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Device parameters and interfaces

Leuze electronic

AMS 200

TNT

5/7-2

Table 8.4:

Overview of the GSD modules

.1.6

Detail description of the modules

Notice

In the following detailed descriptions of the modules you will find in the last column of the
tables

cross references (CR) to parameters and input/output data of other modules

which are directly related to the described parameter. These cross references must abso-
lutely be observed during configuration.

The individual

modules

are

numerically

labelled from

1 … 1

The

parameters and input/output data

within a module are

alphanumerically labelled

from

… .

Example

The

preset

parameter in module 2 becomes active only when the preset teach occurs via

module 2 , 4

5 .

page 78

Other

(P) Display language selection
(P) Display illumination
(P) Display contrast
(P) Activate/inhibit password
(P) Password

M19

page 79

RS 2

2 interface

(P) Address
(P) Baud rate
(P) Format
(P) Output cycle
(P) Position resolution
(P) Velocity resolution

Содержание AMS 200

Страница 1: ...AMS 200 Optical Laser Measurement System GB 01 03 08 50104729 T E C H N I C A L D E S C R I P T I O N...

Страница 2: ...roduction distribution and translation Copying or reproductions in any form require the written consent of the manufacturer Product names are used without warranty of unrestricted applicability Change...

Страница 3: ...is messages Min Max diagnosis Displayed are the current measurement value max measurement value after diagnosis activation min measurement value after diagnosis activation Language selection in PROFIB...

Страница 4: ...alue for distance range 2 Enter lower limit value for distance range 2 Output event OR link Output event OR link I O 1 function Level at output Edge at input Preset teach function or laser on off I O...

Страница 5: ...US DP IN 16 4 3 3 BUS OUT PROFIBUS DP OUT 16 4 3 4 BUS IN Interbus 17 4 3 5 BUS OUT Interbus 17 4 3 6 SSI interface 17 4 3 7 SERVICE RS 232 18 5 Reflectors 19 5 1 General information 19 5 2 Specificat...

Страница 6: ...80 8 2 2 SSI Electrical connection 82 8 2 3 Notice regarding software parameters 83 8 2 4 Default settings of the SSI interface 83 8 2 5 Changing the SSI default settings via the display 84 8 2 6 SSI...

Страница 7: ...ection cable 102 10 7 2 Technical data for voltage supply cable 102 10 7 3 Order codes for voltage supply cables 102 10 8 Accessory ready made cables for interface connection 103 10 8 1 General inform...

Страница 8: ...rdous laser radiation Notice This symbol indicates text passages containing important information 1 2 Declaration of conformity The AMS 200 absolute measuring optical laser measurement system was desi...

Страница 9: ...agation time of the radiated light The light emitted by the laser diode is reflected onto the receiving element of the laser measurement system by a reflector The AMS 200 calculates the distance to th...

Страница 10: ...developed manufactured and tested in accordance with the applicable safety standards It corresponds to the state of the art 2 2 1 Intended use The AMS 200 device series is an absolute measurement syst...

Страница 11: ...diation The AMS 200 operates with a red light laser of class 2 acc to EN 60825 1 If you look into the beam path over a longer time period the retina of your eye may be damaged Never look directly into...

Страница 12: ...00 is provided with the following labels Figure 2 1 Attachment of the stick on labels at the AMS 200 A D A Hazard warning logotype B Aperture label C Warning label and certification label D Name plate...

Страница 13: ...s M5 The reflector is angled using the included shims For specific information please refer to chapter 5 Reflectors AMS 200 and reflector oppose each other such that the laser light spot is positioned...

Страница 14: ...can be used when using the device as an SSI device The PROFIBUS is deactivated via the display to prevent the BUS LED from signalling a missing PROFIBUS If other SSI adjustments are desired they can...

Страница 15: ...200 can be used simultaneously with the Interbus interface chapter 8 3 on page 85 The SSI interface of the AMS 200 The laser measurement system is delivered with preset SSI parameters see chapter 8 2...

Страница 16: ...hout optics heating 250mA 24VDC with optics heating 500mA 24VDC Optical data Transmitter laser diode red light wavelength 650 690nm Laser class 2 acc to EN 60825 1 CDRH Laser life expectancy 3 average...

