalive signal is sent from the
machine to the robot
I BOOL Mc ready to run Machine ready to run with robot
I BOOL Enable for robot in mc Enable for robot to enter the machine
I BOOL Prepare acknowledge Message from robot: "Next part is
ready"
I BOOL Unload complete Message from robot: "Unload
complete"
I BOOL Load complete Message from robot: "Load
complete"
I BOOL Request unclamp Request from robot: "Unclamp part"
I BOOL Request clamp Request from robot: "Clamp part"
I BOOL Robot alive to mc Keepalive signal from robot

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Input or Type Signal Description

output name/parameter of the (m = Start address of the PN/PN
FC 1900 coupler, e.g. in Figure 2-2 m = 44)
I BOOL Robot ready to run Robot is ready to run with the
machine
I BOOL Robot is outside mc Robot is outside machine
I BOOL Robot disabled Robot is not ready
I BOOL FrRobotNoEStop Message from robot: "No emergency
stop, must be implemented by the
user"
I BOOL ToRobotNoEStop Message from robot: "No emergency
stop, must be supplied by the user"

3.2 Project integration

In order for the robot to be able to unload or load the machine, you must add the
following functions to the PLC logic of the machine.

3.2.1 Workpiece clamping/fixture

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The robot needs to be able to open and close the part fixture.
Table 3-3 Control signals of the fixture
Signal name Address Name corresponding to
(m = Start address of the VDMA 34180
PN/PN coupler, e.g. in
Figure 2-2 m = 44)
Request unclamp from robot E(m+1,0) AM_REQ_UnClp01
Request clamp from robot E(m+1,1) AM_REQ_Clp01

The status ("part clamped" or "part unclamped") must be signaled to the robot.
Table 3-4 Status signals of the fixture
Signal name Address Name corresponding to
(m = Start address of the VDMA 34180
PN/PN coupler, e.g. in
Figure 2-2 m = 44)
Fixture open A(m+0,4) MA_STA_UnClpd01
Fixture closed A(m+0,5) MA_STA_Clpd01

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3.2.2 Loading door

The FB 1900 needs to be able to open and close the machine door.
Table 3-5 Control signals of the machine door
Signal name/Parameter of Address Name corresponding to
the FB 1900 (m = Start address of the VDMA 34180
PN/PN coupler, e.g. in
Figure 2-2 m = 44)
Request open door Selected by developer Internally generated
Request close door Selected by developer Internally generated

The status of the machine door ("open" or "closed") must be sent to the FB 1900
and to the robot.
Table 3-6 Status signals of the machine door
Signal Address Name corresponding to
name/parameter of the (m = Start address of the VDMA 34180
FB 1900 PN/PN coupler, e.g. in
Figure 2-2 m = 44)
Door is open (used in A(m+0,3) MA_STA_LdgDoorOpnd
FB 1900 and sent to
robot)
Door is closed (used in Selected by developer Only used internally
© Siemens AG 2019 All rights reserved

FB 1900 only)

3.2.3 Starting the NC program from EasyConnect 840

In the following, the normal sequence for a robot with a double gripper is listed:
1. The robot fetches the next part
2. The machine door is opened
3. The finished part is unloaded
4. The unfinished part is loaded
5. After the robot has left the machining area, the machine door is closed
6. Via the "Job list", the machining program is again selected for security reasons
7. The "NC Start" signal is automatically executed
Therefore, there is an output "NC Start" in the FB 1900. This signal needs to be
added to the logic of the NC start.
Table 3-7 NC start signal of the FB 1900
Signal name/Parameter of the FB 1900 Address
(m = Start address of the PN/PN coupler,
e.g. in Figure 2-2 m = 44)
NC Start Selected by developer

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3.2.4 Integrating the HMI screen "Robot interface"

The application contains a diagnosis screen that displays the current signals of the
interface to the robot.

Figure 3-1 HMI status screen "Robot interface"

© Siemens AG 2019 All rights reserved

Follow these steps to integrate the diagnosis screen into the HMI system:
1. Open the file "systemconfiguration.ini" under "System CF
card/oem/sinumerik/hmi/cfg/" (If the file does not exist, you can use the file
from the application example.).
2. Add the following lines to the file "systemconfiguration.ini":
[oem_dirs]
OEM_1=ROBLINK_840
3. Copy the directory "ROBLINK_840" from the application example to "System
CF card/oem/sinumerik/hmi/".

