Quick availability: VG series – attractive price, high flow and compact

8
2016/02 – Subject to change – Quick Order Sheet Quick availability: VG series – attractive price, high flow and compact covers 80% of your automation tasks Worldwide: Always in stock Superb: Festo quality at an attractive price Easy: Just a few clicks to place an order online Fast: Ready for dispatch from the Festo factory in 24 hours Festo core product range We offer you components and solutions in the electronic catalogue for tasks that go beyond the core functions. www.festo.com/xdki Or simply contact your Festo sales engineer, who will be pleased to help you. Configurable valve terminal VTUG Configuration part no.: 572230 Individual valve/ components for self- assembly Individual valve/ components for self- assembly Configurable valve VUVG Configuration part no.: 564212 Configurable valve terminal VTUG Configuration part no.: 573606 Solenoid valves VUVG-...-S/pneumatic valves VUWG Valve terminals VTUG with multi-pin plug/fieldbus connection New: focused features at an attractive price Delivery time: ex-stock Delivery time: 5 working days Delivery time: 5 working days Delivery time: ex-stock Delivery time: 5 working days

Transcript of Quick availability: VG series – attractive price, high flow and compact

2016/02 – Subject to change – Quick Order Sheet

Quick availability: VG series – attractive price, high fl ow and compact

covers 80% of your automation tasksWorldwide: Always in stockSuperb: Festo quality at an attractive priceEasy: Just a few clicks to place an order onlineFast: Ready for dispatch from the Festo factory in 24 hours

� Festo core product rangeWe offer you components and solutions in the electronic catalogue for tasks that go beyond the core functions. www.festo.com/xdki Or simply contact your Festo sales engineer, who will be pleased to help you.

Confi gurable valve terminal VTUG• Confi guration part no.:

572230

Individual valve/components for self-assembly

Individual valve/components for self-assembly

Confi gurable valve VUVG• Confi guration part no.:

564212

Confi gurable valve terminal VTUG• Confi guration part no.:

573606

Solenoid valves VUVG-...-S/pneumatic valves VUWG Valve terminals VTUG with multi-pin plug/fi eldbus connection

New: focused

features at an attractive price

Delivery time: ex-stock

Delivery time: 5 working days

Delivery time: 5 working days

Delivery time: ex-stock

Delivery time: 5 working days

2 Quick order sheet – Subject to change – 2016/02 www.festo.com/catalogue/...

Valves > Electrically and pneumatically actuated directional control valves > Universal directional control valves >

Solenoid valves VG series

Type code

Thread M3Thread M5Thread M7Thread GxThread G¼Flange/sub-basePush-in connector, metric: 3, 4, 6, 8, 10Push-in connector, imperial: 18, 532, 316, 14, 38

M3Pneumatic connection

M5M7G18G14FQ...T...

Without fittingSilencerWith fitting

–Exhaust

UQN

24 V DC12 V DC5 V DC

1Operating voltage

54

NoneHolding current reduction with protective circuit

–Circuitry

R

NoneLED

–Display

L

5/2-way valve, double solenoid5/2-way valve, single solenoid5/3-way valve, mid-position closed5/3-way valve, mid-position exhausted5/3-way valve, mid-position pressurised2x3/2-way valve, NC2x3/2-way valve, 1x NO, 1x NC2x3/2-way valve, NO

Valve functionsB52M52P53CP53EP53UT32CT32HT32U

10 mm / 100 l/min / M3

10 mm / 380 l/min / M5, M714 mm / 780 l/min / Gx18 mm / 1380 l/min / G¼

Width/max. flow rate/pneumatic connection

10A

101418

NonePneumatic springMixed, pneumatic/mechanical springMechanical spring

Reset method–ARM

InternalExternal

Pilot air supply–Z

In-line valve, individual valveSemi in-line valve

Sub-base valve

Valve designL

S

B

Without electrical connection boxPin allocation H, horizontal plugPin allocation H, vertical plugIndividual plug M8, 4-pinIndividual plug M8, 3-pinPin allocation S, horizontal plugPin allocation S, vertical plugWith 2x flying leads: 1, 2, 3, 4Cable: 6, 7, 8, 9

P3Electrical connection box

H2H3R1R8S2S3L...K...

