We have taken great care in compiling our documentation. It contains information about our company and our products. All statements are made in accordance with the current status of technology and to the best of our knowledge and belief.
While every effort has been made to ensure the information provided is accurate, we cannot accept liability for the accuracy and entirety of the information provided, except in the case of gross negligence. In particular, all information on applicable standards, safety-related classifications and time characteristics should be viewed as provisional. In particular it should be noted that statements do not have the legal quality of assurances or assured properties.
We are grateful for any feedback on the contents.
February 2025
All rights to this publication are reserved by Pilz GmbH & Co. KG.
We reserve the right to amend specifications without prior notice.
The names of products, goods and technologies used in this manual are trademarks of the respective companies. Please note the current information about the products, their licenses and registered trademarks in the documents listed in Useful documentation.
To secure plants, systems, machines and networks against cyberthreats it is necessary to implement (and continuously maintain) an overall Industrial Security concept that is state of the art.
Perform a risk assessment in accordance with VDI/VDE 2182 or IEC 62443-3-2 and plan the security measures with care. If necessary, seek advice from
Pilz Customer Support.
Information that is particularly important is identified as follows:
Caution
Advises about risks or negative outcomes of certain actions.
Important
Key information users need to know to achieve their goal.
Tip
Helpful advice for doing things better or more easily.
Note
Useful information that users should know, even when skimming content.
- Useful documentation
1.1 Documentation form Pilz GmbH & Co. KG - Hardware and software used
2.1 Pilz products
2.2 Third-party products
2.3 Structure of the application (schematic) - Preface
- Application description
- First steps to start IndustrialPI 4
5.1 Password
5.2 Instructions for changing the keyboard settings
5.3 Update System packages
5.4 Using the Firewall - Install Mosquitto and Mosquitto-Clients
6.1 Create certificates (optional)
6.2 Create users and passwords for accessing to the broker
6.3 Create an ACL (Access control list)
6.4 Configurate Mosquitto Broker
6.5 Start mosquitto service - Setup and Configuration NTP Server
- WiFi Configuration
8.1 Install dnsmasq
8.2 Set up WiFi connection
8.3 Set up Cockpit-IndustrialPI 4 - Testing of Data exchange
- Integration of a python program
10.1 Work with USB-Stick
10.2 Install additional Python packages and graphical packages
10.3 Start the GUI in the graphical interface - Work with remote desktop connection (RDP)
11.1 Create a new network IP-Address
11.2 Install xrdp and xorg xrdp
11.3 Using the remote desktop connection - License Information
Reading the documentations listed below is necessary for understanding this Application.
The availability of the software used, and its safe handling are also presupposed for the user.
| Nr. | Discription | Part number/ Download |
|---|---|---|
| 1 | Pilz international website, download section | www.pilz.com >EN Support >Downloads www.pilz.com > DE Support > Downloads |
| 2 | Operating manual of PSEN rd3.1 live | The documentation is currently still being prepared and will be made available at a later date. We will inform you as soon as it is available. |
| 3 | Operating manual of IndutrialPI 4 | www.pilz.com >EN Operat.Man. 1006970-01 www.pilz.com >DE Bed.anl. 1006970-01 |
| Nr. | Discription | Order number | Version | Quantity |
|---|---|---|---|---|
| 1 | IndustrialPI | A1000003 | 4 | 1 |
| 2 | PSENrd | 6B000017 | 3.1 | 1 |
| 3 | PSEN op cable axial M12 5-pole, 3m | 630310 | - | 1 |
Important
We only use the IndustrialPI 4 (A1000003) here for the application with WiFi network. Because only the IndustrialPI 4 has a WiFi antenna connection.
| Nr. | Discription | Order number | Version | Quantity |
|---|---|---|---|---|
| 1 | Monitor | - | - | 1 |
| 2 | Keyboard | - | - | 1 |
| 3 | Mouse | - | - | 1 |
| 4 | Micro-HDMI adapter | - | - | 1 |
| 5 | HDMI cable for the Monitor | - | - | 1 |
| 6 | Antenna (optional) | - | - | 1 |
| 7 | Ethernet cable | - | - | 1 |
This application basically describes the commissioning process of a PSENrd 3.1 with an IndustrialPI 4. Both devices communicate with each other using MQTT.
