NSD Varlimit VS-212DN Скачать руководство пользователя страница 42

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4-3

4-2. Positioning Function

All positioning data such as the target stop positions and speed switching positions, etc., are pre-designated

at the VS-212DN. The ABSOCODER sensor then detects the machine's travel amount, with the appropriate

speed switching or STOP signals being output when the machine's position matches the pre-designated

positions.

With this positioning function, the following 2 output formats for motor control signals can be used.

Содержание Varlimit VS-212DN

Страница 1: ...U S E R S MAN U AL V S 2 1 2 DN NSP Z2004 7...

Страница 2: ......

Страница 3: ...tored for long periods Do not hold the cable or shaft of ABSOCODER sensor during transport otherwise it will cause injury or controller malfunction CAUTION 3 Transport Thank you very much for purchasi...

Страница 4: ...panese document ZEF003800201 NSP Z2004 2 1 Feb 2008 3rd Edition Japanese document ZEF003800201 NSP Z2004 3 8 Jan 2014 4th Edition Japanese document ZEF003800202 NSP Z2004 4 18 Nov 2014 5th Edition Jap...

Страница 5: ...erface 3 3 3 3 1 OUT Data Format Consumed Connection 3 3 3 3 2 IN Data Format Produced Connection 3 4 3 3 3 Error Codes 3 5 3 4 Signal Explanations 3 5 3 4 1 Command Bit 3 5 3 4 2 Status Bits 3 6 3 5...

Страница 6: ...2 Limit Switch Output Disabled Setting Writing 3 21 3 5 23 Program No Setting Writing 3 21 4 Function List 4 1 4 1 Current Position Detection Function 4 2 4 2 Positioning Function 4 3 4 3 Limit Switch...

Страница 7: ...lue setting 6 9 6 5 4 Speed gate time and speed sampling time 6 12 6 6 Sequence Program Sample 6 13 6 6 1 Initial Settings 6 13 6 6 2 Parameter Settings 6 15 6 6 3 Program for current position monitor...

Страница 8: ...mer settings 7 20 7 6 Sequence Program Sample 7 21 7 6 1 Initial settings and parameter settings 7 21 7 6 2 Program for positioning function 7 21 7 6 3 Program for JOG operation 7 23 8 Limit Switch Ou...

Страница 9: ...gram Nos 1 8 8 21 9 TROUBLESHOOTING 9 1 9 1 Error Code List 9 1 10 DIMENSIONS 10 1 10 1 VS 212DN 10 1 10 2 External setting unit VS T62 and cable VS C1S62 2 10 2 10 3 External setting unit VS T62B and...

Страница 10: ...used in place of mechanical cam switches proximity switches and limit switches etc This sensor can be used for automatic control of conveyance systems press machines and assembly machines etc where po...

Страница 11: ...ue change in position per specified time is stored in the buffer memory for data communication with the PLC CPU as sensor binary or as r min 7 Unidirectional positioning format Regardless of the exist...

Страница 12: ...to determine whether the discrepancy is within a permissible limit The In position zone setting is a value to determine in position If the positional discrepancy in within the In position zone the In...

Страница 13: ...mm Scale length L Actual detection distance Minimum setting unit Or L 320 0 01 32000 Important Absolute detection of the current position is possible only within the detection range If this range is...

Страница 14: ...sensor binary value minimum current position value Example With position detection executed by a 32 turn MRE sensor with a scale length of 32000 minimum current position value of 1000 the scaling bin...

Страница 15: ...bsolute detection Number of position detection axes 2 axes Number of divisions 4096 divisions 32 turns to 409 6 divisions 320 turns Limit switch output function Number of programs 9 Program No 0 Data...

Страница 16: ...n for 16 points Common terminal A1 A2 External cable connection format Connector connection 24 pins connector FCN 361J024 AU FCN 360C024 B Fujitsu Compatible wire size 0 3 mm I O Pin No Signal Name Us...

Страница 17: ...nse time ms OFF ON 0 04 when load current is 100 mA ON OFF 0 2 with input voltage of 24V ON OFF 0 2 when load current is 100 mA Common connection Power supply and shared common o Internal Circuit 2 5...

Страница 18: ...d Shock resistance 4 9 103 m s2 0 5ms up down forward back 3 times each conforms to JIS C5026 standard Protection rating IP52f conforms to JEM 1030 standard Max cable Length m Standard cable 4P S 100...

