LinMot CANopen SG5 Скачать руководство пользователя

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August 2018

CANopen Interface for

SG5, SG6 and SG7

This document applies to the following drives:

E12x0-xx-xx-xxx (SG5)

E14x0-xx-xx-xxx (SG5)

E14x0V2-xx-xx-xxx (SG6)

C11x0-xx-xx-xxx (SG7)

A11x0-xx-xx-xxx (SG7)

(with CANopen Interface SW installed)

Manual

CANopen SG5 to SG7

Doc.: 0185-1076-E_2V3_MA_CANopenSG5toSG7

Содержание CANopen SG5

Страница 1: ...7 This document applies to the following drives E12x0 xx xx xxx SG5 E14x0 xx xx xxx SG5 E14x0V2 xx xx xxx SG6 C11x0 xx xx xxx SG7 A11x0 xx xx xxx SG7 with CANopen Interface SW installed Manual CANopen SG5 to SG7 Doc 0185 1076 E_2V3_MA_CANopenSG5toSG7 ...

Страница 2: ...ole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement NTI AG LinMot Bodenaecke...

Страница 3: ... 3 CANopen Parameters 8 3 1 Dis Enable 8 3 2 Baud Rate 8 3 2 1 Baud Rate Source Select 8 3 2 2 Baud Rate Parameter Definition 9 3 3 Node ID 9 3 3 1 Node ID Source Select 9 3 4 PDO Configuration 10 3 4 1 TxPDO 1 4 Enable 10 3 4 1 1 Transmission Type 10 3 4 1 2 No of SYNC msgs between transmissions 10 3 4 1 3 Inhibit Time us 10 3 4 1 4 Event Time ms 10 3 4 2 RxPDO 1 4 Enable 11 3 4 2 1 Transmission ...

Страница 4: ...Communication Profile Area 1000h 1FFFh 20 6 2 Manufacturer specific Profile Area 2000h 5FFFh 25 6 2 1 UPID Commands 25 6 2 2 System Commands 29 6 2 3 Curve Service Commands 31 6 2 4 Error Log Commands 38 6 2 5 Command Table Commands 41 7 Examples 47 7 1 Homing and motion commands 47 8 Reset Parameters to default values 49 9 Configuration of the drive with an EDS File 50 9 1 Configuring a PDO varia...

Страница 5: ...orted protocols include NMT Error Control Node Guarding Protocol or Heartbeat Protocol PDO Transmission types 1 240 250 253 and 254 SDO Upload and Download NMT Start Stop Enter PreOp Reset Node Reset Communication Boot Up Message An EDS Electronic Data Sheet file is provided for convenient configuration of all CANopen functions of the drive via a PLC 2 Connecting the CAN bus The CANopen bus can be...

Страница 6: ...00 Use shielded cables with twisted pairs for CAN signals Connect the shield as close as possible to the drive to PE Pin 1 DGND Pin 2 MP DIG IN 1 Pin3 MP DIG IN 2 Pin 4 CAN GND Pin 5 CAN H Pin 6 24VDC OUT Pin 7 MP DIG OUT 1 Pin 8 MP DIG IN 3 Pin 9 AnIn Pin 10 CAN L 2 4 CAN Termination The CAN bus must be terminated by two 120 Ohm resistors at both ends of the bus line according to the following fi...

Страница 7: ...f Switch 3 CAN termination on CMD 120Ω between pin 7 and 8 on X7 X8 on off Switch 4 CAN termination on ME 120Ω between pin 7 and 8 on X10 X11 on off Switch 5 Bootstrap Must be off for normal operation Switch 6 Override Configuration Ethernet to DHCP To activate the built in termination resistors switch 3 of S5 has to be set to ON 2 4 3 Activating the termination resistor C11xx S4 Switch 1 RS232 RS...

Страница 8: ...e LinMot Talk software 3 1 Dis Enable With the Dis Enable parameter the LinMot drive can be run without the CANopen interface going online So in a first step the system can be configured and run without any bus connection CANopen Interface Dis Enable Default Value Disable The drive does not take part in the CANopen communication Enable The drive takes part in the CANopen communication X 3 2 Baud R...

Страница 9: ...he setting of the baud rate by Bit Timing Register is only necessary on special bus configurations For example if there are devices on the bus that have slow optocouplers The default BTR value is equal to the By Parameter setting of 500kBit s 3 3 Node ID In this section the Node ID can be configured 3 3 1 Node ID Source Select This parameter defines from which source the Node ID is taken CANopen I...

