鼎晟达自动化.10316H1002

多电机伺服控制广泛应用于各种电力传动自动控制系统中，如配料、传动等生产过程。伺服系统中电机控制性能和多电机间协调控制的好坏直接影响生产过程的质量，如何高效管理、方便应用、实时控制是多电机伺服系统生产领域亟待解决的首要问题。因此，本文提出一种基于CAN总线技术的多轴运动控制数字交流伺服系统。 

   现场总线技术解决了传统总线插板I/O模块多，干扰严重、系统软件编写复杂、系统硬件兼容性差等问题。大大减轻了现场信号连接的繁琐与费用，提高了信号传输的精度与灵活性，给安装、调试和维护带来诸多方便，为现场用户带来巨大的经济效益，代表着自动化领域发展的一个重要方向. 

CAN总线技术 

   随着工业现场控制和自动化技术的不断进步，传统的通信模式已不能满足现代工程需要。CAN（Controller Area Network）总线是80年代初德国Bosch公司为解决现代汽车中众多控制与测试仪器间数据交换而开发的一种串行数据通信协议，是一种性能先进、价格低廉、保密性好的现场总线（Field Bus）技术，能够有效支持分布式控制或实时控制串行通信网络[2>。CAN总线中各节点都有权利向其它节点发送信息。通信介质可以是双绞线、同轴电缆或光纤，主要技术特点有: 

1,是一种多主总线 

   网络上任一个节点均可在任意时刻主动向网络上其它节点发送信息，多主站依据优先机制进行总线访问; 

2,非破坏性基于优先权总线仲裁技术 

   采用非破坏性基于优先权总线仲裁技术结构，大大节省总线冲突仲裁时间，在重负荷下表现出良好性能; 

3,具有多种传送数据功能 

   具有点对点，一点对多点（成组）及全局广播传送数据功能; 

4,节点数目多 

   直接通讯距离最远可达10km（传输速率为5kbps），最高通讯速率可达1Mbps（传输距离为40m）; 

5,可靠性高 

   数据链路层采用短帧结构，实时性高，纠错效果好，每帧信息都有CRC校验及其它校验措施，数据出错率低，可靠性高; 

6,故障自动判别 

   发送期间若丢失仲裁或因出错而遭破坏的帧可自动重发，暂时错误和永久性故障节点判别及故障节点自动脱离CAN总线。 

   CAN总线系统由CAN网络节点、转发器节点和上位机构成。总线技术遵循现场总线协议，将分布在不同位置，用途各异的测量仪表、控制设备互联成网，并可接入Intranet和Internet网络。现场总线技术的关键标志是它能支持双向多变量、总线式全数字通讯。传统4～20mA模拟直流回路只能在一根两芯电缆中单向传输一个参数，随着系统结构的日益复杂和信息量的增加，4～20mA电流环传输成为制约信息传输的瓶颈，所以现场总线替代4～20mA模拟信号标准已成为控制系统发展的必然趋势。 

   基于CAN总线技术的多机伺服系统 

   CAN总线控制网络结构 

   基于CAN总线技术的多电机伺服控制系统网络结构如图1所示，系统由上位机、CAN总线、现场伺服单元节点组成。数控系统上位机通过CAN总线控制网络节点任一伺服单元，数字伺服与数控系统之间数据传输可分为实时性数据信息和非实时性数据信息两类。实时性数据指参与控制器实时位置、速度、转矩等控制指令和反馈信息，传输速度要求较高。非实时性数据主要是指控制器参数设置、功能设定、诊断功能、伺服状态与报警等信息，传输速度相对较低。 

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TOK TSE-306W Plasma Etcher-Sin

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DOMINO DLS1-10W 

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 FANUC A20B-8100-0932 Board TESTED GOOD Condition

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SIEMENS 6ES5247-4UA41 POSTION MODULE STEP MOTOR 6ES5 491-0LB11 CASING ADAP**

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INDRAMAT TDM1.4-100-300-W1-000 SERVO DRIVE **

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Allen Bradley Panelview 1400  2711-K14C1X Ser B Rev F Frn 4.41