Data is sent from the PSENrd 3.1 to the internal access point of the IndustrialPI 4. This data is sent to the Python program provided and processed there.
The basic procedure for successful basic configuration is shown here step-by-step, mostly using command lines. The operating system used is Debain GNU/Linux 12 (bookworm-arm64.img). www.pilz.com >eShop
Important
This document only describes the procedure for using the IndustrialPI 4 (A1000003) and PSENrd 3.1 (6B000017) and does not constitute technical documentation on the general use of the operating system Linux and the program language Python. The operating system and the programming language are basic requirements for this application.
The example here shows people counting to determine whether one or more people are present in a monitored area.
There are several requirements for the realization of this application:
- Data transmission takes place via MQTT.
- Evaluation of the sensor data in the IndustrialPI 4 in real time.
- Recording of personal data in a specific area.
- All persons detected by the PSENrd 3.1 sensor are recorded and processed by the IndustrialPI 4.
Non-functional requirements:
- Stability and reliability of the system.
- Simple setup and handling of the operating system on the IndustrialPI 4.
The structure of the system and components is based on:
2.3 Structure of the application (schematic)
Important
Depending on how this network access is secured, strangers may also be able to log into the device and gain access to data and all functions. Therefore, always choose a "strong" password and work in "headless" mode, i.e. only access the network from devices that you know. Unknown devices could, for example, log keystrokes and thus spy on your login data.
- First of all, connect the IndustrialPI 4 to a monitor. A micro HDMI is available on the IndustrialPI 4.
- Connect a keyboard via the IndustrialPI 4 USB ports.
- Start the IndustrialPI 4 with the 24VDC supply. The IndustrialPI 4 then boots up.
- Enter the password shown on the sticker on the side of the IndustrialPI 4.
Important
After the first login, change the default password in the command line and in the web application, immediately.
sudo raspi-config
- Select system options.
- Under system options select S3 password.
- You will asked to enter a new password.
- Click OK.
- choose a strong password.
- retype the new password.
- The password changed successfully.
Tip
Installation after a new Image:
The first login of the IndustrialPI 4 is:
Username: pi
Password: raspberry
Information comes: The device configuration was detected automatically.
Manual configuration is therefore not necessary.
Press okay.
You will now be asked to use the password on the sticker.
Tip
When you enter password, the letters and special characters are not displayed.
Tip
Please note that the standard keyboard is set to English (US). This means that the Z and Y keys are reversed, for example on German keyboards. Please note this when entering the password.
Tip
The letter l (small L) can easily be confused with the number 1 (one). Make sure you use the correct character.
Open the RaspberryPI Software Configuration Tool (raspi-config):
Tip
On the English keyboard, the character - (hyphen) corresponds to the character ? (question mark). Make sure you take this into account when entering.
sudo raspi-config
- Select localisation options.
- Then select L3 Keyboard.
- Select the model of your keyboard.
- Go to the sub-item other.
- Select your language.
- Select the default for the keyboard layout as the next step.
- Deselect compose key in the last step.
- Exit the configuration tool with the esc key.
Tip
Try whether the setting has worked. for example press Y or Z.
Tip
- Connect your IndustrialPI 4 to the Internet for the first time via the Ethernet interface. Please use the left Ethernet port.
- If you connect your IndustrialPI 4 with a WiFi- Hotspot follow the points of Set up Cockpit-IndustrialPI 4.
- It would be advisable to work with the Ethernet interface connection first.
- get all updates with the commando:
sudo apt-get update
sudo apt-get upgrade
Tip
Both commands will ask you to continue. Confirm both commands with Y. Press q when requested for upgrade information.
The IndustrialPI 4 comes with a pre-installed firewall.
- Connect a laptop to the right Ethernet port on the IndustrialPI 4 using an Ethernet cable.
- Open your browser and enter https://industrialpiXXXXXX:41443 in your search bar. For XXXXXX, enter the six-digit serial number of the IndustrialPI 4. You will find this number on the front of the IndustrialPI 4.
- Click under System/ Networking.
- Here is the Firewall – make sure the slider is enabled. (By default, the slider is enabled.)
- Click the Button (Edit rules and zones).
- You can see a table with the followring default ports. (22/TCP, 564/UDP, 41443/TCP, 5353/UDP, 80/TCP, 443/TCP)
- To select additional ports, click the button (Add services).
