ADLINK Technology NeuronBot User Manual Download | Manualshive

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NeuronBot

List of Figures

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4. Rename

Group

to

Global Map

.

5. Click

OK

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6. Click the

Add

button in the lower left again.

7. Rename

Map

to

Costmap

.

8. Drag

Costmap

into

Global Map

and set the parameters as follows.

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Summary of Contents for NeuronBot

Page 1: ...NeuronBot User s Manual Rapid Robotic Development Platform Manual Rev 1 0 Revision Date October 29 2020 Part Number 50 1Z334 1000 ...

Page 2: ... protection is a top priority for ADLINK We have enforced measures to ensure that our products manufacturing processes components and raw materials have as little impact on the environment as possible When products are at their end of life our customers are encouraged to dispose of them in accordance with the product disposal and or recovery programs prescribed by their nation or company Battery L...

Page 3: ...stallation 16 3 2 Top Camera Installation 18 3 3 Front Camera Installation 21 3 4 Top Camera Cable Routing 22 3 5 Front Camera Cable Routing 23 4 Controls and I O 25 4 1 Power Button 25 4 2 Battery Status Indicator 25 4 3 GPIO Pinouts 25 5 Operating Instructions 26 5 1 Getting Started 26 5 2 Remote Control and Monitoring 35 5 3 ROS 1 Applications 42 5 4 ROS 2 Applications 50 6 Troubleshooting 60 6...

Page 4: ...iv Preface 8 Safety Instructions 76 9 Getting Service 77 ...

Page 5: ...re 3 Side View Dimensions No Accessories 11 Figure 4 Side View Dimensions with Accessories 11 Figure 5 Front View Layout No Accessories 12 Figure 6 Front View Layout with Accessories 13 Figure 7 Rear View Panel Layout Rear Cover Attached 14 Figure 8 Rear View I O Layout Rear Cover Not Attached 15 Figure 9 Isometric View with Accessories 16 ...

Page 6: ...vi Preface This page is intentionally left blank ...

Page 7: ...tometer Motor Control Unit Arduino Mega 2560 Encoder 7N14P 2 channel for motor control Laser Distance Sensor Sensor Model 2D 360 RPLIDAR A1 12 meters Sample Frequency 8000Hz Scan Rate Range 1 10Hz 5 5Hz typical Communication Interface USB UART Front Side Status LED Bar front The status LED bar lights one of the following colors according to the system status Amber NeuronBot is powered on Blue Base...

Page 8: ... Dimensions 260 x 270 x 260 mm 10 24 x 10 63 x10 24 inches Weight 7 8 kg Environmental Operating Temperature 0 C to 50 C 32 F to 122 F Operating Humidity 10 to 95 non condensing Storage Temperature 20 C to 80 C 4 F to 176 F EMC Compliant with CE FCC Class B Vibration Package random vibration IEC 60068 2 64 5 500Hz 5Grms 1hr axis Drop ISTA 1A Software SDK Neuron SDK optional Environment Ubuntu 18 0...

Page 9: ... Documentation 1x Quick Start Guide Cable 1x DisplayPort to HDMI adapter cable 2 5 Optional Accessories ADLINK provides all the necessary parts and accessories for NeuronBot You can purchase additional accessories according to your needs Item Description Camera Intel RealSense Depth Camera D435 Support Plate Attachable top plate for LIDAR protection object transport and top camera installation Bra...

Page 10: ... 6 1 Front View Dimensions Holes for M4 screws 218 101 5 23 30 25 Figure 1 Front View Dimensions No Accessories Note M4 screw holes are for attaching the front camera bracket to the chassis see Front Camera Installation on page 21 256 218 23 480 Figure 2 Front View Dimensions with Accessories ...

Page 11: ...NeuronBot Product Overview 11 2 6 2 Side View Dimensions 266 5 248 Figure 3 Side View Dimensions No Accessories 315 480 Figure 4 Side View Dimensions with Accessories ...

Page 12: ...ct Overview 2 7 System Layout 2 7 1 Front View Layout No Accessories A B C D E Figure 5 Front View Layout No Accessories A Status LED bar D Wheel B LIDAR component E Screw holes for front camera bracket C Wheel ...

Page 13: ... Overview 13 2 7 2 Front View Layout with Accessories A B D E C Figure 6 Front View Layout with Accessories A Support plate D RealSense camera B Top side stand off E Front bracket for RealSense camera C RealSense camera ...