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TOSHIBA C-250E/C-250E-REV 

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 Fanuc A06B-6141-H026 #H580 Servo Drive Amplifer TESTED GOOD Condition

Okuma opus 7000 DRIVE BLII-D50-30A top board E4809-770-065A tested

Okuma opus 7000 DRIVE BLII-D50-30A  SN: 1006-0626-54-05 TESTED WARRANTY

SIEMENS SIMATIC S5 6ES5948-3UA11 6ES59483UA11 CPU948

ALLEN BRADLEY 150-A97NBDA 

GENERAL ELECTRIC TIM-1 

HALLIBURTON MP-48 

KOLLMORGEN IND M-605-C-A1-B3 

Allen Bradley 1785-L80E Series E EtherNet/IP PLC-5/ 80E Controller 100K Word

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FANUC A06B-0346-B356 

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VAN DORN PATHFINDER CONTROLLER 6ES5398-0KB12

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INDRAMAT MDD093C-N-030-N2M-110PB2 

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MARKEM  ME3509-191E  TOUCH DRY CODER **

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SIEMENS 6ES7 414-3XJ00-0AB0 --

INDRAMAT MAC071C-0-NS-3-C/095-A-0/S001 

ONE  ABB IMASI03 Analog slave input module TESTED GOOD Condition

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GENERAL ELECTRIC DS200GDPAG1AKF 

FANUC A06B-0502-B002 

BAILEY CONTROLS IMMFC-03 

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OMRON V690-HMG01A 

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BAJOG ELECTRONIC 839.70.66 

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 ABB 6-Axis Servo Drives Unit DSQC663 - 3HAC029818-001 For IRC5 Controller

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XYCOM 3512-A1A114103500S 

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MICROSWITCH 82408667-001 

MEASUREX 51400997-200 

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ALLEN BRADLEY 20BE032A0AYNAND0 