- Filter the services ony by one: 8883 (mqtt-tls); 3389 (rdp); 123 (ntp); 67 (dhcp). Add the services.
- Please reboot the IndustrialPI 4 after this settings.
- Go back to the terminal and type the command:
sudo reboot
- Install Mosquitto and Mosquitto-Clients:
sudo apt-get install mosquitto mosquitto-clients
Tip
This step is required only when using self-signed certificates.
- Install OpenSSL:
sudo apt-get install openssl
- Create a folder on your broker/server for example in your home directory in which you save the Certificates:
mkdir certs
cd certs
- Create a private key:
openssl genrsa -out server.key 2048
Note
create a private RSA-key with 2048 bit.
- Create certificate signing request (CSR):
openssl req -new -key server.key -out server.csr
Note
You will be asked for information such as country, organization, common name (IP address).
- Create self-signed certificate:
openssl x509 -req -days 365 -in server.csr -signkey server.key -out server.crt
Creates a certificate that is valid for 365 days.
sudo mosquitto_passwd -c /etc/mosquitto/passwd PSENrd3_sensor
sudo mosquitto_passwd -b /etc/mosquitto/passwd PSENrd3_admin <password for that user>
sudo mosquitto_passwd -b /etc/mosquitto/passwd PSENrd3_consumer <password for that user>
Tip
We recommend using the suggested usernames. The less-than signs and greater-than signs, "<>" do not need to be written.
Note
-c: create a new password file (overwrites an existing file).
-b: sets the user and password directly in the command (password in plain text)
Important
If you use other usernames, please customize the usernames in the step 6.3 Create an ACL list
- Create an ACL-File:
sudo nano /etc/mosquitto/aclfile
- Write the ACL-Rules in the ACL-File:
# PSENrd3_sensor: Read (commands, config, details, positionData); Write (details, positionData, handoff)
user PSENrd3_sensor
topic read /PSENrd3/+/commands
topic read /PSENrd3/+/handoff
topic read /PSENrd3/+/config
topic read /PSENrd3/+/details
topic read /PSENrd3/+/positionData
topic write /PSENrd3/+/details
topic write /PSENrd3/+/positionData
topic write /PSENrd3/+/handoff
# PSENrd3_admin: Read (commands, config, details, positionData); Write (commands, config)
user PSENrd3_admin
topic read /PSENrd3/+/commands
topic read /PSENrd3/+/config
topic read /PSENrd3/+/details
topic read /PSENrd3/+/positionData
topic write /PSENrd3/+/commands
topic write /PSENrd3/+/config
# PSENrd3_consumer: Read (details, positionData)
user PSENrd3_consumer
topic read /PSENrd3/+/details
topic read /PSENrd3/+/positionData
Important
If you used another usernames, please customize the usernames in the ACL-File.
- Open the mosquitto config-file:
sudo nano /etc/mosquitto/mosquitto.conf
- Add the following lines:
listener 8883
cafile </path/to/certs>/ca.crt
certfile </path/to/certs>/server.crt
keyfile </path/to/certs>/server.key
require_certificate false
use_identity_as_username false
allow_anonymous false
password_file /etc/mosquitto/passwd
acl_file /etc/mosquitto/aclfile
Important
Make sure that you enter the correct path to the certs folder where the certificates can be found.
cafile </path/to/certs>/ca.crt, this configuration line is only used if an existing certificate is available.
Tip
The less-than signs and greater-than signs, "<>" do not need to be written.
sudo systemctl start mosquitto
sudo systemctl enable mosquitto
sudo systemctl status mosquitto
Note
If the mosquitto service shows an error on starting then it could be that you should make sure that the certificates have the correct authorizations and are readable for the Mosquitto service. To do that you can try:
Important
You do not need the first command line if you are using a self-signed CA-Certifcate.
sudo chown mosquitto:mosquitto </path/to/certs>/ca.crt
sudo chown mosquitto:mosquitto </path/to/certs>/server.crt
sudo chown mosquitto:mosquitto </path/to/certs>/server.key
sudo systemctl restart mosquitto
Tip
The less-than signs and greater-than signs, "<>" do not need to be written.
- Install NTP:
sudo apt-get install ntp
Note
An additional security package is automatically installed in this Linux system (Debain GNU/Linux 12). The next steps are therefore carried out with an ntpsec command.
