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10623 Roselle Street, San Diego, CA 92121 (858) 550-9559 Fax (858) 550-7322 [email protected] www.accesio.com
ISOLATED DIGITAL
INPUT / RELAY OUTPUT
BOARD
MODEL 104-IIRO-16
104-IIRO-16E
104-RO-16
USER MANUAL
File: M104-IIRO-16.B2e
Notice
The information in this document is provided for reference only. ACCES does not assume any liability arising out of the application or use of the information or products described herein. This document may contain or reference information and products protected by copyrights or patents and does not convey any license under the patent rights of ACCES, nor the rights of others.
IBM PC, PC/XT, and PC/AT are registered trademarks of the International Business Machines Corporation.
Printed in USA. Copyright 2002, 2005 by ACCES I/O Products, Inc. 10623 Roselle Street, San Diego, CA 92121.
All rights reserved.
WARNING!!
ALWAYS CONNECT AND DISCONNECT YOUR FIELD CABLING WITH THE
COMPUTER POWER OFF. ALWAYS TURN COMPUTER POWER OFF
BEFORE INSTALLING A BOARD. CONNECTING AND DISCONNECTING
CABLES, OR INSTALLING BOARDS INTO A SYSTEM WITH THE COMPUTER
OR FIELD POWER ON MAY CAUSE DAMAGE TO THE I/O BOARD AND WILL
VOID ALL WARRANTIES, IMPLIED OR EXPRESSED.
2 Manual 104-IIRO-16(E), RO-16
Warranty
Prior to shipment, ACCES equipment is thoroughly inspected and tested to applicable specifications. However, should equipment failure occur, ACCES assures its customers that prompt service and support will be available.
All equipment originally manufactured by ACCES which is found to be defective will be repaired or replaced subject to the following considerations.
Terms and Conditions
If a unit is suspected of failure, contact ACCES' Customer Service department. Be prepared to give the unit model number, serial number, and a description of the failure symptom(s). We may suggest some simple tests to confirm the failure. We will assign a Return Material Authorization (RMA) number which must appear on the outer label of the return package. All units/components should be properly packed for handling and returned with freight prepaid to the ACCES designated Service Center, and will be returned to the customer's/user's site freight prepaid and invoiced.
Coverage
First Three Years: Returned unit/part will be repaired and/or replaced at ACCES option with no charge for labor or parts not excluded by warranty. Warranty commences with equipment shipment.
Following Years: Throughout your equipment's lifetime, ACCES stands ready to provide on-site or in-plant service at reasonable rates similar to those of other manufacturers in the industry.
Equipment Not Manufactured by ACCES
Equipment provided but not manufactured by ACCES is warranted and will be repaired according to the terms and conditions of the respective equipment manufacturer's warranty.
General
Under this Warranty, liability of ACCES is limited to replacing, repairing or issuing credit (at ACCES discretion) for any products which are proved to be defective during the warranty period. In no case is ACCES liable for consequential or special damage arriving from use or misuse of our product. The customer is responsible for all charges caused by modifications or additions to ACCES equipment not approved in writing by ACCES or, if in
ACCES opinion the equipment has been subjected to abnormal use. "Abnormal use" for purposes of this warranty is defined as any use to which the equipment is exposed other than that use specified or intended as evidenced by purchase or sales representation. Other than the above, no other warranty, expressed or implied, shall apply to any and all such equipment furnished or sold by ACCES.
3 Manual 104-IIRO-16(E), RO-16
TABLE OF CONTENTS
4 Manual 104-IIRO-16(E), RO-16
Chapter 1: Functional Description
This board provides isolated digital inputs with Change of State Detection and electromechanical relay output interface for 104 compatible computers. The board provides sixteen optically-isolated inputs for AC or DC control signals and sixteen electromechanical relay outputs. The board occupies eight consecutive addresses in I/O space. Read and write operations are done on an 8-bit-byte oriented basis. Two versions of the board are available. The basic model includes Change Of State (COS) detection on inputs (flags an interrupt), and model E doesn’t have COS detection and doesn’t use interrupts. Model 104-RO-16 is relay outputs only.
INPUTS
The isolated inputs can be driven by either AC or DC signals and are not polarity sensitive. Input signals are rectified by photocoupler diodes. A 1.8K-ohm resistor in series dissipates unused power. Standard 12/24 AC control transformer outputs can be accepted as well as DC voltages. The input voltage range is 3 to 31 volts (rms).