Page 14: ...cover C GPIO connector Note The rear cover is attached to the chassis by two magnetic fasteners To access the rear panel I O remove the rear cover by grasping the knob and gently pulling the cover away from the chassis For details on I O connectors and internal components refer to the AmITX SL G User s Manual downloadable from the ADLINK website ...

Page 15: ...view 15 2 7 4 Rear View I O Layout Rear Cover Removed E D A C B Figure 8 Rear View I O Layout Rear Cover Not Attached A USB 3 0 ports 4x D LAN ports 2x B DisplayPorts 3x E Magnetic fasteners for rear cover C USB 2 0 ports 4x ...

Page 16: ...ot Support plate Intel RealSense Depth Camera D435 Note You can install up to two cameras according to your needs Intel RealSense Depth Camera D435 Top Mounted Support Plate Intel RealSense Depth Camera D435 Front Mounted Figure 9 Isometric View with Accessories 3 1 Support Plate Installation 1 Attach the support plate stand offs to the NeuronBot ...

Page 17: ...NeuronBot Hardware Accessory Installation 17 2 Align the holes on the support plate with the stand offs and place the support plate on top of the stand offs 3 Attach the screws to the support plate ...

Page 18: ...re Accessory Installation 3 2 Top Camera Installation 1 Attach the support plate to the NeuronBot a Attach the support plate standoffs to the NeuronBot b Attach the large top side stand off to the support plate ...

Page 19: ...NeuronBot Hardware Accessory Installation 19 c Place the attached stand off and support plate on the NeuronBot d Align the holes on the support plate with the stand offs and attach the screws ...

Page 20: ...on 2 Attach the top bracket to the large top side stand off 3 Assemble the camera by screwing the camera head onto the camera base 4 Attach the assembed camera to the top bracket using the adhesive sticker provided with the NeuronBot ...

Page 21: ...3 Front Camera Installation 1 Attach the front bracket to the NeuronBot 2 Assemble the camera by screwing the camera head onto the camera base 3 Attach the assembled camera to the front bracket using the adhesive sticker provided with the NeuronBot ...

Page 22: ...ble Routing 1 Connect a USB cable to a USB 3 0 port on the rear I O panel see Rear View Layout on page 14 2 Route the cable through the top side stand off from the bottom of the support plate to the top bracket and connect the USB cable to the top camera ...

Page 23: ... 3 5 Front Camera Cable Routing 1 Remove the top cover from the chassis Note Ensure that the LiDAR module is disconnected from the I O before removing the top cover a Remove the screws that secure the top cover to the chassis b Lift the cover off ...

Page 24: ...t on page 15 4 Route the cable to the front of the chassis internally and connect the cable to the front mounted camera Note When connecting the RealSense camera do not allow the connector cable to pass over the main board As shown in the image above ensure that you run the cable along the interior edge of the chassis between the USB port and the front opening of the chassis ...

Page 25: ...f the NeuronBot see Rear View Layout on page 14 The indicator displays the battery charge percentage as follows Note Ensure that you charge the battery when the charge drops below 25 4 3 GPIO Pinouts The GPIO connector is located on the rear side of the NeuronBot see Rear View Layout on page 14 The NeuronBot connects GPIO I2C and GND pins from the internal computer to the external D Sub connector ...

Page 26: ...OS wiki http wiki ros org Distributions to find the right Ubuntu version for your ROS 1 application You can also check https index ros org doc ros2 Releases to to find the right Ubuntu version for your ROS 2 application 5 1 1 Ubuntu Installation Follow the steps below to install Ubuntu on the NeuronBot 1 Download an Ubuntu desktop image to your Windows PC a Get ubuntu 18 04 4 desktop amd64 iso fro...

Page 27: ...test installation guide for both ROS 1 and ROS 2 For Ubuntu 18 04 Desktop ROS 1 Melodic http wiki ros org melodic Installation Ubuntu ROS 2 Dashing https index ros org doc ros2 Installation Dashing Linux Install Debians ROS 2 Eloquent https index ros org doc ros2 Installation Eloquent Linux Install Debians For Ubuntu 20 04 Desktop ROS 1 Noetic http wiki ros org noetic Installation Ubuntu ROS 2 Fox...