Not sheathed: 1, 2, 3, 4Sheathed: 1, 2, 3, 4Not sheathed: 1, 2, 3, 4Sheathed: 1, 2, 3, 4M8x1, 3-pin: 1, 2, 3, 4M8x1, 4-pin: 5, 6, 7, 8None

Connecting cableW...C...WS...S...N...N...–

–– – – – – – –VUVG KL 10 T32C A T M5 1 H2 SL

Part of core product range, delivery from stock. Ordering data page 3

Piston spool with sealing cartridgePiston spool with sealing ring

Design principle–

K

Ordering data – Variants

Configurable product

This product and all its variants can be ordered using the configurator.

The configurator can be found under Products at www.festo.com/catalogue/vuvg

Enter the configuration part number in the search field: 564212

Variants with extended featuresVariants with focused features

Design–

S

Non-detentingCoveredNon-detenting, detentingDetenting, without accessories

Manual overrideHSTY

32016/02 – Subject to change – Quick order sheet www.festo.com/catalogue/...

Valves > Electrically and pneumatically actuated directional control valves > Universal directional control valves >

Solenoid valves VUVG-...-S

Type codes – Manifold rail VABMVABM – L1 – 10 S – G18 – 2

Manifold assembly parts Number of valve positions

Manifold rail VABM 2 3 4 5 6 7 8 9 10 12 14 16

Valve series Ports 1, 3, 5

VG series L1 M5 M5

M7 M7

Valve width G18 Gx

10 mm 10A G14 G¼ Manifold rail

10 mm 10 G38 Gy S For semi in-line valves

14 mm 14 W For sub-base valves M5, Gx, G¼

18 mm 18 HW For sub-base valves M7

Ordering data tables below: Accessories manifold rail VABM-L1

Ordering data – individual valveVUVG-LK...-S: Piston spool with sealing ring; Variants with focused features

VUVG-L: Piston spool with sealing cartridge; Variants with extended features

In-line valve, individual valve; Internal pilot air supply; Manual override: non-detenting, detenting; Operating voltage 24 V DC; Display: with LEDPort2, 4

Width

[mm]

2x3/2-way valve, NC; Pneumatic spring

5/2-way valve, single solenoid; Pneumatic spring

5/2-way valve, double solenoid

5/3-way valve, mid-position closed

H2 R8 H2 R8 H2 R8 R8

M5 10 �� 8042538 �� 8042542 �� 8042539 �� 8042543 �� 8042540 �� 8042544 �� 577346

M7 10 �� 8042546 �� 8042550 �� 8042547 �� 8042551 �� 8042548 �� 8042552 �� 574223

Gx 14 �� 8042562 �� 8042566 �� 8042563 �� 8042567 �� 8042564 �� 8042568 �� 574231

Ordering data – Accessories for individual valve VUVG-LK...-SPort2, 4

Valve width[mm]

Blanking plate

Seal1) Manifold rail VABM-L1-...S2) for individual valve VUVG-LK...-S with seal VABDValve positions

Supply plate

Separator

VABB VABD 2 3 4 6 8 10 VABF VABD

M5 10 �� 566462 �� 8043718 �� 566558 �� 566559 �� 566560 �� 566562 �� 566564 �� 566566 569991 569995

M7 10 �� 566462 �� 8043719 �� 566558 �� 566559 �� 566560 �� 566562 �� 566564 �� 566566 569992 569995

Gx 14 �� 569989 �� 8043720 �� 566618 �� 566619 �� 566620 �� 566622 �� 566624 �� 566626 569993 569996

1) Delivery unit: 10 sets (each with 2 screws and 1 seal). 2) Screws and seal VABD required.

Ordering data – sub-base valveVUVG-BK...-S: Piston spool with sealing ring; Internal pilot air supply;Variants with focused features

VUVG-B: Piston spool with sealing cartridge; External pilot air supply; Variants with extended features

Sub-base valve; Pneumatic connection: Flange/sub-base; Operating voltage 24 V DC; Display: with LEDPort2, 4

Width

[mm]

2x3/2-way, NC; Pneumatic spring

5/2-way, single solenoid; Pneumatic spring

5/2-way, double solenoid 5/3-way valve, mid-position closed

H2 R8 H2 R8 H2 R8 R8

M5/M7 10 �� 8042554 �� 8042558 �� 8042555 �� 8042559 �� 8042556 �� 8042560 �� 574239

Gx 14 �� 8042570 �� 8042574 �� 8042571 �� 8042575 �� 8042572 �� 8042576 �� 574247