External resistors connected in series may be used to extend the input voltage range, however this will raise the input threshold range. Consult with factory for available modified input ranges.
Each input circuit contains a switchable slow/fast filter that has a 4.7 millisecond time constant. (Without filtering, the response is 10 uSec.) The filter must be selected for AC inputs in order to eliminate the on/off response to AC.
The filter is also valuable for use with slow DC input signals in a noisy environment. The filter may be switched out for DC inputs in order to obtain faster response. Filters are individually selected by jumpers. The filters are switched into the circuit when the jumpers are installed in position FLT0 to FLT15.
INTERRUPTS
When enabled by a software read to base address +2 (and when a jumper is installed to select one of the interrupt levels IRQ2-7, IRQ10-12, and IRQ14-15), the board asserts an interrupt whenever any of the inputs changes state from high to low, or low to high. This is called Change-of-State (COS) detection. Once an interrupt has been generated and serviced, it must be cleared. A software write to base address+1 will clear an interrupt. Before enabling the COS detection, clear any prior interrupt by writing to base address + 1. This interrupt capability may be disabled by a software write to base address +2, and later re-enabled. (Basic model only)
OUTPUTS
The electromechanical relay outputs are comprised of sixteen FORM C SPDT outputs. The relays are all deenergized at power-on. Data to the relays is latched by a write to the base address + 0 and to base address + 4.
5 Manual 104-IIRO-16(E), RO-16
SPECIFICATION
ISOLATED INPUTS
Number of inputs:
Type:
Voltage Range:
Isolation:
Input Resistance:
Response Time:
Interrupts:
RELAY OUTPUTS
Number of outputs:
Contact Rating:
Contact Type:
Sixteen
Non-polarized, optically isolated from each other and from the computer. (CMOS compatible)
3 to 31 DC or AC Rms (40 to 10000 Hz)
500V*(see note) channel-to-ground or channel-to channel
1.8K ohms in series with opto coupler
4.7 mSec w/filter, 10 uSec w/o filter (typical)
Software controlled with jumper IRQ selection (model IIRO-16 only)
Sixteen SPDT form C
1A max at 24VDC, 60VDC max, 0.5A at 125VAC max
Single crossbar, Ag with Au clad, (Bifurcated contacts optional)
Contact Resistance: Initial 100 milliohms maximum
Contact Life: mech'l: 5 million operations minimum
Operating Time:
Release Time:
INTERRUPTS:
5 milliseconds maximum
5 milliseconds maximum
Interrupts are generated when isolated inputs change state if enabled by software. (model IIRO-16 only)
POWER REQUIRED:
ENVIRONMENTAL
+5VDC @ 0.50 A (all relays ON)
Operating Temp:
Weight:
*Notes on Isolation:
-30 o
to +70 o
C (Non-icing)
Approx. 4.5 oz.
Opto-Isolators and connectors are rated for at least 500V, but isolation voltage breakdowns will vary and is affected by factors like cabling, spacing of pins, spacing between traces on the PCB, humidity, dust and other environmental factors. This is a safety issue so a careful approach is required. For CE certification, isolation was specified at 40V AC and 60V DC. The design intention was to eliminate the influence of common mode. Use proper wiring techniques to minimize voltage between channels and to ground. For example, when working with AC voltages do not connect the hot side of the line to an input. Tolerance of higher isolation voltage can be obtained on request by applying a conformal coating to the board.
6 Manual 104-IIRO-16(E), RO-16
Figure 1-1: Block Diagram
7 Manual 104-IIRO-16(E), RO-16
Chapter 2: Installation
A printed Quick-Start Guide (QSG) is packe d with the board for your convenience. If you’ve already performed the steps from the QSG, you may find this chapter to be redundant and may skip forward to begin developing your application.
The software provided with this PC/104 Board is on CD and must be installed onto your hard disk prior to use. To do this, perform the following steps as appropriate for your operating system. Substitute the appropriate drive letter for your CD-ROM where you see d: in the examples below.
CD Installation
The following instructions assume the CD-
ROM drive is drive “D”. Please substitute the appropriate drive letter for your system as necessary.