Страница 10: ...chronous X Poll Request Poll Response Transmission type is set to Poll Request Poll Response This defines the transmission type according to DS 301 Type 253 Asynchronous RTR only and 254 Asynchronous with inhibit time are supported as well The transmission type 250 is LinMot specific it is reserved according to DS 301 If the transmission type 250 is selected the transmit PDO is sent immediately af...

Страница 11: ...ng receive PDO TxPDO 1 corresponds to RxPDO 1 and so on It can be used to realize a simple Poll Request Poll Response type bus structure 3 5 PDO Mapping 3 5 1 TxPDO 1 These parameters define the mapping of the transmit PDO 1 Eight bytes can be mapped in total CANopen Interface PDO Mapping TxPDO 1 Default Value Status Word 16Bit If this Boolean parameter is set the status word is transmitted with T...

Страница 12: ...the value of the Boolean 0x0000 3 5 3 TxPDO 3 These parameters define the mapping of the transmit PDO 3 Eight bytes can be mapped in total CANopen Interface PDO Mapping TxPDO 3 Default Value Warn Word 16Bit If this Boolean parameter is set the warn word bit coded warnings is transmitted with TxPDO 1 X Logged Error Code 16Bit If this Boolean parameter is set the logged error code is transmitted wit...

Страница 13: ...ce header X Motion Cmd Par Byte 0 3 32Bit The first 4 bytes of the command parameters of the motion command interface X By UPID 8 32Bit This parameter can be used for free mapping of any parameter or variable to RxPDO 1 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in RxPDO 1 is derived from the mapped UPID For Boolean values one byte is used in the PDO with the...

Страница 14: ...ave headers have to be used when spreading motion commands across several PDOs Motion Cmd Par Byte 10 13 32Bit The fourth 4 bytes of the command parameters of the Motion Command Interface Motion Cmd Par Byte 14 15 16Bit The second half of the fourth 4 bytes of the command parameters of the Motion Command Interface Motion Cmd Par Byte 12 15 32Bit The fifth 4 bytes of the command parameters of the M...

Страница 15: ...ero the heartbeat protocol is used If this entry is zero and the guard time multiplied with the life time factor is not zero the node guarding protocol is used instead If all of these values are zero no error control mechanism will be active The drive is also capable of consuming a heartbeat If object 1016h sub 1 of the object dictionary Consumer Heartbeat Time 1 is different from zero a heartbeat...

Страница 16: ...ons and is LinMot specific The time between the arrival of two sync telegrams is measured If the measured time exceeds 1 5 LSW monitored cycle time an error is generated The Legacy Sync Watchdog is only active while the NMT State of the drive is operational Monitoring via the LSW starts automatically on the transition from Pre Operational to Operational state 3 7 1 Watchdog Enable Enabling Disabli...

Страница 17: ...TIONAL OPERATIONAL Node ID Active node ID of the drive Baud Rate Active baud rate of the drive Active Error Control Protocol Shows if a guarding protocol is active None Heartbeat Protocol Node Guarding Protocol SyncCycle Time in us between the reception of two SYNC messages CAN Bit Timing Value of the CAN Bit Timing Register CANopen Object Dictionary All supported object dictionary entries can be ...

Страница 18: ...f the Transmit PDOs TxPDO 1 Length Status Word 16Bit State Var 16Bit Actual Position 32Bit TxPDO 2 Length Demand Position 32Bit Demand Current 32Bit TxPDO 3 Length Warn Word 16Bit Logged Error Code 16Bit A maximum of 4 parameters with a total maximum length of 32 Bit can be mapped by UPID 32Bit TxPDO 4 Length A maximum of 4 parameters with a total maximum length of 64 Bit can be mapped by UPID 64B...

Страница 19: ...7Fh 1281 1407 1403h 1603h TxSDO 1011b 581h 5FFh 1409 1535 RxSDO 1100b 601h 67Fh 1537 1663 NMT Error Control NodeGuarding Heartbeat 1110b 701h 77Fh 1793 1919 100Ch 100Dh NG 1016h 1017h Heartbeat 5 2 Using the Motion Command Interface in asynchronous transmission modes Because the CMD interface of the LinMot drives consists of more than 8 bytes it is necessary to link two or more RxPDOs together to ...

Страница 20: ...rer SW Version const String Contains the version of the installed firmware as an ASCII string 100Ch Guard Time rw Unsigned16 Contains the Guard Time used in the node guarding protocol 100Dh Life Time Factor rw Unsigned8 Contains the Life Time Factor used in the node guarding protocol 1014h COB ID Emergency Object rw Unsigned32 Defines the COB ID of the emergency object EMCY 1016h Consumer heartbea...