Ordering data – Accessories for sub-base valve VUVG-BK...-SPort2, 4

Valve width[mm]

Blanking plate

Manifold rail VABM-L1-...W/VABM-L1...HW for sub-base valve VUVG-BK3)

Valve positionsSupply plate Separator

VABB 2 3 4 6 8 10 VABF VABD

M5 10 �� 566495 �� 566582 �� 566583 �� 566584 �� 566586 �� 566588 �� 566590 569991 569994

M7 10 �� 566495 �� 566606 �� 566607 �� 566608 �� 566610 �� 566612 �� 566614 569992 569994

Gx 14 �� 569989 �� 566642 �� 566643 �� 566644 �� 566646 �� 566648 �� 566650 569993 569996

3) Internal or external pilot air can be set with the same manifold rail through the use of blanking plugs.

Part of core product range, delivery from stock. Type codes page 2 Type codes page 3

4 Quick order sheet – Subject to change – 2016/02 www.festo.com/catalogue/...

Valves > Electrically and pneumatically actuated directional control valves > Universal directional control valves >

Solenoid valves VUVG

Ordering data – AccessoriesElectrical connection box VAVEDesign Description Code1) Additional functions Cable length For plug socket/

connecting cablePart No. Type

With flying leads L1 Spark arresting, bipolar, IP40

0.5 m Open cable end 566722 VAVE-L1-1VL1-LP

L2 1 m 566723 VAVE-L1-1VL2-LP

L3 2.5 m 566724 VAVE-L1-1VL3-LP

L4 5 m 566725 VAVE-L1-1VL4-LP

Horizontal plug H2 Spark arresting, bipolar, IP40

– NEBV-H1 … �� 566714 VAVE-L1-1VH2-LP

H2 R Spark arresting, holding current reduction, IP40

– �� 566716 VAVE-L1-1H2-LR

Vertical plug H3 Spark arresting, bipolar, IP40

– NEBV-H1 … 566715 VAVE-L1-1VH3-LP

H3 R Spark arresting, holding current reduction, IP40

– 566717 VAVE-L1-1H3-LR

Round plug, M8, 3-pin R8 Spark arresting, bipolar, IP65

– NEBU-M8 … �� 573919 VAVE-L1-1VR8-LP

R8 R Spark arresting, holding current reduction, IP65

– 573920 VAVE-L1-1R8-LR

Round plug, M8, 4-pin R1 Spark arresting, bipolar, IP65

– 573921 VAVE-L1-1VR1-LP

R1 R Spark arresting, holding current reduction, IP65

– 573922 VAVE-L1-1R1-LR

1) Type codes VUVG 'Electrical connection box' and 'Circuitry', page 2 Part of core product range, delivery from stock.

Plug socket with cable NEBV/connecting cable NEBUDesign Description Code2) Cable length For electrical connecting box VAVE Part No. Type

Flying leads, open end; not sheathed

W... 0.5 m Code H2, H3 �� 566654 NEBV-H1G2-KN-0.5-N-LE2

1 m �� 566655 NEBV-H1G2-KN-1-N-LE2

2.5 m �� 566656 NEBV-H1G2-KN-2.5-N-LE2

Individual cable, open end; sheathed

C... 0.5 m Code H2, H3 �� 566658 NEBV-H1G2-P-0.5-N-LE2

1 m �� 566659 NEBV-H1G2-P-1-N-LE2

2.5 m �� 566660 NEBV-H1G2-P-2.5-N-LE2

Open end, 3-pin – 2.5 m Code R8 �� 541338 NEBU-M8W3-K-2.5-LE3

Open end, 4-pin – 2.5 m Code R1 541344 NEBU-M8W4-K-2.5-LE4

2) Type codes VUVG 'Connecting cable', page 2

Cover cap, Inscription label, H-rail mountingDesign Description For

Solenoid valveVUVG

Pneumatic valve VUWG

Valve Terminal VTUG

Part No. Type PU3)

Cover cap for manual override

Covered –

540898 VMPA-HBV-B 10

Non-detenting –

540897 VMPA-HBT-B 10

Detenting without accessory tool

– 8002234 VAMC-L1-CD 10

Inscription label holder –

570818 ASLR-D-L1 10

H-rail mounting �� 569998 VAME-T-M4 2

3) Packaging unit

Part of core product range, delivery from stock.