DOS
1.
2.
3.
Place the CD into your CD-ROM drive.
Type
to change the active drive to the CD-ROM drive.
Type
to run the install program.
4. Follow the on-screen prompts to install the software for this board.
WINDOWS
1.
2.
Place the CD into your CD-ROM drive.
The system should automatically run the install program. If the install program does not run promptly, click
START | RUN and type
, click OK or press .
Follow the on-screen prompts to install the software for this board. 3.
LINUX
1. Please refer to linux.htm on the CD-ROM for information on installing under linux.
8 Manual 104-IIRO-16(E), RO-16
Installing the Hardware
Before installing the board, carefully read Chapter 3 and Chapter 4 of this manual and configure the board according to your requirements. The SETUP Program can be used to assist in configuring jumpers on the board.
Be especially careful with Address Selection. If the addresses of two installed functions overlap, you will experience unpredictable computer behavior. To help avoid this problem, refer to the FINDBASE.EXE program installed from the CD. The setup program does not set the options on the board, these must be set by jumpers.
To Install the Board
1. Install jumpers for selected options and base address according to your application requirements, as mentioned above.
2.
3.
4.
5.
Remove power from the PC/104 stack.
Assemble standoff hardware for stacking and securing the boards.
Carefully plug the board onto the PC/104 connector on the CPU or onto the stack, ensuring proper alignment of the pins before completely seating the connectors together.
Install I/O cables onto the board’s I/O connectors and proceed to secure the stack together or repeat steps
3-5 until all boards are installed using the selected mounting hardware.
6.
7.
Check that all connections in your PC/104 stack are correct and secure then power up the system.
Run one of the provided sample programs appropriate for your operating system that was installed from the CD to test and validate your installation.
Figure 2-1: PC/104 Key Information
9 Manual 104-IIRO-16(E), RO-16
Chapter 3: Option Selection
FILTER RESPONSE SWITCH
Jumpers are used to select input filtering on a channel-by-channel basis. When jumper FLT0 is installed, additional filtering is introduced for input bit 0, FLT1 for bit 1, etc.
JUMPER SELECTION Bit Filtered JUMPER SELECTION Bit Filtered
FLT-0
-1
-2
-3
-4
-5
-6
-7
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
FLT-8
-9
-10
-11
-12
-13
-14
-15
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
Table 3-1: Filter Response Jumpers
This additional filtering provides a slower response for DC signals as described previously and must be used when
AC inputs are applied.
INTERRUPTS
Select the desired interrupt level by installing a jumper at one of the locations marked IRQxx. An interrupt is asserted by the board when an Isolated Digital Input bit changes state, if enabled in software as previously described.
Figure 3-1: Option Selection Map
10 Manual 104-IIRO-16(E), RO-16
Chapter 4: Address Selection
The board occupies eight consecutive addresses in I/O space (although only six addresses are used). The base or starting address can be selected anywhere within the I/O address range 100-3FF provided that it does not cause an overlap with other functions. If the addresses of two installed functions overlap, you will experience unpredictable computer behavior. The FINDBASE program will assist you in selecting a base address that will avoid this conflict.
Table 4-1: Address Selection for Computers
HEX RANGE USAGE
000-00F
020-021
040-043
060-06F
070-07F
080-09F
0A0-0BF
0C0-0DF
0F0-0F1
0F8-0FF
170-177
1F0-1F8
200-207
238-23B
23C-23F
278-27F
2B0-2BF
2C0-2CF
2D0-2DF
2E0-2E7
2E8-2EF
2F8-2FF
300-30F
310-31F
320-32F
370-377
378-37F
380-38F
3A0-3AF
3B0-3BB
3BC-3BF
3C0-3CF
3D0-3DF
3E8-3EF
3F0-3F7
3F8-3FF
8237 DMA Controller 1
8259 Interrupt
8253 Timer
8042 Keyboard Controller
CMOS RAM, NMI Mask Reg, RT Clock
DMA Page Register
8259 Slave Interrupt Controller
8237 DMA Controller 2
Math Coprocessor
Math Coprocessor
Fixed Disk Controller 2
Fixed Disk Controller 1
Game Port
Bus Mouse
Alt. Bus Mouse
Parallel Printer
EGA
EGA
EGA
GPIB (AT)
Serial Port
Serial Port reserved reserved
Hard Disk (XT)
Floppy Controller 2
Parallel Printer
SDLC
SDLC
MDA
Parallel Printer
VGA EGA
CGA
Serial Port
Floppy Controller 1
Serial Port
The b oard’s base address is set up by JUMPERS. Those jumpers control address bits A3 through A9. (Lines A2,
A1 and A0 are used on the board to control individual registers. How these three lines are used is described in the
Programming section of this manual.)