FANUC A06B-0501-B204 

WESTINGHOUSE W200M4CFC 

Schleicher PBG 2.1 pronomerik CNC

CUTLER HAMMER 5585K-PMPP-5000 

MODICON PC-E984-275 

SIEMENS 1FT5046-1AF71-3AB0 

ENERGY TECHNOLOGY & CONTROL ETC3000 

ENERGY TECHNOLOGY & CONTROL ACS3000 

INDRAMAT TDM1.2-030-300-W/115 

MEASUREX 51403422-150 

FANUC A06B-0317-B006 

BALDOR RELIANCE 801466-R 

ALLEN BRADLEY 80026-172-24-R 

MEASUREX 094377-02 

MEASUREX 09437701 

ALLEN BRADLEY 2711-K10G3 

MITSUBISHI HD-101-12S 

** , IN GOOD CONDITION ** 6es5926-3ka12 Siemens/6es59263ka12

GENERAL ELECTRIC IS200RAPAG1BAA RAPAG1B RACK POWER SUPPLY BOARD

PARKER  MPM1901BTG7G1N  SERVO MOTOR **

AUTOMATED LOGIC M4106 

 Etsi / Bailey Controls TPS02 infi 90 Turbine Protection Slave Module

ALLEN BRADLEY 20F11NE041AA0NNNNN 

SIEMEN  PXD63B120  CIRCUIT BREAKER **

FOXBORO CPU MODULE CIRCUIT BOARD B0132WM-E / D-05-9F 103055

SICK OPTIC ELECTRONIC S30A-6011DA 

XYCOM 9487-47C2319011-000 

TELEMECANIQUE TPCX-573512 

SIEMENS 6GK7-443-1EX20-0XE0 

FANUC A06B-0157-B075 

GUARDMASTER LTD 442L-SFZNMZ 

PCU 50 6fc5210-0df22-0aa0 Version D 1.2ghz SINUMERIK Siemens id25581

ALLEN BRADLEY 2711P-B12C4D1 

ALLEN BRADLEY POWERFLEX 700 20BD065A3AYNANCO SER. B AC DRIVE **

SIEMENS 6FC5510-0BA00-0AA0 

CONTROL GAGING 900901-053-6907 

SEW EURODRIVE MDX60A0220-503-4-00 

KRAUSS MAFFEI 5089880 

YASKAWA ELECTRIC SGDH-60DE 

PROFACE GP570-LG21-24V 

PROFACE GP570-TC31-24V 

PROFACE GP570-TC21-24VP 

PROFACE GP470-EG21-24VP 

ABB Safety Interface Board 3HNA006146-001

PROFACE GP477R-EG41-24VP 

FANUC A06B-0502-B531 

FANUC A06B-6088-H230 

SIEMENS 6SC6-116-0HA00 

1 PC  Fanuc A06B-6102-H106 Servo Amplifier In Good Condition UK

PCU 50 6FC5210-0DF22-0AA0 VERSION D 1.2GHZ SINUMERIK SIEMENS ID25581

MULTILIN PLMNTR1 

1 PC  Fanuc A02B-0283-B500 In Good Condition UK

CONTROL TECHNIQUES SE53403000 

ALLEN BRADLEY 8600-F53 

MITSUBISHI MDS-C1-CV-220 

MITSUBISHI Q12HCPU 

1 PC  Fanuc A06B-6102-H245 Servo Amplifier In Good Condition UK

ALLEN BRADLEY 1336T-B030-AN-GM6-GT2EN-L6 

INDRAMAT MDD071B-N-040-N2T-095PB0 

ALLEN BRADLEY 2711P-T10C4A6 

ASEA BROWN BOVERI 57310001-PT/1 

FANUC A02B-0210-B501 

ALLEN BRADLEY 1336-B030-EAF-S1-HJP-L1 

ALLEN BRADLEY 2711-T14C8 

1 PC  Fanuc A06B-6141-H030 In Good Condition UK

1 PC  Fanuc A06B-6141-H030#H580 In Good Condition UK

TELEMECANIQUE XBT-F024610 

US DRIVES 0400-0015-N1 

METASYS MS-NIE5510-2 

ALLEN BRADLEY 1336F-BRF200-AN-EN-HAS1-L6 