Страница 21: ...ro Unsigned8 1h COB ID ro Unsigned32 The default ID is 300h Node ID See 1400h sub 1h for additional details 2h Transmission type rw Unsigned8 The default is 1 cyclic synchronous See 1400h sub 2h for additional details 1402h Receive PDO Communication Parameter 2 RxPDO 3 0h Number of Entries ro Unsigned8 1h COB ID ro Unsigned32 The default ID is 400h Node ID See 1400h sub 1h for additional details 2...

Страница 22: ...1 29 bit ID All 0 s if 11 bit identifier 11 bit identifier The PDO valid not valid bit allows to select which PDOs are used in the operational state Only this bit can be changed by writing to this parameter The identifiers themselves cannot be changed The default ID is 180h Node ID 2h Transmission type rw Unsigned8 Only transmission types 1 cyclic synchronous 254 asynchronous and 250 poll request ...

Страница 23: ...igned8 1h COB ID ro Unsigned32 The default ID is 480h Node ID See 1800h sub 1h for additional details 2h Transmission type rw Unsigned8 The default is 1 cyclic synchronous See 1800h sub 2h for additional details 3h Inhibit time rw Unsigned16 See 1800h sub 3h for additional details 4h Reserved rw Unsigned8 5h Event timer rw Unsigned16 See 1800h sub 5h for additional details 1A00h Transmit PDO Mappi...

Страница 24: ...d32 Contains the mapping for TxPDO 3 See 1600h sub 1 8h for additional details 1A03h Transmit PDO Mapping Parameter 3 TxPDO 4 0h Number of mapped application objects in PDO rw Unsigned8 Number of valid mapping entries Can be between 0 and 8 1h 8h PDO Mapping Entry 1 8 rw Unsigned32 Contains the mapping for TxPDO 4 See 1600h sub 1 8h for additional details ...

Страница 25: ...ue rw Bool Unsigned32 Read Write the RAM Value of a UPID Any UPID from a Boolean type up to an unsigned32 type can be read or written Read RAM Value by UPID COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index Data 40h yyh yyh 01h Byte 01 LSB 02 03 04 05 06 07 08 MSB yy yy 2000h UPID Write RAM Value by UPID COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index S...

Страница 26: ...DO Write from PLC to LinMot Drive SDO CS Index Sub Index Data Data Data 23h yyh yyh 01h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB yy yy 2000h UPID xx xx xx xx Value to write size depends on the UPID that will be written Index Sub Index Description Access Type Data Type 2000h UPID 03h Min Value ro Bool Unsigned32 The minimal possible value of the UPID is returned Read Min Value by UPID C...

Страница 27: ...e from PLC to LinMot Drive SDO CS Index Sub Index Data Data Data 23h yyh yyh 06h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB yy yy 2000h UPID xx xx xx xx Value to write size depends on the UPID that will be written Index Sub Index Description Access Type Data Type 2000h 20h Start Getting UPID List wo Unsigned16 With this command the starting UPID can be set from which the command Get Next...

Страница 28: ...0h UPID Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Address Usage UPID found Data 42h yyh yyh 21h yyh yyh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB yy yy Address Usage xx xx UPID which was found Address Usage is interpreted as follows Index Sub Index Description Access Type Data Type 2000h 22h Start Getting Modified UPID List wo Unsigned16 This comma...

Страница 29: ...ters of the MC SW to default values he execution of this command can take several seconds Any data can be written for the command to be executed Set ROM to default MC SW COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data Data 23h 00h 20h 08h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx xx xx Any Data Inde x Sub Index Description Access Type Data Type 20...

Страница 30: ...pe Data Type 2000h 0Bh Reset Drive wo Unsigned8 Unsigned32 Initiates a software reset of the drive Any data can be written for the command to be executed Reset Drive COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data Data 23h 00h 20h 0Bh xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx xx xx Any Data Index Sub Index Description Access Type Data Type 2000h 3...

Страница 31: ...for additional detail on the use of curve commands and a description of the content of the curve info and data blocks Index Sub Index Description Access Type Data Type 2000h 40h Curve Service Save to Flash only available on SG5 wo Unsigned8 Unsigned32 All curves are saved from the RAM to the flash and are thus permanently saved MC SW and application have to be stopped in order for this command to ...