Страница 19: ...ting in the VS 212DN buffer memory Contact NSD if a file EDS file is required which defines the control data used by the DeviceNet devices 3 1 Control Panel Settings The VS 212DN control panel is equi...

Страница 20: ...ablished MS minor error etc Green blinking Online disconnected VS 212DN is not recognized by master unit Green ON Online connected VS 212DN is recognized by master unit Red blinking Minor communicatio...

Страница 21: ...bit is disabled 10 Only the data writing request is enabled and the command bit is disabled 11 Both the data writing request and the command bit are enabled 1 Command bit When the command data bit is...

Страница 22: ...t overtravel Status1 VS 212DN Operation status 0 fixed Axis 2 error Axis 2 Excessive current position change error Axis 2 Excessive correction amount error Axis 2 Sensor error Axis 2 Lower limit overt...

Страница 23: ...e online the forward motor control signal is output when this bit is switched on This bit is ignored during positioning operations 5 Reverse Retract JOG Command 0 1 4bit This is the JOG signal for rev...

Страница 24: ...rrection amount specified by the parameter settings VS 212DN operation and outputs are not affected when this bit switches on This bit can be switched off by performing an error reset command 1 6bit 5...

Страница 25: ...at Initial value Data range Description Parameter No 0 R Axis 1 Manual mode I O status WORD 1 R Axis 2 Manual mode I O status WORD 2 R Axis 1 Error code USINT 0 99 3 R Axis 2 Error code USINT 0 99 4 W...

Страница 26: ...nt position USINT 0 0 0 91 1 0 0 2 0 00 3 0 000 4 0 0000 5 0 00000 16394 IW Scale length UDINT 131072 1000 999999 92 16395 IW Minimum current position value DINT 0 99999 999999 93 16396 IW Current pos...

Страница 27: ...nt position USINT 0 0 0 91 1 0 0 2 0 00 3 0 000 4 0 0000 5 0 00000 16458 IW Scale length UDINT 131072 1000 999999 92 16459 IW Minimum current position value DINT 0 99999 999999 93 16460 IW Current pos...

Страница 28: ...format USINT 0 0 Speed switching format without learning function 51 1 Speed stepping format without learning function 2 Speed switching format with learning function 3 Speed stepping format with lear...

Страница 29: ...format USINT 0 0 Speed switching format without learning function 51 1 Speed stepping format without learning function 2 Speed switching format with learning function 3 Speed stepping format with lear...

Страница 30: ...nnel output status during 1 axis offline condition when in RUN mode USINT 0 0 All output OFF 67 1 HOLD 7 Limit switch control for axis 2 I O Address Write Name Data format Initial value Data range Des...

Страница 31: ...999999 8212 LW Dog 9 OFF position setting data DINT 0 99999 999999 CH 1 data I O Address Write Name Data format Initial value Data range Description Parameter No 8256 LW Number of multi dogs USINT 0 0...

Страница 32: ...6 LW Dog 9 OFF position setting data DINT 0 99999 999999 CH 1 data I O Address Write Name Data format Initial value Data range Description Parameter No 9280 LW Number of multi dogs USINT 0 0 10 9281 L...

Страница 33: ...witch output only and 2 current position detection only However only the 0 setting should be selected this is the default setting Operation cannot be guaranteed if any setting other than 0 is selected...

Страница 34: ...hin the scale length is detected by the ABSOCODETR sensor and that position value is stored in this area as a sensor binary values The ranges for sensor binary current position values are as follows 0...

Страница 35: ...eed gate time The sensor s rotation speed is stored as sensor binary value This means that the change in amount of speed gate time is stored in the absolute value The graph below shows the gate time a...

Страница 36: ...by the sequence program but the setting applies only when external input is accepted for the current position preset by buffer memory format Two external inputs are available one for current position...

Страница 37: ...only enabled when an online positioning start occurs The default setting of 3 no speed limit is established at power on Speed Limit Speed Stepping Format Speed Switching Format 1 Positioning at low sp...

Страница 38: ...2 bit and 3 bit are set to 1 This setting value changes to the parameter value at power ON and when parameter settings are made 1 Setting data is written in a scaling binary format 2 The permissible s...

