Sinoide Application SW Documentation of the

Sinoide Application SW Documentation of the
Sinoide Application SW
Documentation of the Sinoide Application SW
- E1100 / B1100 Drive Series
Sinoide Application SW
User Manual
LinMot 
Sinoide Application
© 2012 NTI AG
This work is protected by copyright.
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including
photocopying,
recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole 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.
Document Version 3.17 / Whp, May 2012
Page 2/15
User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
TABLE OF CONTENT
SYSTEM OVERVIEW............................................................................................................4
1.1 REFERENCES.........................................................................................................................4
1.2 DEFINITIONS, ITEMS, SHORTCUTS.............................................................................................4
1.3 DATA TYPES.........................................................................................................................4
2 INSTALLATION ON DRIVE..............................................................................................5
3 SINOIDE FUNCTIONALITY..............................................................................................6
3.1 OVERVIEW MOTION COMMANDS.............................................................................................6
3.2 DETAILED MOTION COMMAND DESCRIPTION.............................................................................7
3.2.1 Sin VA Go To Pos (3E0xh)........................................................................................7
3.2.2 Sin VA Increment Demand Pos (3E1xh)....................................................................7
3.2.3 Sin VA Go To Pos From Actual Pos (3E4xh)............................................................7
3.2.4 Sin VA Increment Actual Pos (3E6xh).......................................................................7
3.2.5 Sin VA Go To Pos On Rising Trigger Event (3EAxh)...............................................8
3.2.6 Sin VA Increment Demand Pos On Rising Trigger Event (3EBxh)...........................8
3.2.7 Sin VA Go To Pos On Falling Trigger Event (3ECxh)..............................................8
3.2.8 Sin VA Increment Demand Pos On Falling Trigger Event (3EDxh).........................9
3.2.9 Bestehorn VAJ Go To Pos (3F0xh)...........................................................................9
3.2.10 Bestehorn VAJ Increment Demand Pos (3F1xh).....................................................9
3.2.11 Bestehorn VAJ 16 Bit Go To Pos (3F2xh)...............................................................9
3.2.12 Bestehorn VAJ Go To Pos From Actual Pos (3F4xh)...........................................10
3.2.13 Bestehorn VAJ Increment Actual Pos (3F6xh)......................................................10
3.2.14 Bestehorn VAJ Go To Pos On Rising Trigger Event (3FAxh)...............................10
3.2.15 Bestehorn VAJ Increment Demand Pos On Rising Trigger Event (3FBxh)..........11
3.2.16 Bestehorn VAJ Go To Pos On Falling Trigger Event (3FCxh).............................11
3.2.17 Bestehorn VAJ Increment Demand Pos On Falling Trigger Event (3FDxh)........12
4 SETPOINT GENERATION...............................................................................................13
4.1 SINE VA MOTION...............................................................................................................13
4.1.1.1 Parameters and Output......................................................................................13
4.2 BESTEHORN VAJ MOTION...................................................................................................14
4.2.1.1 Parameters and Output......................................................................................14
5 CONTACT ADDRESSES...................................................................................................15
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User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
System Overview
This user Manual describes the Sinoide Application SW functionality of the LinMot E1100 /
B1100 drives.
1.1 References
Ref
Title
Source
1
2
3
Installation_Guide_E1100.pdf
Installation_Guide_B1100.pdf
Usermanual_LinMot-Talk_4.pdf
www.linmot.com
www.linmot.com
www.linmot.com
The documentation is distributed with the LinMot-Talk configuration software or can be
downloaded from the Internet from the download section of our homepage.
1.2 Definitions, Items, Shortcuts
Shortcut
Meaning
LM
OS
MC (SW)
Intf
Appl
VAI
Pos
Vel
Acc
Dec
UPID
LinMot linear motor
Operating system (Software)
Motion Control (Software)
Interface (Software)
Application (Software)
VA-Interpolator (Max velocity limited acceleration position interpolator)
Position
Velocity
Acceleration
Deceleration
Unique Parameter ID (16 bit)
1.3 Data types
Type
Range/Format
Num of bytes
Bool
Byte
Char
String
SInt16
UInt16
SInt32
UInt32
Boolean, False/True
0..255
ASCII
Array of char last char = 00h
-32768..32767
0..65535
-2147483648..2147483647
0..4294967295
1/8
1
1
X
2
2
4
4
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User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
2 Installation on Drive
For installing the Sinoide firmware on the drive, start the LinMot-Talk software and press the
install firmware button
. Choose the file “Firmware_Buildxxxxxxxx.sct” and press “Open”.