Страница 32: ...00h 20h 41h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx xx xx Any Data Index Sub Index Description Access Type Data Type 2000h 42h Curve Service Poll Flash only available on SG5 ro Unsigned8 Read Parameter to get the status of a flash operation Result 00h State Idle Result 04h State Busy This command can be used to check if a flash operation is still ongoing e g command 2000h sub 40...

Страница 33: ...orresponding command for details on how to interpret these results as its meaning differs from command to command yy yy Index of the last executed curve service command which can have a result xx Sub Index of the last executed curve service command which can have a result Index Sub Index Description Access Type Data Type 2000h CurveID 50h Curve Service Add Curve wo Unsigned32 With this command a c...

Страница 34: ...Data Data 23h CurveID 20h 53h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx xx xx Curve data block data one setpoint as a 32Bit value Index Sub Index Description Access Type Data Type 2000h CurveID 54h Curve Service Add Curve Info Block 32 Bit wo Unsigned32 The Curve Info Block can be written in increments of 4 bytes at a time To write the info block this command has to be repeatedly ...

Страница 35: ...ve can be read afterwards Curve Service Get Curve COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index Data 40h CurveID 20h 60h Byte 01 LSB 02 03 04 05 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Inde x Result CSInfo BlockSize CSData BlockSize Data 42h CurveID 20h 60h xxh yyh zzh zzh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx ...

Страница 36: ...mmand Result command one can check if the Info Block has already been read 00h Info Block is finished 04h Info Block is not finished D0h Error Info Block was already finished Curve Service Get Curve Info Block COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index Data 40h CurveID 20h 61h Byte 01 LSB 02 03 04 05 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot...

Страница 37: ...nd Result command one can check if the Data Block has already been read 00h Data Block is finished 04h Data Block is not finished D0h Error Info Block was already finished Curve Service Get Curve Data Block COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index Data 40h CurveID 20h 62h Byte 01 LSB 02 03 04 05 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Dr...

Страница 38: ... well as the total number of occurred errors Get Error Log Entry Counter COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index Data 40h 00h 20h 70h Byte 01 LSB 02 03 04 05 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index NrOfLoggedErr NrOfOccErr Data 42h 00h 20h 70h xxh xxh yyh yyh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx...

Страница 39: ...e error 2 Motion Control Software 3 Interface e g CANopen 4 Application e g EasySteps yy yy Error Code Further Information on the meaning of the error codes can be found in the manuals of the respective firmware parts Index Sub Index Description Access Type Data Type 2000h EntryNr 72h Get Error Log Entry Time low ro Unsigned32 This command returns the lower 32 bits of the drive s system time when ...

Страница 40: ...appened Get Error Log Entry Time high COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index Data 40h EntryNr 20h 73h Byte 01 LSB 02 03 04 05 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Time High Data 42h EntryNr 20h 73h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx xx xx Higher 32 Bits of the system time t...

Страница 41: ...rom PLC to LinMot Drive SDO CS Index Sub Index InfoBlock Data Data 23h 00h 20h 80h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx xx xx Any data Index Sub Index Description Access Type Data Type 2000h 80h CT Poll Flash only available on SG5 ro Unsigned8 Read Parameter to get the status of a flash operation Result 00h State Idle Result 04h State Busy This command can be used to check if...

Страница 42: ...ot Drive SDO CS Index Sub Index Data Data 23h 00h 20h 81h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx xx xx Any data Index Sub Index Description Access Type Data Type 2000h EntryNr 82h CT Delete Entry Entry Nr wo Unsigned32 Write anything to delete the CT entry with the corresponding number in the RAM The ROM entry of the CT entry is not deleted this way Command Table Delete Entry E...

Страница 43: ...r 20h 83h xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx Block size of CT entry Index Sub Index Description Access Type Data Type 2000h EntryNr 84h CT Write Entry Data wo Unsigned32 The CT entry data can be written in increments of 4 Bytes To write the entry data this command has to be repeatedly called while each call contains the next 4 bytes of data The entry will be activated when the last...

Страница 44: ...05 06 07 08 MSB xx xx Block size Index Sub Index Description Access Type Data Type 2000h EntryNr 86h CT Get Entry Data ro Unsigned32 The CT entry data can be read in increments of 4 Bytes To read the entry data this command has to be repeatedly called while the response to each call contains the next 4 bytes of data Command Table Get Entry Data COB ID 600 Node ID SDO Read from PLC to LinMot Drive ...

