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How Can I implement ATS for example 2 out of 3 using Micom P143 or P141

You need to make your ATS function and logic in accordance with how you want your ATS will work. 
In this case, you need to use the logic with PSL inside the P143 & P141, and also connections between your devices, this can be by wiring or by communication (CB position, Synchro-Check....). 

Take in your consideration  

The synchro-check function is not included in the P141. 
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