Страница 39: ...ere the limit switch output disabled setting is designated 3 When the power is turned ON the default setting value 0 limit SW output enabled will be designated at all channels 3 5 23 Program No Settin...

Страница 40: ...setting If the permissible range is exceeded the error code 24 will occur Excessive correction amount detection function When the current position preset signal input occurs the difference between th...

Страница 41: ...in conjunction with a counter unit The above conventional method has several disadvantages the units must be converted when displaying the current position value origin point return is necessary when...

Страница 42: ...re designated at the VS 212DN The ABSOCODER sensor then detects the machine s travel amount with the appropriate speed switching or STOP signals being output when the machine s position matches the pr...

Страница 43: ...CODER sensor detects the machine s travel amount and ON OFF signal outputs occur when the machine s position matches pre designated positions Although limit switches are widely used for position detec...

Страница 44: ...satisfied o RUM mode o There is no error 2 ERROR 1 This LED is lit when an error occurs in the axis 1 3 ERROR 2 This LED is lit when an error occurs in the axis 2 4 5 2 DeviceNet monitor LEDs MS NS T...

Страница 45: ...es in accordance with the setting of the monitor display selector switch DISP SEL Regardless of the monitor display selector switch DISP SEL setting an error code will be displayed at area 2 in BCD if...

Страница 46: ...ositioning operation Speed switching format Reverse Speed stepping format Reverse low speed 3 High speed output Motor control output for positioning operation 4 Low speed Medium speed output Motor con...

Страница 47: ...5 1 5 Operations 5 1 Operating Sequence Flowchart An operation flowchart is shown below...

Страница 48: ...g the 2 data changes as operation proceeds Data saved internally in the VS 212DN initial settings parameter data limit switch data can be changed by either of the following 2 methods 1 From an externa...

Страница 49: ...ar the above power lines is unavoidable the cable duct should be separated with individual wiring conduits being provided 3 When wiring conduits are used they should be securely grounded 5 3 2 Connect...

Страница 50: ...uracy could be compromised To avoid such problems a suitable coupling method is recommended 5 4 2 Precautions when connecting ABSOCODER sensor 1 Connection should be made using the special cable with...

Страница 51: ...nt position the ABSOCODER Conventionally this was detected by an incremental format encoder in conjunction with a counter unit As shown below the current position value appropriate for the rotation po...

Страница 52: ...6 2 6 1 Pre Operation Setting Sequence...

Страница 53: ...Note Current position settings are executed simultaneously for 2 axes To designate settings at each axis individually use the current position preset function Important Writing to initial setting par...

Страница 54: ...rent position value increases Setting data Sensor type Rotation direction 0 MRE 32SP062 CW 1 MRE 32SP062 CCW 2 MRE G SP062 CW 3 MRE G SP062 CCW 99 No sensor 6 3 2 Decimal point position setting I O ad...

Страница 55: ...s 0 01 mm the scale length would be as follows Actual detection distance 10 mm turn 32 turns 320 mm Scale length L Actual detection distance Minimum setting unit Or L 320 0 01 32000 Important Absolute...

Страница 56: ...multaneously for 2 axes To designate settings at each axis individually use the current position preset function o Depending on the minimum unit of current position change resolution there may be case...

Страница 57: ...tual position is at the 150 mm point The scaling binary value at the 150 mm position will be as follows 32000 131072 65536 1000 15000 6 4 Parameter Settings When writing the parameters set 1 to the co...

Страница 58: ...preset function is executed in the reverse direction 74 16404 16468 Speed gate time USINT 0 0 8ms 75 1 16ms 2 32ms 3 64ms 4 128ms 5 Rotational speed r min 16405 16469 Speed gate sampling time USINT 0...

Страница 59: ...t are available for the VS 212DN when using the parameter format or the buffer memory format Each channel operates independently 2 For the parameter format the current position preset data is input to...

Страница 60: ...nction will not occur if the current position preset input is already ON when the power is turned ON 9 If both the current position preset 1 and 2 inputs are executed simultaneously the current positi...

Страница 61: ...connected and the baud rate DeviceNet The response time as shown below is a reference value under the following conditions 1 PLC scan time 4 ms 2 DeviceNet 500kbs 3 Slave connection init VS 212DN 1 un...