Page 28: ... the ROS 1 environment and use the arrow keys to tele opreate the turtle 5 1 2 3 Verifying the ROS 2 Installation To verify the ROS 2 installation you need to open two terminals and execute the following commands Terminal 1 Load the ROS 2 environment and execute the turtlesim program If you see the error Package turtlesim not found then you have not installed turtlesim for ROS 2 You can manually i...

Page 29: ...r enter the commands in four terminals For example Terminal 1 Execute ROS 1 roscore Terminal 2 Execute ROS 1 Listener Terminal 3 Execute ROS 2 Talker Terminal 4 Execute ROS Bridge If done correctly ROS 1 Listener will successfully receive the messages from ROS 2 Talker source opt ros YOUR_ROS_DISTRO setup bash ros2 run turtlesim turtle teleop key sudo apt install ros YOUR_ROS_DISTRO ros1 bridge so...

Page 30: ...Python 3 OpenCV 2 OpenCV 3 etc The Neuron Startup Menu prepares the environment for you After installing the Neuron Startup Menu a menu appears at each terminal startup allowing you to select ROS ROS 2 ROS Bridge This way you will no longer need to set ROS environmental variables every time you open the terminal Note If you want to use the ADLINK Neuron Startup Menu you should remove the line sour...

Page 31: ...idge o Sets up the ROS bridge environment o Runs ROS bridge automatically After selecting an option you can view the settings via environmental variables Check the ROS version 1 or 2 Check the ROS distribution Check the DDS implementation only for ROS 2 5 1 4 3 Menu Configuration You can configure the menu by modifying ros_menu config yaml You can perform the following actions Neuron Startup Menu ...

Page 32: ...n_id sets the Domain ID for DDS communication Keep this empty to use default_ros_domain_id 30 cmds source your ROS 2 workspace here Remarks source_plugin dds_bashrc is necessary every time you use ROS 2 ROS2 ROS1_bridge ROS_version bridge ros1_version_name the name of the ROS 1 version you are using ros2_version_name the name of the ROS 2 version you are using ros1_path the path where ROS 1 is loc...

Page 33: ...l dependencies For ROS 2 Eloquent 1 Create a workspace 2 Get the latest packages with an eloquent devel branch 3 Install dependencies ros_menu_uninstall mkdir p neuronbot2_ros1_ws src cd neuronbot2_ros1_ws src git clone https github com Adlink ROS neuronbot2 git b melodic devel cd neuronbot2_ros1_ws rosdep update rosdep install from paths src ignore src r y rosdistro melodic mkdir p neuronbot2_ros...

Page 34: ...n ROS 2 Eloquent and local_setup bash in the NeuronBot workspace We highly recommend that you add the above source command to the ADLINK Neuron Start Menu so the environment loads automatically 5 1 5 4 NeuronBot Verification Go to the self diagnosis section for instructions on verifying and diagnosing NeuronBot cd neuronbot2_ros1_ws src neuronbot2 neuronbot2_tools neuronbot2_init or cd neuronbot2_...

Page 35: ...ess show The IP address is at the following location Use the same command to get the IP address of the computer Take note of these IP addresses for use in the following sections Note NeuronBot has multiple network interfaces because it comes installed with a wireless card wlp1s0 and wired enp0s31f6 card The IP address obtained from the WiFi router must be aligned with the wlpXXX interface 5 2 2 RO...

Page 36: ... yaml The Master IP addresses of the NeuronBot and computer are the same Modify the Neuron Startup Menu on both the NeuronBot and computer as follows Menu ROS 1 melodic option_num 1 ROS_version 1 distro_name melodic ros1_path opt ros melodic master_ip 192 168 50 26 cmds source HOME catkin_ws devel setup shell 5 2 3 ROS 2 Remote Control Settings ROS 2 uses DDS as the underlying transport protocol a...

Page 37: ...oving around To address this you can connect to an SSH server which is a secure shell for network connections An SSH server will allow you to remotely connect to a NeuronBot for the secure transfer of files or to perform administrative tasks like teleoperating the NeuronBot First you must install an SSH server on NeuronBot NeuronBot sudo apt install openssh server Before you connect to the SSH ser...