11 Manual 104-IIRO-16(E), RO-16
To determine how to set these JUMPERS for a desired hex-code address, refer to the SETUP program provided with the board. If you prefer to determine proper jumper settings yourself, first convert the hex-code address to binary form. Then, for each "0", install corresponding jumpers and for each "1", remove the corresponding jumper.
The following example illustrates jumper selection corresponding to hex 300 (or binary 11 0000 0xxx). The "xxx" represents address lines A2, A1, and A0 used on the board to select individual registers as described in the
Programming section of this manual.
Table 4-2: Address Selection Jumper Reference
Base Address in Hex Code 3 0 0
Conversion Factors 2 1 8 4 2 1 8
Binary Representation 1 1 0 0 0 0 0
Jumper Legend A9 A8 A7 A6 A5 A4 A3
Addr. Line Controlled A9 A8 A7 A6 A5 A4 A3
Jumper Selection OFF OFF ON ON ON ON ON
Carefully review the address selection reference table on the preceding page before selecting the board address.
If the addresses of two installed functions overlap, you will experience unpredictable computer behavior.
12 Manual 104-IIRO-16(E), RO-16
Chapter 5: Programming
The board occupies eight consecutive addresses in PC I/O space. The base, or starting address is selected during installation and will fall on an eight-byte boundary. The read and write functions as follows (model E doesn’t use
Base +2):
Table 5-1: Register Address Map
I/O Address Read Write
Base + 0
Base + 1
Base + 2
Base + 3
Base + 4
Base + 5
Base +6
Base +7
Relay Outputs 0 - 7
Isolated Inputs 0 - 7
Enable IRQ
N/A
Relay Outputs 8 - 15
Isolated Inputs 8 - 15
N/A
Interrupt Status
Relay Outputs 0 - 7
Clear Interrupt
Disable IRQ
N/A
Relay Outputs 8 - 15
N/A
N/A
N/A
RELAY OUTPUTS
At power-up, all relays are initialized in the de-energized state. The relay outputs are controlled by writing to the
Base Address for relays 0 - 7 and Base + 4 for relays 8 -15. Data is written to all eight relays as a single byte.
Each bit within the byte controls a specific relay. A "0" energizes the corresponding relay and a "1" turns it off.
The status of the relay outputs are read from Base +0 and Base +4.
Write / Read Base +0
Bit Position D7 D6 D5 D4 D3 D2 D1 D0
Relay Controlled
Write / Read Base +4
Bit Position
OUT7
D7
OUT6
D6
OUT5
D5
OUT4
D4
OUT3
D3
OUT2
D2
OUT1
D1
OUT0
D0
Relay Controlled OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0
For example, if bit D5 is turned on by writing hex DF to the base address, then the relay that controls OUT5 is energized closing the associated normally-open contacts. All other relays would be de-energized and their normally-closed contacts would be closed.
13 Manual 104-IIRO-16(E), RO-16
ISOLATED DIGITAL INPUTS
Isolated digital input states are read as a single byte from the port at Base Address +1 for inputs 0 - 7 or Base
Address + 5 for inputs 8 -15. Each of the eight bits within the byte corresponds to a particular digital input. A "0" signifies that the input is energized, (on/high) and a "1" signifies that the input is de-energized (off/low).
Read at Base +1
Bit Position D7 D6 D5 D4 D3 D2 D1 D0
Iso Digital Input
Read at Base +5
Bit Position
IN7
D7
IN6
D6
IN5
D5
IN4
D4
IN3
D3
IN2
D2
IN1
D1
IN0
D0
Iso Digital Input
Bit
Position
IN15 IN14 IN13 IN12 IN11 IN10 IN9 IN8
The board response to inputs is rated at 10 uSec. Sometimes it is necessary to slow down that response to accommodate AC inputs or in noisy environments. Hardware installation of JUMPERS to implement filtering are provided.