- Open the NTP config file:
sudo nano /etc/ntpsec/ntp.conf
- Add the following configuration to the ntp.config file:
server 127.127.1.0
fudge 127.127.1.0 stratum 10
restrict 127.0.0.1
restrict ::1
- Save the file.
Important
Comment out all other commands with #.
- Restart the ntpsec:
sudo systemctl restart ntpsec
sudo systemctl enable ntpsec
- Control whether your system clock is synchronized:
timedatectl status
- If you need the list to find your correct time zone, enter the following command:
timedatectl list-timezones
- For example, to set the time zone to Berlin:
sudo timedatectl set-timezone Europe/Berlin
Tip
The local time is now the same time as at your location. “Yes” should be displayed behind the synchronized system clock. The time zone has been changed to Europe/Berlin for this example.
- To check the synchronization of the local system:
ntpq -p
or
ntpq -p 127.0.0.1
Note
The ntpq -p command displays a list of the NTP servers (Network Time Protocol) with which your local system is synchronized. This list contains important information such as the IP address of the server, the status of the connection and the synchronization quality.
An asterisk (*) at the beginning of a line means that this NTP server is the main synchronization partner of your system. You can find an example of this in the following table:
| remote | refid | st | t | when | poll | reach | delay | offset | jitter |
|---|---|---|---|---|---|---|---|---|---|
| *ntp.example.LOCAL | .LOCL. | 10 | l | 18 | 64 | 377 | 0.000 | 0.000 | 0.000 |
Tip
This synchronization can take a long time after a restart of the IndustrialPI 4 and the PSENrd 3.1. (It can take up to 6 minutes).
- To enable the automatic connection of WiFi devices, we need the dnsmasq package, which acts as a DHCP server.
Install package:
sudo apt install dnsmasq
Tip
Confirm with Y key.
- Open the configuration file:
sudo nano /etc/dnsmasq.conf
- Add the following example configuration in this file: (scroll all the way down with the down button)
interface=wlan0
dhcp-range=192.168.0.50,192.168.0.150,12h
- Save the config.file and exit to start dnsmasq:
sudo systemctl restart dnsmasq
sudo systemctl enable dnsmasq
- Control the dnsmasq.service via status:
sudo systemctl status dnsmasq
- The status shows you that the dnsmasq service is active.
Important
To use a secure WLAN network, please install the hostapd package. This is required to use the WPA2 security protocol. The procedure is explained in detail in the following section.
- Install packages:
sudo apt update
sudo apt upgrade
sudo apt install hostapd
hostapd is a package that allows you to create a router in your IndustrialPI 4 to later ensure the WPA2 protocol.
- Create a configuration file:
sudo nano /etc/hostapd/hostapd.conf
- Please write the following settings in this file:
interface=wlan0
driver=nl80211
ssid=<YourNetworkName>
hw_mode=g
channel=6
wmm_enabled=1
macaddr_acl=0
auth_algs=1
ignore_broadcast_ssid=0
wpa=2
wpa_passphrase=<YourPassword>
wpa_key_mgmt=WPA-PSK
wpa_pairwise=TKIP
rsn_pairwise=CCMP
ap_max_inactivity=5
disassoc_low_ack=1
Tip
The less-than signs and greater-than signs, "<>" do not need to be written.
Note
In your application, make sure that the settings for commissioning are sufficiently secure (security).
-
Save the file an exit the file.
-
Create a new file for the Configuration of wlan0:
sudo nano /etc/network/interfaces.d/wlan0
- Please write the following settings in this new file:
(The following settings are an example, please use your IP addresses)
auto wlan0
iface wlan0 inet static
address 192.168.0.1
netmask 255.255.255.0
network 192.168.0.0
broadcast 192.168.0.255
- Save the file an exit the file.
The next step is to create a new file in the NetworkManager folder. Please follow the instructions.
Note
The 99-unmanaged-devices.conf file is used to configure certain network devices so that they are ignored by NetworkManager. This setting forces the use of the WPA2 security protocol.
- Create the following configuration file:
sudo nano /etc/NetworkManager/conf.d/99-unmanaged-devices.conf
- Please write the following settings in this file:
[keyfile]
unmanaged-devices=interface-name:wlan0
[device]
wifi.scan-rand-mac-address=no
-
Save the file an exit the file.