The wizard will guide you through the installation. When asking for the application software
choose “Sinoide”
Press ok and follow the rest of the wizard.
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User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
3 Sinoide Functionality
The Sinoide Application SW is a MC Motion Command Interface extension, with the Sinoide
functionality. Additional the Autostart application is included.
3.1 Overview Motion Commands
Master
ID
Sub
ID
3Eh
0h
1h
4h
6h
Ah
Bh
Ch
Dh
0h
1h
2h
4h
6h
Ah
Bh
Ch
Dh
3Fh
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E
1
1
0
0
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
B
1
1
0
0
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Description
Sin VA Go To Pos
Sin VA Increment Demand Pos
Sin VA Go To Pos From Actual Pos
Sin VA Increment Actual Pos
Sin VA Go To Pos On Rising Trigger Event
Sin VA Increment Demand Pos On Rising Trigger Event
Sin VA Go To Pos On Falling Trigger Event
Sin VA Increment Demand Pos On Falling Trigger Event
Bestehorn VAJ Go To Pos
Bestehorn VAJ Increment Demand Pos
Bestehorn VAJ 16 Bit Go To Pos
Bestehorn VAJ Go To Pos From Actual Pos
Bestehorn VAJ Increment Actual Pos
Bestehorn VAJ Go To Pos On Rising Trigger Event
Bestehorn VAJ Increment Demand Pos On Rising Trigger Event
Bestehorn VAJ Go To Pos On Falling Trigger Event
Bestehorn VAJ Increment Demand Pos On Falling Trigger Event
User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
3.2 Detailed Motion Command Description
3.2.1 Sin VA Go To Pos (3E0xh)
Name
Header
1. Par
2. Par
3. Par
Byte
Offset
0
2
6
10
Description
Type
Unit
3E0xh: Sin VA Go To Pos
Target Position
Maximal Velocity
Acceleration
UInt16
SInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
Half period sine motion profile, regarding the limitations of maximal acceleration and maximal
velocity.
3.2.2 Sin VA Increment Demand Pos (3E1xh)
Name
Header
1. Par
2. Par
3. Par
Byte
Offset
0
2
6
10
Description
Type
Unit
3E1xh: Sin VA Increment Demand Pos
Position Increment
Maximal Velocity
Acceleration
UInt16
SInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
Half period sine motion profile, regarding the limitations of maximal acceleration and maximal
velocity. The new Target Position value will be determined by the firmware. It is calculated by
adding the Position Increment argument to the Demand Position value (relative move). The
command execution starts immediately when the command has been sent.
3.2.3 Sin VA Go To Pos From Actual Pos (3E4xh)
Name
Header
1. Par
2. Par
3. Par
Byte
Offset
0
2
6
10
Description
Type
Unit
3E4xh: Sin VA Go To Pos From Actual Pos
Target Position
Maximal Velocity
Acceleration
UInt16
SInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
Half period sine motion profile, regarding the limitations of maximal acceleration and maximal
velocity. The command execution starts immediately when the command has been sent. This
command should be used if the Actual Position does not match with the current Demand
Position value, but it can be assumed that the motor stands still (Actual Velocity assumed to
be zero, e.g. because the motor stands on a hard stop). This can happen after a Press
command, where the actual motor position is defined through external conditions and the
motor could not and had not to follow the demand position. By starting this command, the
former accepted difference between Actual Position and Demand Position can be eliminated.
3.2.4 Sin VA Increment Actual Pos (3E6xh)
Name
Header
1. Par
2. Par
3. Par
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Byte
Offset
0
2
6
10
Description
Type
Unit
3E6xh: Sin VA Increment Actual Pos
Position Increment
Maximal Velocity
Acceleration
User Manual Sinoide Application / 21/05/2012
UInt16 SInt32 0.1 um
UInt32 1E-6 m/s
UInt32 1E-5 m/s2
NTI AG / LinMot
LinMot 
Sinoide Application
Half period sine motion profile, regarding the limitations of maximal acceleration and maximal
velocity. The new Target Position value will be determined by the firmware. It is calculated by
adding the Position Increment argument to the Actual Position value (relative move). The
command execution starts immediately when the command has been sent.