1 PC  Fanuc A05B-2518-C203#ESW Robot Teach Pendant In Good Condition UK

OMRON Z300VC10EV3 

TELEMECANIQUE TSX-P674-25 

ALLEN BRADLEY 2711P-K10C15D1 

EEC AEG 3A-500-350-HFRLP1 

1 PC  AB Allen-Bradley 1785-BEM 1785BEM B In Good Condition UK

SIEMENS 6SL3225-0BE33-7UA0 

INDRAMAT MAC093B-0-JS-3-C/110-A-0/S001 

FANUC A06B-0505-B032 

IAI IF-MA1L-I-200-1300-T1 

IAI IF-MA1L-I-200-1900-T1-M-AQ 

GIDDINGS & LEWIS MACHINE TOOLS 502-03944-00 (, Cleaned, Tested 2 year warran

TAYLOR ELECTRONICS 6204BZ10101G 

ALLEN BRADLEY 4100-212-F 

FANUC A06B-0583-B041 

DATALOGIC 936201008 

AUTOCON TECHNOLOGIES INC 96032575 

GENERAL ELECTRIC TJK636300WL-S-S 

MITSUBISHI BKO-NC6572H61 

KEYENCE CORP LC-2440 

MODICON AM-S980-130 

WESTINGHOUSE 77C28890 

GENERAL ELECTRIC DS3800HPBD 

DOMINO S300-CONTROL 

GE FANUC A20B-0003-0744-13 

SQUARE D PHF360000M 

WESTINGHOUSE 4D14854G02 

ELAU AG C400/10/1/1/1/00 

 Fanuc Servo Amplifier A16B-2000-0063 TESTED GOOD Condition

1 PC  Fanuc A16B-2000-0063 Board In Good Condition

SQUARE D PHF361800A680 

MITSUBISHI A6GPPE-240UK 

ASEA BROWN BOVERI 86433006V002WG5E 

BAILEY CONTROLS YPC-111A 

DELTA COMPUTER RMC101H2-ENET 

JOHNSON CONTROLS MS-NAE5520-2 

EUROTHERM DRIVES 955-D-8R752 

REXROTH VT-HNC100-1-23/W-08-S-0 

JOHNSON CONTROLS MS-NAE5521-701 

ALLEN BRADLEY 1336-B040-EOG-FA2 

INDRAMAT MDD112B-N-040-N2L-130PA0 

EUROTHERM DRIVES 955-A-8R752 

HONEYWELL 620-0073C 

DEC GP571-TC11 

6es7318-3fl00-0ab0 preowned/ 12 months Warranty/12 Months Warranty

AUTOMATED LOGIC MX4106 

ARO 93894244 

MICRO MOTION R200S418NQBAEZZZZ 

LOUIS ALLIS 46S1676-1010 

LOUIS ALLIS 46S01676-0050 

BOSCH 915095 0133 500 305  SERVOMOTOR **

TOSHIBA VT130G3U4400 AC DRIVE **

ELECTRO CRAFT 9101-1303 

GENERAL ELECTRIC DS200DTBAG1AAA MODULE **

ELECTRO CRAFT DM-30 

SIEMENS 6DD-1601-0AF0 

Reliance Electric WR-D4004 Processor/Controller

ALLEN BRADLEY 1756-RM 

SIEMENS 6SN1123-1AA00-0EA0 POWER MODULE WITH SIEMENS 6SN1121-0BA11-0AA1 DRIVE SI

KEYENCE CORP CV-5002P 

KEYENCE CORP CV-5002 

GE FANUC A06B-1504-B200 

BALDOR RELIANCE 9101-1133 

BALDOR RELIANCE 9101-1303 

RELIANCE ELECTRIC DCS POWER MODULE 803604-SD 460v

RELIANCE 802420-2T SPINDLE DRIVE **

Powertec Brushless DC Motor Speed Controller C0402.S4CH023 _ C0402S4CH023

Intel? Pentium? III Processor- Based VME Single Board Computer VMIVME 7750-74000

MITSUBISHI MR-S12-00E-31 

Siemens 6SL3120-1TE28-5AA3 sinamics single motor module

Allen-Bradley 1334-EJB-H One Year Warranty !