Страница 62: ...alue Any from 0 to 4 is selected by speed gate time The sensor s rotation speed is stored as sensor binary value This means that the change in amount of speed gate time is stored in the absolute value...

Страница 63: ...Initial Settings The initial setting data must be changed in advance using the DeviceNet Manager If the data is to be changed by the sequence data a separate data change sequence is required o VS 212...

Страница 64: ...6 14...

Страница 65: ...using the DeviceNet Manager If the data is to be changed by the sequence data a separate data change sequence is required o VS 212DN PLC Ready I 2 0 o Parameter settings writing command I 2 1 o Seque...

Страница 66: ...6 16...

Страница 67: ...ition monitor display is given below o VS 212DN PLC Ready I 2 0 o Current position value scaling binary storage register B3 1 2 3 o Current position output O 4 0 to 15 o Symbol output O 5 0 o The curr...

Страница 68: ...ut and error reset operation which is used when a VS 212DN error detection occurs is given below o Error code output O 4 0 to 15 o Error monitor output O 5 0 o Sensor monitor output O 5 1 o VS 212DN o...

Страница 69: ...e machine to the designated the target STOP position The positioning range is the range in which the ABSOCODER sensor can execute absolute position detection The machine travel range must be within th...

Страница 70: ...ent changes made in the target stop position setting will not affect the positioning operation already in progress 6 The setting range for the target stop position is according to the scale length and...

Страница 71: ...n The unidirectional positioning format reduces positioning errors caused by gear backlash etc 1 The VS 212DN automatically determines if a position overshoot is necessary based on whether the current...

Страница 72: ...eed signal being ON during high speed operation and the low speed signal being ON during low speed operation The parameter settings which designate the low speed zone stop zone and In position zone ar...

Страница 73: ...ependently Instead they are combined to produce a stepped speed switching output The parameter settings which designate the medium speed zone low speed zone stop zone and In position zone are made in...

Страница 74: ...ration output item shown above consists of the following outputs Speed switching format FWD RVS High speed Low speed Speed stepping format FWD Low speed RVS Low speed High speed Medium speed 2 t1 indi...

Страница 75: ...ompleted if the current position at that time is within the In position zone of the designated target stop position The In position signal is always the final output which occurs if in position after...

Страница 76: ...top zone in the opposite direction from the parameter designated positioning direction b Stop movement at that position c Then re execute positioning toward the target stop position 1 The parameter se...

Страница 77: ...Setting the stop zone parameter becomes easier The stop zone parameter was conventionally set based on the predicated value When using the simple learning function the stop zone is automatically corre...

Страница 78: ...ust be satisfied before the JOG operation can occur a The operation error status 6 7 7 bit signal must be OFF b Positioning must not be progress The JOG operation occurs when the FWD JOG signal comman...

Страница 79: ...G operation 5 A RVS JOG signal input command 0 1 4 bit will be inoperative during FWD JOG command 0 1 3 bit operation and vice verse 6 If both the FWD JOG command 0 1 3 bit and RVS JOG command 0 1 4 b...

Страница 80: ...as exceeded during a positioning operation near the minimum current position value point In the above example the stop position of 9850 is overshot by 240 during RVS positioning with the resulting cur...

Страница 81: ...ct detection range violations To do this the permissible current position change amount setting should be designated according to the machine being controlled allowing a slight margin in the travel am...

Страница 82: ...ue which exists after the current position preset function is executed After being re started positioning occurs in the normal manner 3 When the current position value enters the stop zone as a result...

Страница 83: ...the external setting unit VS T62 or VS T62B o By switching the manual mode 1 The motion detection error is activated during the positioning operation when the change in the current position value per...

Страница 84: ...7 16 7 2 Positioning Function and Operation Sequence The procedure for executing the VS 212DN s positioning function is as below...

Страница 85: ...the buffer memory for data communication with the PLC CPU is loaded to the VS 212DN when the PLC ready signal is turned ON in sequence mode Note Some parameters of the VS 212DN are for the limit switc...

Страница 86: ...ction limit value 58 12306 12370 Lower limit value DINT 99999 99999 999999 Designates the direction limit value 59 12307 12371 Start from stop zone USINT 1 0 Disable Designates whether positioning is...

Страница 87: ...when the speed switching positioning format is used The low speed zone setting designates the distance prior to the target position over which low speed positioning is to occur The stop zone setting...