Figure 3-2 "ROBLINK_840" directory

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4. Enter the number of the data block that is used by FC 1900 into the file
"econn840.ini".

Figure 3-3 "econn840.ini" file

© Siemens AG 2019 All rights reserved

Figure 3-4 Entering the data block number into the file "econn840.ini"

5. Restart the HMI or switch off/on the controller.

3.2.5 Setting up the "Job list" function

The machining program for the NC channel is selected via the function "Job list".
The "Job list" needs to be set up as follows when used with the FB 1900:
1. Activate the "Job list" by setting the "MD51043
$MNS_ENABLE_PROGLIST_MANUFACT" to "1".
2. Job list" via "Setup" > "Menu forward key".

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Figure 3-5 Softkey for program list

3. Select the correct machining program via the softkey "Select program" (if
necessary, you must select the correct NC channel).

Figure 3-6 Entering the correct machining program into the "Job list"
© Siemens AG 2019 All rights reserved

The FB 1900 is set up so that the required machining program is at line "201" in the
"Job list". You can adapt the line number in the code of the FB 1900 (NW1).

Figure 3-7 Adaption in the "Job list"

3.3 Operation

Note The FB 1900 and the described sequence are based on a robot with a double
gripper.
For a single gripper, you must adapt the FB 1900.

1. Machine startup: the machine is powered up and the machining area is empty.

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2. The operator selects the "Auto" and "Robot" mode. The latter one with a
key/button that is defined by the manufacturer.
3. Because the machine does not contain an unfinished part, the FB 1900 sends
the command "Prepare" to the robot to fetch the first part.
4. The FB 1900 sends the request "Open door" to the PLC program of the
machine.
5. The PLC of the machine opens the loading door and the FB 1900 sends the
request "Load" to the robot.
6. The robot checks if the loading door is open and positions the part in the
fixture. Then the robot sends the request "Clamp part". When the acknowledge
"Part clamped" reaches the robot, the gripper of the robot releases the part and
the robot leaves the machine.
7. The PLC of the machine closes the loading door.
8. The FB 1900 selects the machining program via the "Job list" and sends the
request "NC Start" to the PLC of the machine.
9. Before the end of the machining program a "Prepare" command is sent to the
robot. Then the robot fetches the next part. When the robot with the part is
outside the machine, it acknowledges the "Prepare" command with the signal
"Prepare acknowledge".
10. When the machining program has been finished, the FB 1900 sends the
request "Open loading door" to the PLC of the machine and then the "Unload"
request to the robot.
© Siemens AG 2019 All rights reserved

11. The robot checks if the loading door is open and unloads the finished part in
interaction with the fixture control of the machine. When finished, the robot
issues the successful unload ("Unload complete").
12. The FB 1900 issues a "Load" request and the process reverts to step (6)
above.
13. When "Finish production" has been selected, no "Prepare" command will be
sent to the robot. At the end of the cycle, the finished part will be unloaded, but
no new part will be loaded. Depending on when in the cycle "Finish production"
is selected, the application will finish a load/unload cycle before starting the
"Finish production" cycle.

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4 Additional information
4.1 Interface to the robot
The interface between the machine and the robot is contained in two bytes.

4.1.1 Signals from the machine to the robot

Table 3-8 Signals from the SINUMERIK 840D sl to the robot

Signals from the SINUMERIK 840D sl to the robot
(m = Start address according to HW Config)
Bit Signal name Description Name according to
address*) VDMA 34180
A (m+0.0) Prepare Fetch the next part MA_REQ_PrepareUnldPart01
A (m+0.1) Not used
A (m+0.2) Finish Empty the machine MA_REQ_RunEmpty
A (m+0.3) Door open Loading door is open MA_STA_LdgDoorOpnd
A (m+0.4) Fixture open Fixture is in unclamped position MA_STA_UnClpd01
A (m+0.5) Fixture closed Fixture is in clamed position MA_STA_Clpd01
A (m+0.6) Not used
© Siemens AG 2019 All rights reserved

A (m+0.7) Live signal Keepalive signal 1 Hz MA_STA_Alive

(alarm after 1,5 s)
A (m+1.0) ProdRdy Machine is ready for robot MA_STA_ProductionRdy
operation
A (m+1.1) ENA_Rob_in_Mach Motion enable for the robot in MA_ENA_InIntfrArea
machining area
A (m+1.2) Station_empty Station empty MA_STA_Empty
*) with PN/PN coupler, start address byte m according to HW Config