Страница 17: ...condensing Vibrations acc to EN 60068 2 6 Noise acc to EN 60068 2 64 Shock acc to EN 60068 2 27 EN 60068 2 29 EMC acc to EN 61000 6 2 2005 and EN 61000 6 4 20075 1 statistical error 1 sigma minimum s...

Страница 18: ...tions 14 AMS 200 Leuze electronic 4 2 Dimensioned drawing of AMS 200 Figure 4 2 Dimensioned drawing of AMS 200 A M5 screw for alignment B Knurled nut and M5 nut for securing C Optical axis D Measured...

Страница 19: ...e should be switched off from operation and protected against accidental use Before connecting the device please ensure that the supply voltage matches the value print ed on the nameplate The AMS 200...

Страница 20: ...ead FE Functional earth housing PWR I O 2 I O 1 3 2 1 4 5 GND VIN FE M12 plug A coded BUS IN 5 pin plug B coded Pin Name Remarks 1 N C Not used 2 A N Receive transmit data A line N 3 N C Not used 4 B...

Страница 21: ...5 M12 plug B coded BUS OUT 5 pin socket B coded Pin Name Remarks 1 DO From the Interbus master 2 DO From the Interbus master inverted 3 DI To the Interbus master 4 DI To the Interbus master inverted 5...

Страница 22: ...ibe the M12 connections of the AMS 200 SERVICE 5 pin socket A coded Pin Name Remarks 1 3 3V Voltage supply 3 3VDC 2 RS232 TX Transmission line for RS232 service data 3 GND Voltage supply 0VDC 4 RS232...

Страница 23: ...when using the reflective tape specified by Leuze electronic 5 2 Specifications of reflectors The reflective tape consists of a white microprism based reflective material The beam reflection system i...

Страница 24: ...the reflector during travel For station ary mounting of the AMS 200 a small 200 x200mm reflector will be adequate for all meas urement distances 5 4 Dimensioned drawing of reflectors Figure 5 1 Dimens...

Страница 25: ...pe x M mounted on aluminium plate series is provided with appropriate mounting holes Spacer rings are provided in the packet for achieving the necessary pitch angle For further information see Table 5...

Страница 26: ...left right or upwards Avoid a downward pitch as additional reflections may occur on the running rails The chapter 5 5 3 gives the correct pitch with respect to the reflector size and thus the length...

Страница 27: ...cture of the control panel using the PROFIBUS device model as an exam ple 6 2 Status display and operation 6 2 1 Control buttons Up Navigate upward laterally Down Navigate downward laterally ESC Exit...

Страница 28: ...active flashes red device ok warning set measurement value output light beam interruption detected plausibility error detected red continuous light device error no measurement value output for detail...

Страница 29: ...the strength of the received laser light The middle line represents the ATT warning threshold The distance value remains valid and is output at the interfaces If no bar graph is available the PLB sta...

Страница 30: ...activated with the enter button Use the ESC button to exit an activated main menu or submenu When one of the buttons is actuated the display illumination is activated for 10min Figure 6 2 The 5 main m...

Страница 31: ...changed the ON menu item in the Parameter enabling display mask must be activated see figure 6 3 Notice If a password was set parameter enabling cannot be accessed until this password has been entered...

Страница 32: ...d to the background and changes to parame ters can then be made via the display When parameter enabling is exited the laser meas urement system is automatically reconnected to the PROFIBUS Upon connec...

Страница 33: ...ter the password parameter enabling must be activated A selected password is saved with Figure 6 4 Changing the password If the password is not known the master password 2301 can always be used to ena...

Страница 34: ...electing the Diagnosis menu item displays the following values current measurement value minimum value measured after diagnosis activation maximum value measured after diagnosis activation Actuate the...

Страница 35: ...osing reflector both at close range as well as at the maximum measurement distance Use the two M5 hexagon socket screws to align the device A in figure 7 1 When aligning please ensure that the knurled...

Страница 36: ...nic 7 1 1 Optional mounting bracket An optional mounting bracket is available as an accessory for mounting the AMS 200 on a flat horizontal surface Type designation MW OMS AMS 01 Part No 50107255 Figu...

Страница 37: ...ces are optically separated from each other e g if mounted in different shelf alleys the parallel distance can be chosen somewhat smaller as there is no interfer ence in this case Minimum distance to...