Страница 88: ...r 2 The motion misdirection non detection timer setting designates the period from the point when the positioning or JOG operation is started until the point when the motion direction error detection...

Страница 89: ...e the positioning target position and to start the positioning function Conditions The following signal assignments are used to control the VS 212DN o VS 212DN s PLC Ready I 2 0 o Target position chan...

Страница 90: ...7 22...

Страница 91: ...7 23 7 6 3 Program for JOG operation The following signal assignments are used to control the vS 212DN o VS 212DN s PLC Ready I 2 0 o Forward JOG command I 2 2 o Reverse JOG command I 2 3...

Страница 92: ...re the ABSOCODER sensor s detection occurs 1 Up to 16 channels channel Nos 0 15 can be used for limit switch output 2 Up to 9 programs program Nos 0 8 containing each channel s ON OFF data settings ca...

Страница 93: ...units will become impossible and the external output of ON and OFF signals as designated will also be impossible In such cases the width of the ON and OFF signal zones must be increased The following...

Страница 94: ...8 3 8 1 Pre Operation Setting Sequence This section explains the setting sequence for the limit switch function...

Страница 95: ...n to the buffer memory for data communication with the PLC CPU is loaded to the VS 212DN when the PLC ready signal is turned ON in sequence mode Note Some parameters of the VS 212DN are for the positi...

Страница 96: ...annel setting enter 0 as the setting value for Protected switch parameter No 65 2 This setting is effective only when the VS T62 or VS T62B is connected 8 4 2 Offline output status setting TEST INIT P...

Страница 97: ...OFF position data for each dog 2 The number of multi dogs setting is written as a binary value The ON OFF position data is written as a scaling binary value Error 31 will be activated if dog positions...

Страница 98: ...beginning from the lowest and proceeding to the highest error 31 will be activated 3 The number of multi dogs setting range is as follows If a setting of 0 is designated the dog ON OFF position data a...

Страница 99: ...to the internal memory operation A above when the following occurs o When program No 0 is selected while online o When offline online switching occurs with program No 0 selected Data which has been e...

Страница 100: ...g is completed when the operation status status 1 7 bit has turned ON 8 5 4 Reading program Nos 1 8 Reading program Nos 1 8 is explained below Reading the limit switch output data from program Nos 1 8...

Страница 101: ...on The following example shows a program used to start the limit switch output function at one of the 3 registered programs 1 3 when the program settings have been designated in advance at the VS 212D...

Страница 102: ...8 11...

Страница 103: ...ch output function by the desired setting data which is stored at the PLC CPU s file resister and writing that data to the program No 0 area Conditions The following signal assignments are used to con...

Страница 104: ...8 13...

Страница 105: ...8 14...

Страница 106: ...8 15...

Страница 107: ...osition CH 3 Dog9 OFF position CH 4 Nunber of multi dogs CH 4 Dog0 ON position CH 4 Dog0 OFF position CH 4 Dog1 ON position CH 4 Dog1 OFF position CH 4 Dog2 ON position B10 90 CH 4 Dog2 OFF position C...

Страница 108: ...ple of the program to write the desired setting data to the program No 0 area and then transmit that data to the VS 212DN s program No 1 Conditions The following signal assignments are used to control...

Страница 109: ...8 18...

Страница 110: ...8 19...

Страница 111: ...8 20...

Страница 112: ...provides an example of the program to read the setting data from the VS 212DN s program No 1 area to the PLC CPU file register Conditions The following signal assignments are used to control the VS 21...

Страница 113: ...8 22...

Страница 114: ...8 23...

Страница 115: ...8 24...

Страница 116: ...inary Hold current position area sensor binary FWD stop zone area after learning RVS stop zone area after learning Sequence mode answerback area Detection errors 20 VS 212DN detected an upper limit ov...

Страница 117: ...fuse 26 Fuses built into the VS 212DN are blown Always The VS 212DN needs repairs Return it to your nearest service representative VS 212DN detected a DeviceNet CPU error codition Always Turn power OF...

Страница 118: ...ting error 64 VS 212DN detected a program No 4 setting error 65 VS 212DN detected a program No 5 setting error 66 VS 212DN detected a program No 6 setting error 67 VS 212DN detected a program No 7 set...