Additional accessories www.festo.com/catalogue/vuvg > Documentation

52016/02 – Subject to change – Quick order sheet www.festo.com/catalogue/...

Valves > Electrically and pneumatically actuated directional control valves > Universal directional control valves >

Pneumatic valves VUWG

Type codes

NonePneumatic springPneumatic/mechanical springMechanical spring

–Reset method

ARM

Without fittingSilencerWith fitting

–Exhaust

UQN

5/2-way valve, double pilot5/2-way valve, single pilot5/3-way valve, mid-position closed5/3-way valve, mid-position exhausted5/3-way valve, mid-position pressurised2x3/2-way valve, NC2x3/2-way valve, 1x NO, 1x NC2x3/2-way valve, NO

Valve functionsB52M52P53CP53EP53UT32CT32HT32U

10 mm / 100 l/min

10 mm / 380 l/min14 mm / 780 l/min18 mm / 1380 l/min

Width/max. flow rate10A

101418

In-line valve, individual valveIn-line, manifold valve incl. seals and screws

Sub-base valve, manifold valve incl. seals and screws

Valve designL

S

B Thread M3Thread M5Thread M7Thread GxThread G¼Flange/sub-basePush-in connector, metric: 3, 4, 6, 8, 10Push-in connector, imperial: 18, 532, 316, 14, 38

M3Pneumatic connection

M5M7G18G14FQ...T...

VUWG L– – – ––10 T32C A M5

Ordering data – Variants

Configurable product

This product and all its variants can be ordered using the configurator.

The configurator can be found under Products at www.festo.com/catalogue/vuwg

Enter the configuration part number in the search field: 571755

Ordering data – VUWG-LIn-line valve, individual valve; Exhaust without fittingPort2, 4

Width

[mm]

2x3/2-way, NC 5/2-way valve, single pilot; Pneumatic/mecha-nical spring

5/2-way valve, single pilot; Mechanical spring

5/2-way valve, double pilot

5/3-way valve, mid-position closed

M5 10 573805 573808 574254 573809 573810

M7 10 573821 573824 574258 573825 573826

Gx 14 573829 5738321) 574262 573833 573834

G¼ 18 574263 574269 574270 574271 574272

1) Pneumatic spring

Ordering data – AccessoriesPort2, 4

Valve width[mm]

Blanking plate

Seal3) Manifold rail VABM-L1-...S4) for individual valve VUVG-L with seal VABDValve positions

Supply plate

Separator

VABB VABD 2 3 4 6 8 10 VABF VABD

M5 10 �� 566462 �� 566672 �� 566558 �� 566559 �� 566560 �� 566562 �� 566564 �� 566566 569991 569995

M7 10 �� 566462 �� 566673 �� 566558 �� 566559 �� 566560 �� 566562 �� 566564 �� 566566 569992 569995

Gx 14 �� 569989 �� 566675 �� 566618 �� 566619 �� 566620 �� 566622 �� 566624 �� 566626 569993 569996

G¼ 18 �� 574482 �� 574479 �� 574455 �� 574456 �� 574457 �� 574459 �� 574461 �� 574463 574481 574483

3) Delivery unit: 10 sets (each with 2 screws and 1 seal).4) Screws and seal VABD required.

Part of core product range, delivery from stock. Type codes page 3

Additional accessories www.festo.com/catalogue/vuwg > Documentation

bold Code Ordering data table below

6 Quick order sheet – Subject to change – 2016/02 www.festo.com/catalogue/...

24 V DC1Nominal operating voltage

Valve terminals > Universal valve terminals >

Valve terminals VTUG with multi-pin plug and fieldbus connection

Type codes – Solenoid valve VUVG

LEDLDisplay

5/2-way valve, double solenoid5/2-way valve, single solenoid5/3-way valve, mid-position closed5/3-way valve, mid-position exhausted5/3-way valve, mid-position pressurised2x3/2-way valve, NC2x3/2-way valve, 1x NO, 1x NC2x3/2-way valve, NO

Valve functionsB52M52P53CP53EP53UT32CT32HT32U

Semi in-line valve

Sub-base valve

Valve designS

B

Thread M5Thread M7Thread GxThread G¼Flange/sub-basePush-in connector, metric: 3, 4, 6, 8Push-in connector, imperial: 14, 18, 316, 516, 532

M5Pneumatic connection

M7G18G14FQ...T...