Страница 38: ...f the US AMS 01 deflector unit For stand mounting the mirror can be mounted for 3 different directions of deflection 1 Upward beam deflection 2 Beam deflection to the left 3 Beam deflection to the rig...

Страница 39: ...Mounting Leuze electronic AMS 200 35 TNT 35 7 24V 7 3 3 Dimensioned drawing of US AMS 01 deflector unit Figure 7 5 Dimensioned drawing of US AMS 01 deflector unit A Laser beam...

Страница 40: ...00 are mounted separately from one another Notice When mounting please ensure that the laser light spot of the AMS 200 is positioned in the centre of the deflection mirror Figure 7 6 Photo and dimensi...

Страница 41: ...f the laser measurement system the laser light spot is aligned in the centre of the reflector via the deflector mirror When adjusting please ensure that the knurled nut and the M5 lock nut are opened...

Страница 42: ...max baud rate of the data to be trans ferred is 12Mbit s PROFIBUS SSI and RS 232 interfaces can be used simultaneously as fully fledged interfaces PROFIBUS and SSI interfaces are activated by default...

Страница 43: ...e network the BUS OUT con nection must be connected to a terminator plug see Accessory PROFIBUS terminating re sistor on page 102 BUS OUT VCC 1 2 3 4 A N B P GND FE 5 BUS IN N C 3 2 1 4 FE A N B P N C...

Страница 44: ...ctivated on the PROFIBUS when parameter enabling is activated via the display The device is reactivated on the PROFIBUS after parameter en abling is exited The PROFIBUS DP address is entered via the d...

Страница 45: ...Device parameters and interfaces Leuze electronic AMS 200 41 TNT 35 7 24V Figure 8 3 Setting the PROFIBUS address ESC ESC ESC ESC Make entry with the buttons Use save to conclude address entry...

Страница 46: ...The AMS 200 makes available a PROFIBUS an SSI and an RS 232 interface All inter faces can be operated in parallel If the laser is operated via the PROFIBUS the SSI RS 232 parameters must also be chan...

Страница 47: ...put M1 page 46 Position value I Position value P Sign P Unit P Resolution P Count direction P Offset M2 page 48 Static preset P Preset value O Preset teach O Preset reset M3 page 49 Dynamic preset O P...

Страница 48: ...velocity monitoring range P End of velocity monitoring range M13 page 68 Velocity Limit value 3 P Monitoring for over under values P Monitoring direction dependent yes no P Velocity limit value 3 P H...

Страница 49: ...These cross references must abso lutely be observed during configuration The individual modules are numerically labelled from 1 18 The parameters and input output data within a module are alphanumeric...

Страница 50: ...s to all interfaces 0 1 Bit 0 metric 1 inch in 0 Resolution Resolution of the position value applies only to the PROFIBUS output The resolution does not apply to Static preset Dynamic preset Offset Th...

Страница 51: ...alue measurement value offset The parameter applies to all interfaces Attention If the preset is activated it has priority over the offset Preset and offset are not offset against each other The resol...

Страница 52: ...x coding of the default settings Input data none Output data Parameter Description Rel addr Data type Value Default Unit CR to module metr inch Preset Preset value The value is accepted during a corre...

Страница 53: ...ucture Parameter none Input data none Output data Output data Description Rel addr Data type Value Default Unit CR to modul e metr inch Preset teach Read in the preset value 0 0 Bit 0 1 Preset teach 4...

Страница 54: ...individual functions are OR linked to one another 4a Position limit value 1 If the position value lies outside of configured limit range 1 the output is set 1 0 Bit 0 OFF 1 ON 0 Position limit value 2...

Страница 55: ...ance 20m sec Example Corridor change of a high bay storage device during which the laser diode is not switched off while travelling around curves Measurement distance 100m t 5sec measurement distance...

Страница 56: ...utput at sig nal level not active 1 Input Output at sig nal level active Input data length 1 byte e Output data Description Rel addr Data type Value Default Unit CR to module metr inch State The outpu...

Страница 57: ...ut The individual functions are OR linked to one another 5a Position limit value 1 If the position value lies outside of configured limit range 1 the output is set 1 0 Bit 0 OFF 1 ON 0 Position limit...

Страница 58: ...sec Example Corridor change of a high bay storage device during which the laser diode is not switched off while travelling around curves Measurement distance 100m t 5sec measurement distance 200m t 1...