The board supports interrupts on change of state of isolated digital inputs. Thus, it is NOT necessary to continuously poll inputs (by reading at base address +1 and 5) to detect any state change. To enable this interrupt capability, read at base address +2. To disable interrupts, write at base address +2 or remove the JUMPER that selects interrupt levels (IRQ2 - IRQ7, IRQ10 - IRQ12, IRQ14 and IRQ15).
The status of the interrupt is determined by a read to Base Address +7. Bit D0 high indicats if there was a change in IIN0 through IIN7. Bit D1 High indicates if there was a change in IIN8 through IIN15. Bit D7 determines if the
IRQ is enabled or disabled.
Read at Base +7
D7 D6 D5 D4 D3 D2 D1 D0
IRQ Enable (1) /
Disable (0)
N/A N/A N/A N/A N/A 8-15 Changed State
(1 = Changed, 0 = No
Change)
0-7 Changed State
(1 = Changed, 0 = No
Change)
14 Manual 104-IIRO-16(E), RO-16
PROGRAMMING EXAMPLES
No function driver software is provided with this product because programming is very simple and can be accomplished most efficiently using direct I/O instructions in the language that you are using. The following examples are in C but are readily translated into other languages:
Example: Turn on OUT0 and OUT7-turn all other bits off
Base=0x300; outportb(Base, 0x7E);
//Base I/O address
Example: Read the isolated digital inputs
Y=inportb(Base+1); //isolated digital input register, bits 0-7
-Refer to ACCES32 and WIN32IRQ software directories for Windows driver and utilities.
15 Manual 104-IIRO-16(E), RO-16
Chapter 6: Software
Utility software provided on CD with the board includes the base address locator, an illustrated setup program and a sample program. The sample program sequentially turns on and off each relay (walking bit). After each relay is turned on, the opto-isolated inputs are read, and the data is displayed.
The sample programs are in forms suitable for use with, QuickBASIC, C, and Pascal. The programs as follows:
FINDBASE:
SETUP:
Program locates active and available port addresses.
Board Setup Program
CSAMPLES: SAMPLE1This sample program will sequentially turn on all bits of the relay input and sequentially turns them off (walking bit). Each time it sets a new bit, both the relay output and the isolated input are read and the data displayed. This demonstrates how to read and write to a port.
PSAMPLES: SAMPLE1Same sample in Pascal.
16 Manual 104-IIRO-16(E), RO-16
Chapter 7: Connector Pin Assignments
Relay outputs are connected to the board via a 50-pin HEADER type connector named P1. The mating connector is an IDC type with 0.1 inch centers or equivalent. The wiring may be directly from the signal sources or may be on ribbon cable from screw terminal accessory boards. Pin assignments follow.
Table 7-1: Relay Connector Pin Assignments (P1)
PIN NAME FUNCTION
1 OUT15-NO Bit 7 Relay, Normally-Open Contact
3 OUT15-NC Bit 7 Relay, Normally-Closed Contact
5 OUT14-C Bit 6 Relay Common
7 OUT13-NO Bit 5 Relay, Normally-Open Contact
9 OUT13-NC Bit 5 Relay, Normally-Closed Contact
11 OUT12-C Bit 4 Relay Common
13 OUT11-NO Bit 3 Relay, Normally-Open Contact
15 OUT11-NC Bit 3 Relay, Normally-Closed Contact
17 OUT10-C
19 OUT9-NO
Bit 2 Relay, Common
Bit 1 Relay, Normally-Open Contact
Bit 1 Relay, Normally-Closed Contact