3.2.5 Sin VA Go To Pos On Rising Trigger Event (3EAxh)
Name
Header
1. Par
2. Par
3. Par
Byte
Offset
0
2
6
10
Description
Type
Unit
0EAxh: Sin VA Go To Pos On Rising Trigger Event
Target Position
Maximal Velocity
Acceleration
UInt16
SInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
This command defines a new sine motion command (see description of command 'Sin VA
Go To Pos (3E0xh)'. The command will be started on each rising edge on the Trigger signal.
This command is used to synchronize the execution of the motion command to a hardware
signal. The command activates the Event Handler (see Status Word bit 8). The Event
Handler starts the new Sin VA motion on the rising trigger event. The Event Handler can be
deactivated by using the command 'Clear Event Evaluation (008xh)'. The trigger input must
be configured with parameter <UPID>$1039.
3.2.6 Sin VA Increment Demand Pos On Rising Trigger Event (3EBxh)
Name
Header
Byte
Offset
0
1. Par
2. Par
3. Par
2
6
10
Description
Type
3EBxh: Sin VA Increment Demand Pos On Rising UInt16
Trigger Event
Position Increment
SInt32
Maximal Velocity
UInt32
Acceleration
UInt32
Unit
0.1 um
1E-6 m/s
1E-5 m/s2
This command defines a new Sin VA motion command (relative move, see description of
command 'Sin VA Increment Demand Pos (3E1xh)'). The command will be started on each
rising edge on the Trigger signal. This command is used to synchronize the execution of the
motion command to a hardware signal. The command activates the Event Handler (see
Status Word bit 8). The Event Handler starts the new Sin VA motion on the rising trigger
event. The Event Handler can be deactivated by using the command 'Clear Event Evaluation
(008xh)'. The trigger input must be configured with parameter <UPID>$1039.
3.2.7 Sin VA Go To Pos On Falling Trigger Event (3ECxh)
Name
Header
1. Par
2. Par
3. Par
Byte
Offset
0
2
6
10
Description
Type
Unit
0ECxh: Sin VA Go To Pos On Falling Trigger Event
Target Position
Maximal Velocity
Acceleration
UInt16
SInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
This command defines a new Sin VA motion command (see description of command 'Sin VA
Go To Pos (3E0xh)'). The command will be started on each falling edge on the Trigger
signal. This command is used to synchronize the execution of the motion command to a
hardware signal. The command activates the Event Handler (see Status Word bit 8). The
Page 8/15
User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
Event Handler starts the new Sin VA motion on the falling trigger event. The Event Handler
can be deactivated by using the command 'Clear Event Evaluation (008xh)'. The trigger input
must be configured with parameter <UPID>$1039.
3.2.8 Sin VA Increment Demand Pos On Falling Trigger Event (3EDxh)
Name
Header
Byte
Offset
0
1. Par
2. Par
3. Par
2
6
10
Description
Type
3EDxh: Sin VA Increment Demand Pos On Falling UInt16
Trigger Event
Position Increment
SInt32
Maximal Velocity
UInt32
Acceleration
UInt32
Unit
0.1 um
1E-6 m/s
1E-5 m/s2
This command defines a new Sin VA motion command (relative move, see description of
command 'Sin VA Increment Demand Pos (0E1xh)'). The command will be started on each
falling edge on the Trigger signal. This command is used to synchronize the execution of the
motion command to a hardware signal. The command activates the Event Handler (see
Status Word bit 8). The Event Handler starts the new Sin VA motion on the falling trigger
event. The Event Handler can be deactivated by using the command 'Clear Event Evaluation
(008xh)'. The trigger input must be configured with parameter <UPID>$1039.
3.2.9 Bestehorn VAJ Go To Pos (3F0xh)
Name
Header
1. Par
2. Par
3. Par
4. Par
Byte
Offset
0
2
6
10
14
Description
Type
Unit
3F0xh: Bestehorn VAJ Go To Pos
Target Position
Maximal Velocity
Acceleration
Jerk
UInt16
SInt32
UInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
1E-4 m/s3
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal
speed.
3.2.10
Name
Header
1. Par
2. Par
3. Par
4. Par
Bestehorn VAJ Increment Demand Pos (3F1xh)
Byte
Offset
0
2
6
10
14
Description
Type
Unit
3F1xh: Bestehorn VAJ Increment Demand Pos
Position Increment
Maximal Velocity
Acceleration
Jerk
UInt16
SInt32
UInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
1E-4 m/s3
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal
speed. The new Target Position value will be determined by the firmware. It is calculated by
adding the Position Increment argument to the Demand Position value (relative move). The
command execution starts immediately when the command has been sent.