Страница 59: ...nput Output at sig nal level not active 1 Input Output at sig nal level active Input data length 1 byte e Output data Description Rel addr Data type Value Default Unit CR to module metr inch State The...

Страница 60: ...SSI interface data are set to 0xFF 1 3 Bit 0 OK 1 Overflow Intensity ATT If the intensity of the received signal is less than the warning threshold the status bit is set 1 4 Bit 0 OK 1 Warning Temper...

Страница 61: ...2 0 6 Bit 0 OK 1 Value less than limit Upper posi tion limit value 2 Signals that the value is greater than upper limit value 2 0 7 Bit 0 OK 1 Value greater than limit Input data length 2 bytes l m O...

Страница 62: ...rameter Hex code of the position limit value range 1 parameter The value listed in this table shows the hex coding of the default settings Input data none Output data none Parameter Description Rel ad...

Страница 63: ...set Parameter Hex code of the position limit value range 2 parameter The value listed in this table shows the hex coding of the default settings Input data none Output data none Parameter Description...

Страница 64: ...t of an error or if it is sup pressed for the configured posi tion suppression time 0 2 Bit 0 OFF 1 ON 1 Error delay position Specifies in the event of an error whether the position value immediately...

Страница 65: ...ed error delay time 3 3 Bit 0 OFF 1 ON 1 Error delay time velocity Errors which occur are sup pressed for the configured time If no velocity position value can be ascertained during the con figured ti...

Страница 66: ...rection is configured in module 1 the velocity signs are reversed Measurement value preparation averages all velocity values calculated during the selected period to yield a velocity value Parameter H...

Страница 67: ...onic AMS 200 63 TNT 35 7 24V Input data Output data none Input data Description Rel addr Data type Value Default Unit CR to module metr inch Velocity Current velocity 0 sign 32 bit 999999 999999 0 sca...

Страница 68: ...ected switching mode if the value is above or below the defined limits the limit value status in module 16 is set and if configured the output is appropriately set via module 4 or 5 Parameter Paramete...

Страница 69: ...alue 1 parameter The value listed in this table shows the hex coding of the default settings Input data none Output data none Module address Switching mode Direction selection Velocity limit value 1 V...

Страница 70: ...ected switching mode if the value is above or below the defined limits the limit value status in module 16 is set and if configured the output is appropriately set via module 4 or 5 Parameter Paramete...

Страница 71: ...alue 2 parameter The value listed in this table shows the hex coding of the default settings Input data none Output data none Module address Switching mode Direction selection Velocity limit value 2 V...

Страница 72: ...cted switching mode if the value is above or below the defined limits the limit value status in module 16 is set and if configured the output is appropriately set via module 4 or 5 Parameter Parameter...

Страница 73: ...alue 3 parameter The value listed in this table shows the hex coding of the default settings Input data none Output data none Module address Switching mode Direction selection Velocity limit value 3 V...

Страница 74: ...cted switching mode if the value is above or below the defined limits the limit value status in module 16 is set and if configured the output is appropriately set via module 4 or 5 Parameter Parameter...

Страница 75: ...alue 4 parameter The value listed in this table shows the hex coding of the default settings Input data none Output data none Module address Switching mode Direction selection Velocity limit value 4 V...

Страница 76: ...ddr Data type Value Default Unit CR to module metr inch Limit value control Controls internal processing of the transferred dynamic limit value parameters 0 0 Bit 0 Do not process 1 Process parameter...

Страница 77: ...lue status 2 Signals that limit value 2 has been exceeded 1 4 Bit 0 Limit value maintained 1 Limit value violated 12c Velocity limit value status 3 Signals that limit value 3 has been exceeded 1 5 Bit...

Страница 78: ...e 4 Signals whether the current velocity is compared with this limit value 0 6 Bit 0 Comparison not active 1 Comparison active Dynamic velocity comparison Signals whether the current velocity is compa...

Страница 79: ...tained due to the offset or count direction a zero value is output at the SSI interface In the event of a number overflow all data bits are set to 1 The unit offset and count direction parameters of m...

Страница 80: ...on The attached error bit always has the follow ing signifi cance 0 No error 1 Error Error bit off on The parameter defines the meaning of the error bit If the error bit OFF no bit is attached to the...