FANUC A20B-0009-0531 SPINDLE SERVO BOARD **

1756-L73XT ALLEN BRADLEY SER B CONTROLLOGIX PROCESSOR

Allen-Bradley 1756-A17/B Slot Chassis, 1756-PA75/A Power Supply & Modules

Allen-Bradley Control Logix5555 Processor, Cat No. 1756L55M22 1756-L55 1756-M22

Yaskawa JZNC-XRK01D-1 Robotic Controller 2.1 Amps 200-230VAC 50/60Hz

TOTAL CONTROL QPI31200E2P-B QUICKPANEL 9'' INCH MONOCHROME-  - FREE SHIPPING

BAILEY COUPLER P-HC-PLT-10111100

Allen Bradley PLC 5/80E - 1785-L80E Ethernet Processor Module Series C-USA

CC424 ID.NR. 366376-02 HEIDENHAIN 12M WARRANTY ID36261

RELIANCE ELECTRO-CRAFT BRU-200 DM-30 9101-1133 SERVO DRIVE **

UNIOP ETT-VGA-0045 ETT VGA 0045  6 MONTH WARRANTY

FANUC A06B-6058-H334 TOP BOARD A16B-1100-0330 TESTED UNDER FULL LOAD WARRANTY

MITSUBISHI A3M-CPU-P21 

JOHNSON CONTROLS MS-NAE4520-2 

ALLEN-BRADLEY 1785-L80E PLC-5/80   Ethernet Plc-5/80 Controller, 100K Word Sram

RELIANCE ELECTRO-CRAFT BRU-200 DM-30 9101-1303 SERVO DRIVE **

OMRON NT620C-ST141B-E 

 FANUC Servo Drive A06B-6134-H302#A In Good Condition

Siemens 6AV3627-1NK00-2AX0   TP27, , 6AV36271NK002AX0, Fast Shipping

FANUC A06B-0505-B004 

DYNAPRO 3010-BU-TLRN4 

FALK 1150T10-GRID 

SQUARE D KHB-36225 

JOSLYN CLARK 5DP3-11100 

SIEMENS 1FT6086-8AF71-3AG6 

Siemens Simatic PCS7 Box Computer 6ES7650-4AA00-0DA3 w/ Software IPC627C

 MITSUBISHI BD624A785G53 CIRCUIT BOARD SC-SA BS

 Fanuc A02B-0222-C110 TESTED GOOD Condition

INDRAMAT HDS02.2-W040N 

ALLEN BRADLEY 1327AB-AFL-15-E 

ALLEN BRADLEY 1326AS-B440G-21 

LEUZE AMS200/200-11-H 

5ti-3101, Texas Instruments 5ti 5ti3101 term/Comp Data Link

BAILEY CONTROLS BRC-100 

Siemens 6ES7646-1DC20-0GC0 SIMATC PC FI 15 VGA 6ES7 646-1DC20-0GC0

YASKAWA ELECTRIC SGDH-75DE 

ASEA BROWN BOVERI 1SFA894015R7000 

GENERAL ELECTRIC DS200IIBDG1AEA 

SIEMENS 6SE7-090-0XX84-0AD5 

6av6643-0cd01-1ax1 Siemens Simatic MP 277 10"  - 12 Months Warranty

Siemens Operator P. 6fc5203-0af02-0aa0/810d/840d 6fc5210-0df02-0aa0 - Distressed

6ds2310-0xx00-0xa0, Siemens, TELEPERM, as388/tm SW on memory card 8mb, 6ds2310

6es7416-2xk00-0ab0 /worn - 12 months Warranty/12 Months Warranty

Emotron FDU 2.0-ac Drive/fdu48-146 54ce --- F-nnnnc

MITSUBISHI Q 4 acpu preowned/ - 12 months Warranty/12 Months Warranty

Socapel sa3b/40-200 socadyn Servo Amplifier Processor 3225

Socapel sa3b/40-200 socadyn Servo Amplifier Processor 5242

Siemens 6es7 416-3fr05-0ab0 CPU 416f-3 PN/DP 6es7416-3fr05-0ab0 E-Stand: 01

Heidenhain RCN 723 32768 03s17-0d Encoder, Serial No. according to photo-Un

Siemens 6fc5110-0db02-0aa4 MMC CPU > UN! <

Siemens 6fc5110-0db02-0aa4 MMC CPU > UN! <

Siemens 6fc5210-0df05-0aa0 PCU 50-UN! -

Bosch SM 4.7/20-g16 Servo Control Module 1070917161

Bosch SM 4.7/20-g16 Servo Control Module 1070917161

Bosch SM 4.7/20-g16 Servo Control Module 1070917161

Bosch VM 100/r-t Supply Module 1070077528-105

Bosch VM 100/r-t Supply Module 048107-316

Bosch VM 60-150 Supply Module 342163-with 12 months Warranty! -

Heidenhain ROD 880.0003-36000 Rotary Encoder ID. No. 309 864-05

Indramat btv30.1cd-32r-50c-d-120200-fw Machine Control Panel

Schleicher Robot Control Type: PSE 4/64-40 - A, No: 546973/1 095, good condition

Fanuc a06b-6088-h222 #500 Alpha Amplifier-UN! -

Fanuc a06b-6088-h222 #500 Alpha Amplifier-UN! -

Fanuc a06b-6088-h222 #500 Alpha Amplifier-UN! -

Fanuc a06b-6088-h222 #500 Alpha Amplifier-UN! -

Fanuc a06b-6102-h211 #h520 Alpha Amplifier-UN! -

Fanuc a02b-0222-c061 #mbr 9.5 Inch Lcd/Mdi Unit-UN! -

Siemens 6es7741-0ab00-0ya0 PROGRAMMER PG 740 P II

Siemens Simatic power PG 6es7750-2bb52-4gb4 incl. software programming device

Siemens TELEPERM M 6ds1731-8aa e4+5 with c79458-l439-b8 = Un in Orig. V

Siemens 6ds1205-8aa TELEPERM

Siemens 6ds1205-8aa TELEPERM

Siemens c79458-l2252-a20 Sicomp

Siemens c79458-l2252-a20 Sicomp

Siemens 6av7615-0ab32-0ch0 Panel PC 670

Siemens 6se3226-8dj40 Midimaster Vector

Siemens 6al7008-0ca00-0xa0 Sicomp

Siemens 6sn1123-1aa00-0ja1 Lt-Module = Un!!!