Страница 119: ...61 Motion non detection timer 162 Motion misdirection non detection timer area 163 Positioning end detection timer area 164 JOG low speed timer area 165 No of protected channels area 166 Offline chann...

Страница 120: ...of the following errors during TEST mode positioning However the operation error output will remain OFF a Excessive correction amount detected error code 23 b Excessive current position change detecte...

Страница 121: ...10 1 10 DIMENSIONS 10 1 VS 212DN Units mm...

Страница 122: ...10 2 10 2 External setting unit VS T62 and cable VS C1S62 2 External setting unit VS T62 Units mm Cable for external setting unit VS C1S62 2 Units mm...

Страница 123: ...10 3 10 3 External setting unit VS T62B and cable VS C62B 2 External setting unit VS T62B Units mm Cable for external setting unit VS C62B 2 Units mm...

Страница 124: ...10 4 10 4 ABSOCODER sensor Units mm...

Страница 125: ...10 5 Units mm...

Страница 126: ...10 6 10 5 Extension Cable 1 4P S 0102 L 4P RBT 0102 L Units mm...

Страница 127: ...Frequency Magnetic Field 11 3 Low Voltage Directive The low voltage directive is out of the range because VS 212DN is activated by 24VDC power supply 11 4 Restrictions 1 Install the zippertubing arou...

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Страница 135: ...0x70 Sequence mode selection Get Set BYTE 4 64 01 0x71 Sequence mode answerback GET BYTE 5 64 01 0x72 Axis 1 function 50 Get Set USINT 1 0 2 6 64 01 0x73 Axis 2 function 50 Get Set USINT 1 0 2 7 Clas...

Страница 136: ...ault Value Value Range Device Net I O Address Dec Class Ins 66 02 0x64 Number of multi dogs Get Set USINT 0 0 10 8256 66 02 0x65 Dog No 0 ON position setting data Get Set DINT 0 99999 999999 8257 66 0...

Страница 137: ...Dec Class Ins 66 12 0x64 Number of multi dogs Get Set USINT 0 0 10 9280 66 12 0x65 Dog No 0 ON position setting data Get Set DINT 0 99999 999999 9281 66 12 0x66 Dog No 0 OFF position setting data Get...

Страница 138: ...ata Get Set BYTE 0 12292 67 01 0x77 Axis 1 medium speed zone Get Set UDINT 10000 0 999999 12293 67 01 0x78 Axis 1 low speed zone Get Set UDINT 1000 0 999999 12294 67 01 0x79 Axis 1 forward stop zone G...

Страница 139: ...data Get Set BYTE 0 12356 67 02 0x77 Axis 2 medium speed zone Get Set UDINT 10000 0 999999 12357 67 02 0x78 Axis 2 low speed zone Get Set UDINT 1000 0 999999 12358 67 02 0x79 Axis 2 forward stop zone...

Страница 140: ...rent position preset input disable setting Get Set BYTE 0 16391 68 01 0x70 Sensor type and rotational direction 90 Get Set USINT 0 0 99 16392 68 01 0x71 Decimal point position 91 Get Set USINT 0 0 5 1...

Страница 141: ...ent position preset input disable setting Get Set BYTE 0 16455 68 02 0x70 Sensor type and rotational direction 90 Get Set USINT 0 0 99 16456 68 02 0x71 Decimal point position 91 Get Set USINT 0 0 5 16...

Страница 142: ...et STRUC T 1 127 1 255 1 001 5 Status Get UINT 6 Serial Number Get UDINT 1 4294967295 7 Product Name Get Short String VS 212DN Instance Service 0x0E Get Attribute Single 0x05 Reset Table 2 2 DeviceNet...

Страница 143: ...tion inhibit time Get UINT 0 Instance Service 0x05 Reset 0x0E Get Attribute Single 0x10 Set Attribute Single Table 2 4 Connection Object 2 Class ID 0x05 Instance ID 0x02 I O Messaging Connection Name...

Страница 144: ...KU NAGOYA JAPAN 460 8302 Distributor NSD Trading Corporation 3 31 23 OSU NAKA KU NAGOYA JAPAN 460 8302 Phone 81 52 261 2352 Facsimile 81 52 252 0522 URL www nsdcorp com E mail foreign nsdcorp com Copy...

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