-
Please restart the NetworkManager:
sudo systemctl restart NetworkManager.service
- Control the status of the NetworkManager to see if it is activated.
sudo systemctl status NetworkManager.service
Note
The WPA2 security protocol is now guaranteed to be used.
- To connect a laptop to your IndustrialPI 4. Connect the laptop to the right Ethernet port on the IndustrialPI 4 using an Ethernet cable.
- Open your browser and enter https://industrialpiXXXXXX:41443 in your search bar. For XXXXXX, enter the six-digit serial number of the IndustrialPI 4. You will find this number on the front of the IndustrialPI 4.
- Log in with the data provided on the sticker on the side of the IndutrialPI 4.
- The dashboard of your IndustrialPI 4 will open and is called Cockpit.
- Under System/ IndustrialPI you will find the field WLAN and BT.
- Select WLAN country code.
- Switch on the WLAN slider.
- Make sure the Bluetooth slider is switch off.
- Select the external antenna (SMA) under select antenna.
- then restart the IndustrialPI 4:
sudo reboot
Tip
When you connect the WiFi the first time, please control in your Network Mangager "sudo nmtui" whether the IndustrialPI 4 find your desired WiFi. This Tip belongs to the subitem 5.3 Update System packages.
Tip
Use a WiFi endpoint device, e.g. a smartphone, and check whether you can see the new WiFi connection in your WiFi settings. Click on it and connect and see if you are then in the WiFi. You can see this by the checkmark and the WiFi icon.
Tip
The next test is to try out the browser cockpit of your IndustrialPI 4. First connect your mobile phone or notebook to the existing Wifi connection as described in the previous tip. Then open any browser and enter the same hostname as in the settings in the previous chapter. If you are asked for a user name and password, everything is correct.
- You can start by checking whether you can connect the IndustrialPI 4 system to the PSENrd 3.1. First restart the IndustrialPI 4:
sudo reboot
Tip
General tip, restarting the system is very important for many new installations. Restart the IndustrialPI 4 from time to time.
Tip
Again, remember the synchronization time of the NTP service.
- The tail -f command is used to display the last lines of a file in real time. If you use it with Mosquitto, you can monitor the log file of the Mosquitto broker to see current activities and messages.
sudo tail -f /var/log/mosquitto/mosquitto.log
- You can find for example the information in the table:
New client connection from IP-Address: Portnumber as ID (p2, c1, k120).
- The next step is to press Ctrl + C to exit the currently running command or process and return to the command line to enter new commands.
- We need the first test whether the sensor sends data to the IndustrialPI 4.
mosquitto_sub -p 8883 -h <IP-Address> --cafile </path/to/certs>/server.crt> -t '/PSENrd3/<ID OF YOUR SENSOR>/positionData'-u <username> -P <password>
Important
If you already have an existing certificate, please replace "sever.crt" to "ca.crt" and specify the path to "ca.crt".
Tip
Use your wlan0 IP-Address for this command.
Tip
For the Path to your CA file, use your lines from the point 6.4 Configurate Mosquitto Broker.
Tip
You will find the 12-digit ID on the back of the sensor (The Mac-Adress without colon and capital letters).
Tip
Use for username and password your settings from point 6.2 Create users and passwords for accessing to the broker.
Tip
The less-than signs and greater-than signs, "<>" do not need to be written.
- Position data should then gradually appear on your shell.
Note
The follow description shows how to get a possible python program into an IndustrialPI 4. The possible procedure for a Python program is described in detail.
Important
Make sure that the USB stick comes from a trustworthy source and has not been used before on potentially compromised systems. The stick should be checked or reformatted before use to ensure maximum security.
- Python is already available on this oparting system. You can view the current Python version with the following command:
python3 --version
- Create a new folder for your python-program for example in your home directory:
mkdir ~/my_python_program
- Insert your USB stick into one of the two USB ports. Check the name of the USB with the command:
lsblk
Tip
In the last column of this table you will see the name of the mount point for your USB device, e.g. /media/usb.
- Create a folder for your USB Devices under the media directory:
sudo mkdir /media/usb
- Mount the example USB into your system:
sudo mount /dev/sda1 /media/usb
- Copy the supplied program in this new folder for example from a stick:
sudo cp /media/usb/possible_python_program.py /home/pi/my_python_program
- After you have copied your program you could umount the USB stick:
sudo umount /dev/sda1
The next step is to change the correct mac-address and path.