3.2.11
Name
Page 9/15
Bestehorn VAJ 16 Bit Go To Pos (3F2xh)
Byte
Offset
Description
User Manual Sinoide Application / 21/05/2012
Type
Unit
NTI AG / LinMot
LinMot 
Sinoide Application
Header
1. Par
2. Par
3. Par
4. Par
0
2
4
6
8
3F2xh: Bestehorn VAJ 16 Bit Go To Pos
Target Position
Maximal Velocity
Acceleration
Jerk
UInt16
SInt16
UInt16
UInt16
UInt16
Scaled
Scaled
Scaled
Scaled
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal
speed. With 16 bit motion parameters: UPID 1455h for Position, UPID 1456 for Maximal
Velocity, UPID 1457h for Acceleration and UPID 1458h for Jerk Scaling.
3.2.12
Name
Header
1. Par
2. Par
3. Par
4. Par
Bestehorn VAJ Go To Pos From Actual Pos (3F4xh)
Byte
Offset
0
2
6
10
14
Description
Type
Unit
3F4xh: Bestehorn VAJ Go To Pos From Actual Pos
Target Position
Maximal Velocity
Acceleration
Jerk
UInt16
SInt32
UInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
1E-4 m/s3
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal
speed. The command execution starts immediately when the command has been sent. This
command should be used if the Actual Position does not match with the current Demand
Position value, but it can be assumed that the motor stands still (Actual Velocity assumed to
be zero, e.g. because the motor stands on a hard stop). This can happen after a Press
command\c where the actual motor position is defined through external conditions and the
motor could not and had not to follow the demand position. By starting this command, the
former accepted difference between Actual Position and Demand Position can be eliminated.
3.2.13
Name
Header
1. Par
2. Par
3. Par
4. Par
Bestehorn VAJ Increment Actual Pos (3F6xh)
Byte
Offset
0
2
6
10
14
Description
Type
Unit
3F6xh: Bestehorn VAJ Increment Actual Pos
Position Increment
Maximal Velocity
Acceleration
Jerk
UInt16
SInt32
UInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
1E-4 m/s3
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal
speed. The new Target Position value will be determined by the firmware. It is calculated by
adding the Position Increment argument to the Actual Position value (relative move). The
command execution starts immediately when the command has been sent.
3.2.14
Name
Bestehorn VAJ Go To Pos On Rising Trigger Event (3FAxh)
Header
Byte
Offset
0
1. Par
2. Par
3. Par
4. Par
2
6
10
14
Page 10/15
Description
Type
Unit
3FAxh: Bestehorn VAJ Go To Pos On Rising
Trigger Event
Target Position
Maximal Velocity
Acceleration
Jerk
UInt16
-
SInt32
UInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
1E-4 m/s3
User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
This command defines a new Bestehorn motion command (see description of command
Bestehorn VAJ Go To Pos (3F0xh)'). The command will be started on each rising edge on
the Trigger signal. This command is used to synchronize the execution of the motion
command to a hardware signal. The command activates the Event Handler (see Status Word
bit 8). The Event Handler starts the new Bestehorn motion on the rising trigger event. The
Event Handler can be deactivated by using the command 'Clear Event Evaluation (008xh)'.
The trigger input must be configured with parameter <UPID>$1039.
3.2.15
Bestehorn VAJ Increment Demand Pos On Rising Trigger
Event (3FBxh)
Name
Header
Byte
Offset
0
1. Par
2. Par
3. Par
4. Par
2
6
10
14
Description
Type
Unit
3FBxh: Bestehorn VAJ Increment Demand Pos On
Rising Trigger Event
Position Increment
Maximal Velocity
Acceleration
Jerk
UInt16
-
SInt32
UInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
1E-4 m/s3
This command defines a new Bestehorn motion command (relative move\c see description
of command Bestehorn VAJ Increment Demand Pos (3F1xh)'). The command will be started
on each rising edge on the Trigger signal. This command is used to synchronize the
execution of the motion command to a hardware signal. The command activates the Event
Handler (see Status Word bit 8). The Event Handler starts the new Bestehorn motion on the
rising trigger event. The Event Handler can be deactivated by using the command 'Clear
Event Evaluation (008xh)'. The trigger input must be configured with parameter
<UPID>$1039.