Страница 45: ... 03 04 05 06 07 08 MSB xx xx xx xx Entry presence bitfield Index Sub Index Description Access Type Data Type 2000h 88h CT Get Entry List Entry 32 63 ro Unsigned32 See command 2000h sub 87h for details Index Sub Index Description Access Type Data Type 2000h 89h CT Get Entry List Entry 64 95 ro Unsigned32 See command 2000h sub 87h for details Index Sub Index Description Access Type Data Type 2000h 8...

Страница 46: ...e last executed command table service command is returned in the following format Get Last Command Table Service Command Result COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index Data 40h 00h 20h 8Fh Byte 01 LSB 02 03 04 05 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Result CSCindex CSCsub index Data 42h 00h 20h 8Fh...

Страница 47: ...nter Operational State Control Word 003Fh RxPDO 1 Control Word MC Header MC Par Bytes 0 3 Data 3Fh 00h 00h 00h 00h 00h 00h 00h Byte 01 LSB 02 03 04 05 06 07 08 MSB 3 Execute Motion Command VAI 16Bit Go To Pos 090xh CMD Header 0901h Par Byte 0 1 Target Position 50m m 01F4h Par Byte 2 3 Maximal Velocity 1m s 03E8h Par Byte 4 5 Acceleration 10m s2 0064h Par Byte 6 7 Deceleration 10m s2 0064h RxPDO 1 ...

Страница 48: ...8 55 NTI AG LinMot In the LinMot Talk1100 Control Panel one can check the last executed motion command by pressing the Read Command button It should look like this now that the command has been executed ...

Страница 49: ...ash alternating 4 Set the switches to 00h or set the Para Def switch to off 5 Wait until Enable and Warn LED start to turn off and on 6 Power off the drive not available on all drive types 2 By writing index 2000h sub index 7h 8h 9h Ah of the object dictionary After resetting the ROM values a reset should be performed either by sending a NMT Reset command or by turning the drive off and on again T...

Страница 50: ...iable is configured one byte of the PDO is used 9 1 1 Setting the UPIDs of the parameter to map to a PDO The UPIDs to map can be set via the dictionary entries 4F01h sub 1 4h for RxPDO1 to 4F08h sub 1 4h for TxPDO4 The drive automatically maps those parameters to the PDOs If too much data would be mapped to one PDO an error is generated 9 1 2 Getting UPID PDO data into PLC variables Since any para...

Страница 51: ... 4 X4 4 Analog Voltage Diff Analog Voltage Difference Velocity Data xxh xxh yyh yyh zzh zzh zzh zzh Byte 01 LSB 02 03 04 05 06 07 08 MSB The PDO mapping entries in the object dictionary look like this Mapping entry Value 1A03h sub 1h Transmit PDO Mapping Parameter 3 PDO mapping entry 1 4F080110h 1A03h sub 2h Transmit PDO Mapping Parameter 3 PDO mapping entry 2 4F080210h 1A03h sub 3h Transmit PDO M...

Страница 52: ...ion Off constantly off On constantly on Flickering equal on and off times with a frequency of approximately 10 Hz Blinking equal on and off times with a frequency of approximately 2 5 Hz Single Flash one short flash followed by a long off phase Double Flash a sequence of two short flashes separated by an off phase The sequence is finished by a long off phase Triple Flash a sequence of three short ...

Страница 53: ... bit 0 error Check CAN termination baud rate and cabling CCh CANopen Error Bus error CRC error Check CAN termination baud rate and cabling CDh CANopen Error Error Control Timeout CANopen Timeout Is the master running CFh CANopen Error Invalid ID by Hex Switch S1 Invalid baud rate selected by S1 Check S1 Only 1 4 are valid settings D0h CANopen Error Invalid Mapping in TxPDO 1 More than 8 byte data ...

Страница 54: ... TxPDO 2 Mapping Check the UPID which is configured by mapping by UPID DAh CANopen Error Invalid UPID in TxPDO 3 Mapping Check the UPID which is configured by mapping by UPID DBh CANopen Error Invalid UPID in TxPDO 4 Mapping Check the UPID which is configured by mapping by UPID DCh CANopen Error Invalid UPID in RxPDO 1 Mapping Check the UPID which is configured by mapping by UPID DDh CANopen Error...

Страница 55: ...Administration Tech Support Tech Support Skype Web 41 56 419 91 91 office linmot com http www linmot com support support linmot 41 56 544 71 00 support linmot com http www linmot com 41 56 419 91 92 N1922 State Road 120 Unit 1 Lake Geneva WI 53147 USA Phone E Mail Web usasales linmot com http www linmot usa com http www linmot com contact to find the distribution close to you ...

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