4.1.2 Signals from the robot to the machine

Table 3-9 Signals from the SINUMERIK 840D sl to the robot

Signals from the SINUMERIK 840D sl to the robot
(m = Start address according to HW Config)
Bit Signal name Description Name according to
address VDMA 34180
E (m+0.0) Robot is outside Robot is outside the machine AM_STA_OutIntfrArea
E (m+0.1) Prepare acknowledge Robot has fetched the part
and is waiting
E (m+0.2) Unload_complete_fr_robo Unload complete AM_ACK_UnldPartCmpl01
E (m+0.3) Load_complete_fr_robot Load complete AM_ACK_LodPartCmpl01
E (m+0.4) Robot alive Keepalive signal from robot AM:STA_Alive
1 Hz (alarm after 1,5 s)
E (m+0.5) The robot is ready for Robot is ready for the AM_STA_ProductionRdy
production operation with the machine
E (m+0.6) Load part active Robot is fetching a part AM_STA_LodPartAct01

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Signals from the SINUMERIK 840D sl to the robot

(m = Start address according to HW Config)
Bit Signal name Description Name according to
address VDMA 34180
E (m+0.7) Robot disabled Robot is not enabled (is not AM_ACK_REQLodUnlodNeg
evaluated in the application)
E (m+1.0) Request_unclamp_fr_rob Request from the robot to AM_REQ_UnClp01
unclamp the part
E (m+1.1) Request_clamp_fr_rob Request from the robot to AM_REQ_Clp01
clamp the part
E (m+1.2) Unload/Load - negative Negative acknowledge to AM_ACK_REQLodUnldNeg
acknowledge unload/load request from the
robot
E (m+1.3) No E-Stop on robot No emergency stop AM_SFY_NoEStop
command at the robot

4.2 Programs for the robot

You will find sample NC and PLC programs in the directory
"Easyconnect840D_Files for robot side when controlled by Sinumerik840D" of the
application example that you can use to control the robot via the EasyConnect
interface.
• You will find sample programs for the following robot actions in the directory
© Siemens AG 2019 All rights reserved

"NC_Programs_for_robot_side":
– Prepare: Fetch the next part to be machined
– Unload: Unload the finished part
– Load: Load the next part
• You will find the corresponding PLC program in the directory "PLC Program".
Please note that in the PLC program …
– the PN/PN coupler has the start address "EB /AB 96" (robot).
– the robot is in the second NC channel (DB22).
– the NC programs are selected via the "Job list" (MD 51043 = 1 and DB19).

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 5 Appendix

5 Appendix
5.1 Service and support
Industry Online Support
Do you have any questions or need assistance?
Siemens Industry Online Support offers round the clock access to our entire
service and support know-how and portfolio.
The Industry Online Support is the central address for information about our
products, solutions and services.
Product information, manuals, downloads, FAQs, application examples and videos
– all information is accessible with just a few mouse clicks:
support.industry.siemens.com

Technical Support
The Technical Support of Siemens Industry provides you fast and competent
support regarding all technical queries with numerous tailor-made offers
– ranging from basic support to individual support contracts. Please send queries
to Technical Support via Web form:
www.siemens.com/industry/supportrequest
© Siemens AG 2019 All rights reserved

SITRAIN – Training for Industry

We support you with our globally available training courses for industry with
practical experience, innovative learning methods and a concept that’s tailored to
the customer’s specific needs.
For more information on our offered trainings and courses, as well as their
locations and dates, refer to our web page:
www.siemens.com/sitrain

Service offer
Our range of services includes the following:
• Plant data services
• Spare parts services
• Repair services
• On-site and maintenance services
• Retrofitting and modernization services
• Service programs and contracts
You can find detailed information on our range of services in the service catalog
web page:
support.industry.siemens.com/cs/sc

Industry Online Support app

You will receive optimum support wherever you are with the "Siemens Industry
Online Support" app. The app is available for Apple iOS, Android and Windows
Phone:
support.industry.siemens.com/cs/ww/en/sc/2067

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 5 Appendix

5.2 Links and literature

Table 5-1
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to this entry page of this application example
https://support.industry.siemens.com/cs/ww/en/view/109747140

5.3 Change documentation

Table 5-2
Version Date Modifications
V1.0 11/2019 First version
© Siemens AG 2019 All rights reserved

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