Страница 81: ...ch can be represented Module address Coding Mode Resolution Update rate Error bits 11 19 61 SSI setting Max distance which can be represented Metric Max distance which can be represented Inches in 24...

Страница 82: ...erwritten by this parameter 0 0 0 2 Bit 000 0 English 001 1 German 010 2 Italian 011 3 Spanish 100 4 French 0 Display illumina tion Off after 10min or always on 0 3 Bit 0 Off after 10min 1 Always on 0...

Страница 83: ...e default settings Input data none Output data none Parameter Description Rel addr Data type Value Default Unit CR to module metr inch Address Address of the AMS 200 for serial communication 0 0 0 3 B...

Страница 84: ...ta line After the least significant bit LSB has been output the clock signal switches from LOW to HIGH for one last time and the data line switches to LOW level end of transmission A monoflop retrigge...

Страница 85: ...alue The error bit is 1 active 0 not active Notice The data can be read out with a clock rate between 80kHz and 800kHz Attention Updating the measurement values on the SSI interface of the AMS 200 The...

Страница 86: ...h as a function of the clock rate 8 2 2 SSI Electrical connection Figure 8 8 SSI electrical connection Notice To connect the SSI interface we recommend our ready made SSI cables see Order codes for in...

Страница 87: ...ters have an immediate effect 8 2 4 Default settings of the SSI interface Table 8 9 Default settings of the SSI interface Default parameters which apply only to the SSI interface SSI activation ON Mea...

Страница 88: ...ameter display ESC ESC ESC ESC ESC ESC ESC ESC Activation of SSI interface ON OFF Default ON Data coding Gray or binary Default Gray coding Transmission mode 24 bit 25 bit or 26 bit measurement value...

Страница 89: ...Interbus interface can be activated deactivated via the display With the Interbus acti vated the IBS lettering is visible on the display By default the Interbus interface is activated and the RS 232...

Страница 90: ...DO DI DI Data GND 5 BUS IN DI 3 2 1 4 Data GND DO DI DO 5 M12 plug B coded M12 socket B coded BUS IN 5 pin plug B coded BUS OUT 5 pin socket B coded Pin Name Remarks Pin Name Remarks 1 DO From the Int...

Страница 91: ...lding must be concentric and have the largest possible surface area on the M12 connector thread The M12 thread for BUS IN is connected to the functional earth FE inside the AMS 200 via an RC element 1...

Страница 92: ...fied with Interbus Ident Code No 32H The classification describes the AMS 200 as a remote bus participant with 32 bit input data 8 3 6 Data format 32 bit input data Table 8 15 Interbus data format 32...

Страница 93: ...sentation of the measured distance Gray coded with a resolution of 1mm The coding of the measurement value can be switched from Gray default to binary The setting can be found in the Parameter Inter b...

Страница 94: ...2 Data breakdown 23 bit measurement value 1 bit sign 2 bit reserved 3 bit pre failure mes sages 2 bit errors 1 bit statically set to binary 1 Measurement value represen tation 1 Gray Unit 1 Metric Res...

Страница 95: ...st activate parameter enabling ON Figure 8 17 Parameter enabling After enabling the parameters display is inverted the parameters shown in the following image can be changed Figure 8 18 Interbus param...

Страница 96: ...ith the PROFIBUS interface activation is performed via the GSD file in module 19 INTERBUS SSI If the RS 232 is used simultaneously with the Interbus or with the SSI interface activation is performed v...

Страница 97: ...electrically insulated Line length should not exceed 10m SERVICE 1 2 3 4 3 3 V NC RS232 RX RS232 TX GND 5 RS 232 socket 5 pin socket A coded Pin Name Remarks 1 1 1 Must not be connected used 3 3V 1 V...

Страница 98: ...em The preset default parameters can be changed at any time via the control panel display This also applies when using parameters that do not directly affect the RS 232 interface This RS 232 interface...

Страница 99: ...ter enabling Changes to parameters have an immediate effect Figure 8 21 Display RS 232 parameters ESC ESC ESC ESC ESC ESC ESC ESC Activation of the RS 232 interface Default OFF Address of the RS 232 i...