10 mm / 330 l/min / M5, M7

14 mm / 630 l/min / Gx18 mm / 1380 l/min / G¼

Width/max. flow rate/ pneumatic connection10

1418

None, for B52 and P53Pneumatic spring, for 2x3/2 and M52Mixed, pneumatic/mechanical spring, for M52Mechanical spring, for M52 and 2x3/2

Reset method–ARM

ExternalZPilot air supply

VUVG S– – – – –10 T32C A Z T M5 1 T1 L

Part of core product range, delivery from stock. Ordering data page 7

Plug-inT1Electrical connection

Type codes – Manifold rail VABM

VABM L1 G18 4 G R10 H W– – – – ––

VG seriesValve series

L1

10 mm14 mm18 mm

Valve width101418

StandardHigh flow rate

Design–H

Semi in-lineSub-base

Connection typeGW

LateralUnderneath

Connection direction–B

NoneHolding current reduction with protective circuit

–Circuitry

R

NonePreparation

–Electrical connection

G

5/2-way5/2-way, single solenoid

–Connection for valve function

M

4 5 6 7 8 9 10 12 14 16 20 24Number of valve positions

GxG¼GÅ

G18G14G38

Pneumatic connection

Ordering data page 7, manifold rail VABM-L1

Non-detentingCoveredNon-detenting, detentingDetenting, without accessories

HManual override

STY

72016/02 – Subject to change – Quick order sheet www.festo.com/catalogue/...

Valve terminals > Universal valve terminals >

Valve terminals VTUG with multi-pin plug and fieldbus connection

Ordering data – Variants

Configurable product

This product and all its variants can be ordered using the configurator.

The configurator can be found under Products at www.festo.com/catalogue/vtug

Enter the configuration part number in the search field: 573606

Ordering data – VUVG-S1)

Semi in-line valve; External pilot air supply; Non-detenting, detenting manual override; Nominal operating voltage 24 V DC; Plug-in; LEDPort2, 4

Width

[mm]

2x3/2-way valve, NC; Pneumatic spring

5/2-way valve, single solenoid; Mixed, pneu-matic/mechanical spring

5/2-way valve, single solenoid; Mechanical spring

5/2-way valve, double solenoid

5/3-way valve, mid-position closed

M5 10 �� 573386 �� 573392 �� 573393 �� 573394 �� 573395

M7 10 �� 573398 �� 573404 �� 573405 �� 573406 �� 573407

Gx 14 �� 573464 �� 5734702) �� 573471 �� 573472 �� 573473

G¼ 18 �� 8004873 �� 8004879 �� 8004880 �� 8004881 �� 8004882

1) Manifold rail VABM and VAEM electrical interface required.2) Pneumatic spring

Ordering data – AccessoriesPort2, 4

Valve width

Blanking plate

Manifold rail VABM-L1-...G3) for semi in-line valve VUVG-SValve positions

Supply plate

[mm] VABB 4 6 8 10 12 16 24 VABF

M5/M7 10 �� 573422 �� 573423 573425 �� 573427 573429 573430 �� 573431 573433 573924

Gx 14 �� 573488 �� 573489 573491 �� 573493 573495 573496 �� 573497 573499 573925

G¼ 18 �� 8004897 �� 8004899 8004901 �� 8004903 8004905 8004906 �� 8004907 8004909 8004898

3) Internal or external pilot air possible with the same manifold rail through the use of blanking plugs.