3.2.16
Name
Bestehorn VAJ Go To Pos On Falling Trigger Event (3FCxh)
Header
Byte
Offset
0
1. Par
2. Par
3. Par
4. Par
2
6
10
14
Description
Type
Unit
3FCxh: Bestehorn VAJ Go To Pos On Falling
Trigger Event
Target Position
Maximal Velocity
Acceleration
Jerk
UInt16
-
SInt32
UInt32
UInt32
UInt32
0.1 um
1E-6 m/s
1E-5 m/s2
1E-4 m/s3
This command defines a new Bestehorn motion command (see description of command
Bestehorn VAJ Go To Pos (3F0xh)'). The command will be started on each falling edge on
the Trigger signal. This command is used to synchronize the execution of the motion
command to a hardware signal. The command activates the Event Handler (see Status Word
bit 8). The Event Handler starts the new Bestehorn motion on the falling trigger event. The
Event Handler can be deactivated by using the command 'Clear Event Evaluation (008xh)'.
The trigger input must be configured with parameter <UPID>$1039.
Page 11/15
User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
3.2.17
Bestehorn VAJ Increment Demand Pos On Falling Trigger
Event (3FDxh)
Name
Header
Byte
Offset
0
1. Par
2. Par
3. Par
4. Par
2
6
10
14
Description
Type
3FDxh: Bestehorn VAJ Increment Demand Pos On UInt16
Falling Trigger Event
Position Increment
SInt32
Maximal Velocity
UInt32
Acceleration
UInt32
Jerk
UInt32
Unit
0.1 um
1E-6 m/s
1E-5 m/s2
1E-4 m/s3
This command defines a new Bestehorn motion command (relative move\c see description
of command Bestehorn VAJ Increment Demand Pos (3F1xh)'). The command will be started
on each falling edge on the Trigger signal. This command is used to synchronize the
execution of the motion command to a hardware signal. The command activates the Event
Handler (see Status Word bit 8). The Event Handler starts the new Bestehorn motion on the
falling trigger event. The Event Handler can be deactivated by using the command 'Clear
Event Evaluation (008xh)'. The trigger input must be configured with parameter
<UPID>$1039.
Page 12/15
User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
4 Setpoint Generation
4.1 Sine VA Motion
The Sine generates a position curve from one position to another due to the parameter
values of target position, maximal speed and acceleration. A new target position can only be
started when the previous motion was finished.
4.1.1.1 Parameters and Output
The Sine Motion is defined by the following parameters:
• Target Position [SInt32; 0.1um/s]
• Maximal Speed [UInt32; 1E-6 m/s]
• Acceleration [UInt32; 1E-5 m/s2]
The Sine Motion generates as outputs:
• Position [SInt32; 0.1um]
• Velocity [SInt32; 1E-6 m/s]
• Acceleration [SInt32; 1E-5 m/s2]
Page 13/15
User Manual Sinoide Application / 21/05/2012
NTI AG / LinMot
LinMot 
Sinoide Application
4.2 Bestehorn VAJ Motion
The Besthorn generates a position curve from one position to another due to the parameter
values of target position, maximal speed acceleration and jerk. A new target position can
only be started when the previous motion was finished.
4.2.1.1 Parameters and Output
The Bestehorn Motion is defined by the following parameters:
• Target Position [SInt32; 0.1um/s]
• Maximal Speed [UInt32; 1E-6 m/s]
• Acceleration [UInt32; 1E-5 m/s2]
• Jerk [UInt32; 1E-4 m/s3]
The Bestehorn Motion generates as outputs:
• Position [SInt32; 0.1um]
• Velocity [SInt32; 1E-6 m/s]
• Acceleration [SInt32; 1E-5 m/s2]
Page 14/15
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NTI AG / LinMot
LinMot 
Sinoide Application
5 Contact Addresses
----------------------------------------------------------------------------------------------------------------------------SWITZERLAND
NTI AG
Haerdlistr. 15
CH-8957 Spreitenbach
Sales and Administration:
+41-(0)56-419 91 91
[email protected]
Tech. Support:
+41-(0)56-544 71 00
[email protected]
Tech. Support (Skype) :
skype:support.linmot
Fax:
Web:
+41-(0)56-419 91 92
http://www.linmot.com/
----------------------------------------------------------------------------------------------------------------------------USA
LinMot, Inc.
5750 Townline Road
Elkhorn, WI 53121
Sales and Administration:
877-546-3270
262-743-2555
Tech. Support:
877-804-0718
262-743-1284
Fax:
800-463-8708
262-723-6688
E-Mail:
Web:
[email protected]
http://www.linmot-
usa.com/
----------------------------------------------------------------------------------------------------------------------------Please visit http://www.linmot.com/ to find the distribution near you.
Smart solutions are…
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