Bit 0 Relay Common
21 OUT9-NC
23 OUT8-C
25
27 OUT7-NC
29 OUT7-NO
31 OUT6-C
Bit 7 Relay, Normally-Closed Contact
Bit 7 Relay, Normally-Open Contact
Bit 6 Relay Common
33 OUT5-NC
35 OUT5-NO
37 OUT4-C
39 OUT3-NC
41 OUT3-NO
43 OUT2-C
45 OUT1-NC
47 OUT1-NO
49 OUT0-C
Bit 5 Relay, Normally-Closed Contact
Bit 5 Relay, Normally-Open Contact
Bit 4 Relay Common
Bit 3 Relay, Normally-Closed Contact
Bit 3 Relay, Normally-Open Contact
Bit 2 Relay, Common
Bit 1 Relay, Normally-Closed Contact
Bit 1 Relay, Normally-Open Contact
Bit 0 Relay Common
PIN NAME FUNCTION
2 OUT15-C Bit 7 Relay Common
4 OUT14-NO Bit 6 Relay, Normally-Open Contact
6 OUT14-NC Bit 6 Relay, Normally-Closed Contact
8 OUT13-C Bit 5 Relay Common
10 OUT12-NO Bit 4 Relay, Normally-Open Contact
12 OUT12-NC Bit 4 Relay, Normally-Closed Contact
14 OUT11-C Bit 3 Relay Common
16 OUT10-NO Bit 2 Relay, Normally-Open Contact
18 OUT10-NC Bit 2 Relay, Normally-Closed Contact
20 OUT9-C Bit 1 Relay Common
22
24
26
OUT8-NO
OUT8-NC
Bit 0 Relay, Normally-Open Contact
Bit 0 Relay, Normally-Closed Contact
28 OUT7-C
30 OUT6-NC
32 OUT6-NO
34 OUT5-C
36 OUT4-NC
38 OUT4-NO
40 OUT3-C
42 OUT2-NC
44 OUT2-NO
46 OUT1-C
48 OUT0-NC
50 OUT0-NO
Bit 7 Relay Common
Bit 6 Relay, Normally-Closed Contact
Bit 6 Relay, Normally-Open Contact
Bit 5 Relay Common
Bit 4 Relay, Normally-Closed Contact
Bit 4 Relay, Normally-Open Contact
Bit 3 Relay Common
Bit 2 Relay, Normally-Closed Contact
Bit 2 Relay, Normally-Open Contact
Bit 1 Relay Common
Bit 0 Relay, Normally-Closed Contact
Bit 0 Relay, Normally-Open Contact
17 Manual 104-IIRO-16(E), RO-16
Isolated Inputs are connected to the board via a 34-pin HEADER type connector named P2. The mating connector is an IDC type with 0.1 inch centers or equivalent.
Table 7-2: Isolated Inputs Connector Pin Assignments (P2)
PIN NAME
1 IIN7 A
3 IIN6 A
5 IIN5 A
7 IIN4 A
9 IIN3 A
11 IIN2 A
13 IIN1 A
FUNCTION
Isolated Input 7 A
Isolated Input 6 A
Isolated Input 5 A
Isolated Input 4 A
Isolated Input 3 A
Isolated Input 2 A
Isolated Input 1 A
15 IIN0 A
17
Isolated Input 0 A
19 IIN15 A Isolated Input 15 A
21 IIN14 A Isolated Input 14 A
23 IIN13 A Isolated Input 13 A
25 IIN12 A Isolated Input 12 A
27 IIN11 A Isolated Input 11 A
29 IIN10 A Isolated Input 10 A
31 IIN9 A Isolated Input 9 A
33 IIN8 A Isolated Input 8 A
PIN NAME
2 IIN7 B
4 IIN6 B
6 IIN5 B
8 IIN4 B
10 IIN3 B
12 IIN2 B
14 IIN1 B
16 IIN0 B
18
20 IIN15 B
22 IIN14 B
24 IIN13 B
26 IIN12 B
28 IIN11 B
30 IIN10 B
32 IIN9 B
34 IIN8 B
FUNCTION
Isolated Input 7 B
Isolated Input 6 B
Isolated Input 5 B
Isolated Input 4 B
Isolated Input 3 B
Isolated Input 2 B
Isolated Input 1 B
Isolated Input 0 B
Isolated Input 15 B
Isolated Input 14 B
Isolated Input 13 B
Isolated Input 12 B
Isolated Input 11 B
Isolated Input 10 B
Isolated Input 9 B
Isolated Input 8 B
18 Manual 104-IIRO-16(E), RO-16
Customer Comments
If you experience any problems with this manual or just want to give us some feedback, please email us at:
[email protected]. Please detail any errors you find and include your mailing address so that we can send you any manual updates.
10623 Roselle Street, San Diego CA 92121
Tel. (858)550-9559 FAX (858)550-7322 www.accesio.com
19 Manual 104-IIRO-16(E), RO-16
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