Ordering data – VUVG-B4)

Sub-base valve; External pilot air supply; Non-detenting, detenting manual override; Flange/sub-base pneumatic connection; Nominal operating voltage 24 V DC; Plug-in; LEDPort2, 4

Width

[mm]

2x3/2-way valve, NC; Pneumatic spring

5/2-way valve, single solenoid; Mixed, pneu-matic/mechanical spring

5/2-way valve, single solenoid; Mechanical spring

5/2-way valve, double solenoid

5/3-way valve, mid-position closed

M5/M7 10 �� 573410 �� 573416 �� 573417 �� 573418 �� 573419

Gx 14 �� 573476 �� 5734825) �� 573483 �� 573484 �� 573485

G¼ 18 �� 8004885 �� 8004891 �� 8004892 �� 8004893 �� 8004894

4) Manifold rail VABM and VAEM electrical interface required.5) Pneumatic spring

Ordering data – AccessoriesPort2, 4

Valve width

Blanking plate

Manifold rail VABM-L1-10HW/VABM-L1-14W/VABM-L1-18W6) for sub-base valve VUVG-BValve positions

Supply plate

[mm] VABB 4 6 8 10 12 16 24 VABF

M5/M7 10 �� 573422 �� 573434 573436 �� 573438 573440 573441 �� 573442 573444 573924

Gx 14 �� 573488 �� 573500 573502 �� 573504 573506 573507 �� 573508 573510 573925

G¼ 18 �� 8004897 �� 8004913 8004315 �� 8004917 8004919 8004920 �� 8004921 8004923 8004898

6) Internal or external pilot air possible with the same manifold rail through the use of blanking plugs.

Part of core product range, delivery from stock. Type codes page 6 Type codes page 6

8 Quick order sheet – Subject to change – 2016/02 www.festo.com/catalogue/...

Valve terminals > Universal valve terminals >

Valve terminals VTUG with multi-pin plug and fieldbus connection

Ordering data – AccessoriesElectrical interface VAEM, multi-pin plug connectionDescription Number

of pinsPart No. Type

Sub-D plug 25-pin �� 573445 VAEM-L1-S-M1-25

44-pin �� 573446 VAEM-L1-S-M1-44

Flat cable plug 26-pin 573452 VAEM-L1-S-M3-26

50-pin 573451 VAEM-L1-S-M3-50

Electrical interface VAEM, IO-Link interfaceDescription Max. no of

valve positionsPart No. Type

M12 plug, 5-pin A-coded, metal thread for screening

8 �� 573384 VAEM-L1-S-8-PT

16 �� 573939 VAEM-L1-S-16-PT

24 573940 VAEM-L1-S-24-PT

Bus node CTEUBus protocol/actuation Part No. Type

PROFIBUS DP 570040 CTEU-PB

PROFINET 2201471 CTEU-PN

EtherNet/IP Modbus-TCP

2798071 CTEU-EP

EtherCAT 572556 CTEU-EC

CC-Link 1544198 CTEU-CC

DeviceNet 570039 CTEU-DN

CANopen 570038 CTEU-CO

AS-Interface 572555 CTEU-AS

CPI-B 2149714 CTEU-CP

Bus connectionPlug Part No. Type

Sub-D, straight 532216 FBS-SUB-9-GS-DP-B

M12x1, 4-pin, D-coded 543109 NECU-M-S-D12G4-C2-ET

Sub-D, straight 532220 FBS-SUB-9-GS-2x4POL-B

Screw terminal 197962 FBA-1-KL-5POL

Sub-D, straight 532219 FBS-SUB-9-BU-2x5POL-B

Plug socketFor power supply Part No. Type

M12x1, 5-pin, A-coded 18324 FBSD-GD-9-5POL

M12x1, 5-pin, B-coded 538999 NTSD-GD-9-M12-5POL-RK

Connecting cable NEBUDescription Cable length Part No. Type

Straight socket/straight plug, M12x1, 5-pin 5 m �� 574321 NEBU-M12G5-E-5-Q8N-M12G5

7.5 m �� 574322 NEBU-M12G5-E-7.5-Q8N-M12G5

10 m �� 574323 NEBU-M12G5-E-10-Q8N-M12G5

Angled socket/angled plug, M12x1, 5-pin 0.5 m 570733 NEBU-M12W5-K-0.5-M12W5

2 m 570734 NEBU-M12W5-K-2-M12W5

Electrical connection boxDescription Part No. Type

Fieldbus interface 2x M12 sok-ket, 5-pin

570042 CAPC-F1-E-M12

Input moduleDescription Part No. Type

16 sensor connections M8, 3-pin, single allocation

1387363 CTSL-D-16E-M8-3

8 sensor connections M12, 5-pin, double allocation

1387359 CTSL-D-16E-M12-5

1354

48 (E

N)

2016

/02

Part of core product range, delivery from stock.

Additional accessories www.festo.com/catalogue/vtug > Documentation