Page 38: ...nBot sudo apt install byobu After installing type byobu on NeuronBot to start Byobu In Byobu press F1 to open the Byobu Help window for detailed instructions on using Byobu Press ESC to exit the Byobu Help menu We highly recommend that you run all ROS commands except RVIZ in the terminal with SSH connections Run RVIZ in a new terminal using a local terminal on a computer Note Session means a windo...

Page 39: ...SH connection Note Session means a window in a single terminal with an SSH connection to a NeuronBot byobu Session 0 4 Source the environment source opt ros YOUR_ROS1_DISTRO setup bash 5 Launch the roscore Note The roscore is the core of the ROS We recommend manually starting the core in a separate window for improved access and control roscore 6 Press F2 to create a new session in Byobu Session 1...

Page 40: ...e talker rosrun roscpp_tutorials listener You should see messages similar to those in Terminal 2 If the listener successfully subscribed to the messages then the remote control parameters have been successfully set for ROS 1 5 2 7 ROS 2 Remote Control Verification To verify that remote control parameters have been set up for ROS 2 you can run a talker on NeuronBot and a listener on the computer Te...

Page 41: ...essages similar to those in Session 0 6 Press Ctrl Alt T to create a new terminal on the host computer You can also press Ctrl Shift T to create a new terminal tab Terminal 2 7 Source the environment source opt ros YOUR_ROS2_DISTRO setup bash 8 Run the listener The listener will run on the computer and subscribe to messages from the talker ros2 run demo_nodes_cpp listener You should see messages s...

Page 42: ...e estimation Terminal 1 1 Open the terminal 2 Set up the SSH connection to access the NeuronBot remotely on your computer ssh X ros 192 168 50 26 3 Start Byobu to run multiple sessions on a single SSH connection Note Session means a window in a single terminal with an SSH connection to a NeuronBot byobu Session 0 4 Source the environment source opt ros YOUR_ROS1_DISTRO setup bash 5 Launch the rosc...

Page 43: ...0 4 m s and the angular speed to 0 4 rad s Press k or s to immediately stop rosrun teleop_twist_keyboard teleop_twist_keyboard Figure 4 1 3 1 teleop_twist_keyboard Terminal 2 10 Set up the environment by setting ROS_MASTER_URI to the NeuronBot s IP address source opt ros YOUR_ROS1_DISTRO setup bash export ROS_MASTER_URI http 192 168 50 26 11311 11 Launch RViz rviz RViz 12 Click the Add button in t...

Page 44: ...tructions 13 Select TF and click OK to display the frames 14 Click the Add button again in the lower left 15 Click the By topic tab to display available topics 16 Select LaserScan and click OK to display 2D LiDAR data ...

Page 45: ...r_ip 192 168 50 26 cmds source neuronbot2_ros1_ws devel setup bash 5 3 2 Laser SLAM This section describes how to build a map using a 2D laser scanner Note Ensure that everything in the base driver has been launched before running SLAM Terminal 1 Session 3 1 Source the environment source opt ros YOUR_ROS1_DISTRO setup bash source neuronbot2_ros1_ws devel setup bash 2 Start the laser localization a...

Page 46: ...op gmapping by pressing ctrl c in the gmapping session Session 3 5 3 3 Navigation After getting a static map running a SLAM package is not recommended due to its computational load This section describes how to use an AMCL package to locate the NeuronBot using a previously generated map and existing laser scan This will allow you to move the NeuronBot from one location to a specified destination N...

Page 47: ...euronBot List of Figures 47 4 Rename Group to Global Map 5 Click OK 6 Click the Add button in the lower left again 7 Rename Map to Costmap 8 Drag Costmap into Global Map and set the parameters as follows ...

Page 48: ...lick Add rename Group to Local Map and click OK 11 Click Add rename Map to Costmap drag Costmap into Local Map and set the parameters as follows 12 Click Add rename Path to Planner drag Planner into Local Map and set the parameters as follows 13 Click Add rename PoseArray to Amcl Particle Swarm and set the parameters as follows ...

Page 49: ... 0 0 i e the same as the starting position when the mapping process started You can also manually assign the starting position by using the set 2D pose estimation function in RViz Select the tool click on the position and drag the arrow to its initial heading as shown in the following figure 2D pose estimation is marked by a red square in the upper banner 16 Set the goal b Click and drag 2D Nav Go...