Bosch SPM 100-td Spindle Module 068061-206

Fanuc a20b-0009-053 9 SPINDLE DRIVE BOARD Edition 24 J-UN -

Rexroth hcs03.1e-w0100-a-05 - Gathering indradrive Controller-UN! -

GE FANUC IC800SSI107D2 

PXX 6av6643-0dd01-1ax1 Siemens 6av6 643-0dd01-1ax1, 3 Months Warranty

Siemens Simoreg d165 g200/25 MREQ 6rb 2025-3bb02 6rb 2000-0aa01 6ra 4001 1aa01 N

PXX 6es7635-2ec02-0ae3 Siemens 6es7 635-2ec02-0ae3, 3 Months Warranty

Siemens iskamatic 6fq4151-1aa

Siemens Simatic c7 6es7 635-2ec02-0ae3 c7 635 Key 6es7635-2ec02-0ae3 MINT

Siemens TELEPERM ME 6ds1713-8aa 6ds1 713-8aa Analog Input

Siemens TELEPERM M/ME 6ds1504-8aa 6ds1 504-8aa individual control

Simatic s7 cpu416-3 6es7 416-3xl00-0ab0 Geb

PXX 6181p-15a3hw71ac Allen Bradley, 3 Months Warranty

Siemens TELEPERM ME 6ds1315-8ab 6ds1 315-8ab I/O Bus voter modules EAV 1

Siemens TELEPERM M/ME 6ds1838-8ac 6ds1 838-8ac

Siemens TELEPERM M/ME 6ds1124-8aa 6ds1 124-8aa

Siemens TELEPERM M/ME 6ds1121-8aa 6ds1 121-8aa

Siemens Simatic s7 CP 444 6es7 444-1mx00-0xe0 6es7444-1mx00-0xe0

B & R Multi positioniermodul pnc8 ecpnc 8-23 Geb

Siemens 7um5161-5ca01-0ba0/cc 7um516 1-5ca01-0ba0/cc

Siemens 7ve5120-5ca00-0a/dd 7ve51 20-5ca00-0a/dd

Siemens TELEPERM M 6ds1324-8aa 6ds1 324-8aa

PXX 6av6545-0db10-0ax0 Siemens 6av6 545-0db10-0ax0, 3 Months Warranty

PXX 6au1445-2ad00-0aa0 Siemens 6au1 445-2ad00-0aa0, 3 Months Warranty

Herrmann Ultrasonic Generator Dynamic Digital Control 600 CS 230v 600w Top

Fanuc Power Supply Module a06b-6087-h126 106a 29.8 KW MINT

Siemens 6dd 1607-0aa2 SIMATIC s7 6dd1607-0aa2

Siemens 7um5111-5ca00-0cb/ee 7um5 111-5ca00-0cb/ee - Distressed

Siemens 7ve5120-5ca00-0c/cc 7ve5 120-5ca00-0c/cc parallel switching device-Distressed

Siemens 7um5150-5ca00-0c/bb 7um5 150-5ca00-0c/bb Engine Protection-Distressed

BBC Network Device 89ng03g gjr4503500r0001 Geb

Siemens simadyn 6dd1606-3aa0 TESTED

Siemens Simatic s7 CPU 417-4 6es7 417-4xl00-0ab0 6es7417-4xl00-0ab0 E. Stand 6

PXX mdx60a1320-503-4-00; mdx61b0075-5a3-4-0t Sew Eurodrive, 3 Months Warranty

Siemens CPU 414-3 6es7414-3xj04-0ab0 6es7 414-3xj04-0ab0 E. Stand: 2 MINT CONDITION

Heidenhain Logic Unit LE 246 B Id. No. 249 900 99

Siemens 7um5150-5cb01-0ca0/gg 7um5 150-5cb01-0ca0/gg - Distressed