- Open the python program:
sudo nano /home/pi/my_python_program/possible_python_program.py
- Change the mac-address where the "XXXXXXXXXXXX" are located.
Tip
You will find the 12-digit Mac address on the back of the sensor.
-
Change the path of your certificates markes with "/XXX/XXX/XXX/XXX" as well.
-
Save the file and exit.
For the possible python program you need a Python package for installation for execution.
- Install tkinter:
sudo apt-get install python3-tk
- Install matplotlib:
sudo apt-get install python3-matplotlib
Tip
Confirm both installations with Y.
Several steps are required for the graphical interface.
- Open the file bash.bashrc:
sudo nano /etc/bash.bashrc
- Write the line "export DISPLAY=:0.0" at the bottom after the content of this file.
export DISPLAY=:0.0
- Save the file and exit.
- Restart this file:
source /etc/bash.bashrc
- Control whether the $DISPLAY varibale is set correctly:
echo $DISPLAY
-
This Commando should return :0.0.
-
Next step is to install the so called x Sever for the graphical window of your Linux system.
sudo apt update
sudo apt upgrade
sudo apt install xorg
Tip
Requests that are answered with y or n must continue with y. Press q if when asked.
- Start the graphical interface with:
startx
- There will open a new window with a new commando line. Now you can use a mouse in this shell. Click behind the Commoando line.
- Change at first your keyboard language again. For example Germany (de):
setxkbmap de
Tip
Try whether the setting has worked. For example press Y or Z.
Enlarge the display:
-
Held down with the ctrl key and right mouse button, a menu with unicode fonts will appear.
-
Navigate with the mouse to your desired font size.
(Hold down the ctrl key and the right mouse button the whole time.) -
Change into the directory:
cd /home/pi/my_python_program
- Execute the python program:
python3 possible_python_program.py
In this discription, you will use the system via remotedesktop at your workstation with an Ethernet connection. The Requirement for this is that you need a terminal program for example PuTTY. The Remotdesktop- Connection is available on a Windows PC by default.
Important
Observe the specifications of commissioning (security) for your application, in particular the removal of the separation of networks with defferent IP addresses.
First of all, you need a new Network IP-Address for the Remotedesktop Connection. For example change the third number in your IP-Address, as before. The reason in this case is, if you have the IP-Address in the same network the WLAN connection will be interrupt between PSENrd 3.1 and IndustrialPI 4.
- Please use the Network Manager:
sudo nmtui
- Select the option edit a connection.
- In this case select under Ethernet the first wired connection.
- Enter the automatic behind the IPv4 configuration and select manual.
- One line will show up for the new IP-Address.
- Please enter your Ethernet IP-Address in this line. For example 192.168.1.109/24.
- Then you can click OK in the right corner.
- Reboot the system:
sudo reboot
- Install the packages xrdp and xorg xrdp:
sudo apt install xrdp xorgxrdp
- Reboot the system:
sudo reboot
Connect the IndustrialPI 4 to your laptop via Ethernet cable. Then search for the Remote Desktop Connection in your search bar in your operating system.
- A small Window with an input line opens.
- Please enter your Ethernet IP-Address there.
- An identity question is displayed.
Important
In your application, make sure that the settings for commissioning are sufficiently secure (security).
- Please click Yes.
- After that a login query will open.
- Please enter your username and your password of your IndustrialPI 4.
- Now the graphical desktop opens directly.
- If you want to use the python program you need a different display number.
- You can find this number in a file it names "xrdp-sesman.log".
sudo nano /var/log/xrdp-sesman.log
- In the fourth line you will find the IP address of your PC. At the bottom of this file you will find the display number, in this case the number 10 is available.
- Exit this file with ctrl + X.
- Change the DISPLAY number:
export DISPLAY=:10.0
- Control the change with:
echo $DISPLAY
Now you can start the python program on the remote desktop connection.
Note
This Documentation is licensed under the CC-BY-ND-4.0.txt- see the LICENSE file for details. Here you will find a short description about the LICENSE (https://creativecommons.org/licenses/by-nd/4.0/). Furthermore, the code snippets are subject to the LICENSE CC0-1.0.txt- see the LICENSE file for details. Here you will find a short description about the LICENSE (https://creativecommons.org/publicdomain/zero/1.0/).
Copyright (c) 2025 Pilz GmbH & Co. KG