Page 50: ...onment using 2D LiDAR RViz ROS VIsualiZation monitoring Monitor Neuronbot during movement and laser scanning using RViz a powerful 3D visualization environment for ROS Simultaneous localization and mapping SLAM Configure NeuronBot to build a map during teloperation Guided navigation Navigate NeuronBot from a starting point to a destination with a map created using a SLAM package 5 4 1 Driver Start...

Page 51: ... motor controller laser SLAM and all NeuronBot TF definitions If you end the node with ctrl c remember only to press once and allow it to shut down automatically The rplidarNode node requires some time to shut down the serial port ros2 launch neuronbot2_bringup bringup_launch py Session 1 6 Source the environment source opt ros YOUR_ROS2_DISTRO setup bash 7 Start teleoperation Note The manual driv...

Page 52: ...Launch RViz rviz2 RViz2 10 Click the Add button in the lower left 11 Select TF and click OK to display the frames 12 Click the Add button again in the lower left 13 Click the By topic tab to display available topics 14 Select LaserScan and click OK to display 2D LiDAR data ...

Page 53: ...dashing domain_id set if you don t want to use default domain id cmds source_plugin dds_bashrc 1 source neuronbot2_ros2_ws install local_setup bash 5 4 2 Laser SLAM This section describes how to build a map using a 2D laser scanner Note Ensure that everything in the base driver has been launched before running SLAM Terminal 1 Session 2 1 Source the environment source opt ros YOUR_ROS2_DISTRO setup...

Page 54: ...peed to 0 2 rad s and then drive the NeuronBot around using the keyboard driver After mapping the environment remember to save the map before closing the Slam Toolbox Session 3 7 Source the environment source opt ros YOUR_ROS2_DISTRO setup bash source neuronbot2_ros2_ws install local_setup bash cd neuronbot2_ros2_ws src neuronbot2 neuronbot2_nav map 8 Save the map A map file and a config file will...

Page 55: ...escribes how to use an AMCL package to locate the NeuronBot using a previously generated map and existing laser scan This will allow you to move the NeuronBot from one location to a specified destination Note Ensure that everything in the base driver has been launched before running SLAM Terminal 1 Session 2 1 Source the environment source opt ros YOUR_ROS2_DISTRO setup bash source neuronbot2_ros2...

Page 56: ...56 Operating Instructions RViz2 3 Click the Add button in the lower left 4 Rename Group to Global Planner 5 Click OK 6 Click the Add button in the lower left again 7 Rename Map to Global Costmap ...

Page 57: ... Planner 11 Click Add rename Map to Local Costmap and then drag it into Local Planner and set the parameters as follows 12 Click Add rename Path to Local Plan drag Local Plan into Local Planner and set the parameters as follows 13 Click Add rename PoseArray to Amcl Particle Swarm and set the parameters as follows 14 Click Add select PointCloud2 click OK and set the parameters as follows 15 Rename ...

Page 58: ...when the mapping process started You can also manually assign the starting position by using the set 2D pose estimation function in RViz2 Select the tool click on the position and drag the arrow to its initial heading as shown in the following figure 2D pose estimation is marked by a red square in the upper banner 17 Set the goal a Click and drag 2D Nav Goal to set the goal and orientation to any ...

Page 59: ...NeuronBot List of Figures 59 Tip You can save time by opening the RViz2 config file in neuronbot2_ros2_ws src neuronbot2 neuronbot2_nav rviz nav2_default_view rviz ...

Page 60: ... and NeuronBot will automatically spin a few times If you do not see Motor controller version and non zero RobotParameters try the following Perform TTY initialization again For details see NeuronBot Setup on page 33 Disconnect and reconnect all USB cables and restart NeuronBot Execute the following command You should find dev neuronbot2 linked to dev ttyUSB 6 1 2 LiDAR Test Execute the LiDAR diag...

Page 61: ...hould find dev rplidar linked to dev ttyUSB 6 1 3 LED Test Execute the LED diagnostic command as follows The LED color will change 6 2 FAQ 1 Q What causes Could not contact ROS master A The program cannot locate the ROS Master Please verify that roscore is running and that ROS_IP and ROS_MASTER_URI are correctly set For details see ROS 1 Remote Control Settings on page 35 cd neuronbot2_ros1_ws src...