Страница 100: ...te 2 XOR link of byte 0 and byte 1 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 1 0 0 ADR ADR ADR ADR 1 CMD CMD CMD CMD CMD CMD CMD CMD 2 XOR XOR XOR XOR XOR XOR XOR XOR Bit coding Hex cod...

Страница 101: ...Designation Function Laser Laser status 0 laser on 1 laser off IO1 IO1 status 0 signal level inactive 1 signal level active IO2 IO2 status 0 signal level inactive 1 signal level active ADR Address 0 1...

Страница 102: ...erm range ATT appears on the display Indicates that the level of the received signal is in the warning range Check alignment Clean the optics of the AMS 200 Remove protective foil from reflector Clean...

Страница 103: ...activated Interface parameters of AMS 200 and control do not match RS 232 output cycles are not adapted to the control RS 232 parameters have not been defined via module 19 for simultaneous use of PRO...

Страница 104: ...items in the Measures column which you have already examined fill out the fol lowing address field and fax both pages together with your service contract to the fax number listed below Customer data...

Страница 105: ...34 AMS 200 40 20 H 40m operating range Interbus and RS 232 interface heating 50108133 AMS 200 120 20 H 120m operating range Interbus and RS 232 interface heating 50108131 AMS 200 200 20 H 200m operati...

Страница 106: ...5 BA M12 connector socket for BUS IN or SSI interface 50038537 KD 02 5 SA M12 connector pin for BUS OUT 50020501 KD 095 5A M12 connector for voltage supply PWR connection cable 5 pin socket A coded P...

Страница 107: ...ble in lengths from 2 30m Special cables on request 10 8 2 Contact assignment for PROFIBUS connection cable KB PB Figure 10 1 Cable structure of PROFIBUS connection cable PROFIBUS connection cable 5 p...

Страница 108: ...een 3 CLK grey 4 CLK pink 5 FE brown Thread FE bare SSI FE DATA CLK CLK DATA 1 2 3 4 5 M12 socket B coded All conductor pairs stranded colours acc to DIN 47100 1 Conductor pair with white brown insula...

Страница 109: ...xial connectors cable length 2m 50104098 KB PB 5000 SBA M12 connector M12 socket for PROFIBUS axial connectors cable length 5m 50104099 KB PB 10000 SBA M12 connector M12 socket for PROFIBUS axial conn...

Страница 110: ...or changes on the device except where expressly described in this operating manual are not authorised The device must not be opened Failure to comply will render the guarantee void Warranted features...

Страница 111: ...Appendix Leuze electronic AMS 200 107 TNT 35 7 24V 12 Appendix 12 1 EU Declaration of Conformity...

Страница 112: ...ature sensitivity 12 Areas of application 6 ATT 56 B Bar graph 25 Binary protocol RS 232 96 BUS IN Interbus 17 PROFIBUS 16 Bus info 25 BUS OUT Interbus 17 PROFIBUS 16 Buttons 23 C CDRH 7 Certification...

Страница 113: ...Electrical connection 15 Electrical data 12 EMC 13 Environmental conditions 13 ERR 56 Error handling procedures 44 60 Explanation of symbols 4 G GSD file 42 GSD modules 43 H Housing 13 I I O 1 43 I O...

Страница 114: ...r 27 Service 30 Maintenance 106 Measured position value 25 Measurement data 12 Measurement principle 5 Measurement range 12 Measurement unit 46 Measurement value output 12 Mechanical data 13 Mounting...

Страница 115: ...US 38 Address 40 Connection cable 103 Electrical connection 39 Errors 98 Terminating resistor 102 Protection class 13 15 Protective conductor 15 PWR 16 R Reflector 19 Mounting 21 Pitch 22 Size 20 Refl...

Страница 116: ...lay 23 25 98 Storage temperature 13 Supply voltage 12 T Temperature drift 12 Terminating resistor 102 TMP 56 Traverse rate 12 Troubleshooting 98 Type overview 101 AMS 200 101 U UL 15 US 1 OMS 36 US AM...

Страница 117: ......

Страница 118: ...electronic Inc Tel Int 1 248 486 4466 Fax Int 1 248 486 6699 SV Altera OOO Tel Int 38 044 4961888 Fax Int 38 044 4961818 C illies Co Ltd Tel Int 81 3 3443 4143 Fax Int 81 3 3443 4118 Profa Tech Ltd T...

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