Page 62: ...ironment may not be sourced Source the environment to fix this issue 4 Q What causes Package neuronbot2_xxx not found A The NeuronBot ROS 2 environment may not be sourced Source the environment to fix this issue 5 Q Why won t RViz display anything A Please ensure that you have added topics in RViz source opt ros YOUR_ROS_DISTRO setup bash source neuronbot2_ros1_ws devel setup bash source neuronbot...

Page 63: ...he following For ROS 1 ensure that ROS_MASTER_URI and ROS_IP are correctly set on both the host computer and NeuronBot For ROS 2 ensure that ROS_DOMAIN_ID is correctly set on both the host computer and NeuronBot See ROS 1 Remote Control Settings and ROS 2 Remote Control Settings for details on setting environment variables ...

Page 64: ...SO file load the ISO file onto your USB drive and make it bootable If you re unable to do this we recommend using Rufus instead 7 1 2 Rufus Rufus is a Windows program for creating bootable USB drives This section illustrates how to create a bootable Clonezilla USB drive Note Ensure that you have downloaded the Clonezilla ISO before performing the following procedure We recommend using an empty USB...

Page 65: ... Figures 65 The ISOHybrid image detected window will appear 6 Select Write in ISO image mode Recommended and click OK A warning message will appear to notify you that all data on the USB drive will be erased 7 Click OK ...

Page 66: ...66 System Backup and Restore Rufus will being writing to the USB drive When the process is completed the Status will show READY 8 Click CLOSE to exit the program ...

Page 67: ...Clonezilla USB drive into the USB port on NeuronBot 2 Power on Neuronbot 3 When the ADLINK boot logo appears on the screen press the Delete key a few times NeuronBot will enter BIOS mode 4 Go to the Save Exit tab and select UEFI YOUR CLONEZILLA USB DRIVE NeuronBot will boot using the inserted Clonezilla USB drive The screen will display the Clonezilla GNU GRUB 5 Select Clonezilla live To RAM boot ...

Page 68: ...68 System Backup and Restore 6 Select your language 7 Select Start_Clonezilla 8 Select device image for creating a backup image ...

Page 69: ...NeuronBot List of Figures 69 Tip Use the arrow keys to change options and press the spacebar to confirm your selection ...

Page 70: ...other USB drive to store the image To save the image onto the same USB drive as Clonezilla press Ctrl C 11 Select the disk where you want to store the image Tip You can use the Clonezilla USB drive if it has enough free space The files on the disk will display to indicate that you selected the correct disk ...

Page 71: ...igures 71 12 Press the right arrow key to highlight Done and then press the spacebar to confirm 13 Select Beginner to use default options 14 Select savedisk to back up the entire disk 15 Specify a name for the image file ...

Page 72: ... you want to save the image file 17 Select the default compression option 18 Select sfsck to skip checking the file system Note If you want to check the file system select fsck 19 Select Yes to check whether the saved image is restorable 20 Select reboot ...

Page 73: ...NeuronBot List of Figures 73 21 Select senc to skip image encryption 22 Press y to confirm savedisk Clonezilla will back up the disk backup to an image file Please wait while the disk is backed up ...

Page 74: ...up image is similar to the Full Disk Backup process The following instructions contain only the steps that differ from the backup process 1 Select the disk where the image is saved 2 Select restoredisk to restore the system 3 Select the image source 4 Select the target disk to be restored ...

Page 75: ...d if the image has not been used for a long time otherwise choose No to skip the check Clonezilla will ask you to confirm the disk to be restored will be erased 6 Type y and press Enter to confirm Clonezilla will restore the disk from the backup image Please wait while the disk is restored ...

Page 76: ...s cables To avoid electrical shock and or damage to equipment o Keep equipment away from water or liquid sources o Keep equipment away from high heat or high humidity o Keep equipment properly ventilated do not block or cover ventilation openings o Make sure to use recommended voltage and power source settings o Always install and operate equipment near an easily accessible electrical socket outle...

Page 77: ...el 1 408 360 0200 Toll Free 1 800 966 5200 USA only Fax 1 408 360 0222 Email info adlinktech com ADLINK Technology China Co Ltd Address 300 Fang Chun Rd Zhangjiang Hi Tech Park Pudong New Area Shanghai 201203 China Tel 86 21 5132 8988 Fax 86 21 5132 3588 Email market adlinktech com ADLINK Technology GmbH Hans Thoma Straße 11 D 68163 Mannheim Germany Tel 49 621 43214 0 Fax 49 621 43214 30 Email ger...

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