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Intelligent Motion Systems Motion Detector manuel d'utilisation

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Table des matières du manuel d’utilisation

  • Page 1

    Operating Instructions TM Excellence in Motion TM FORCE POWER DRIVE MICROSTEPPING[...]

  • Page 2

    The information in this book has been carefully checked and is believed to be accurate; however , no responsibility is assumed for inaccuracies. Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability , function or design. Intelligent Motion Systems, Inc., does not as[...]

  • Page 3

    Important information The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specically designed for safety functions are not approved for applications where the functioning of the drive could enda[...]

  • Page 4

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  • Page 5

    i T able Of Contents Getting S tarted: Microstepping MF orce P owerDrive ................................................................. 1-1 Before Y ou Begin ....................................................................................................................... 1-1 T ools and Equipment Requir ed ..................................[...]

  • Page 6

    ii Enable Input .....................................................................................................................19 Clock Inputs .....................................................................................................................20 Optocoupler Refer ence ..........................................................[...]

  • Page 7

    iii List of Figures F igure GS.1: Minimum Logic and P ower Connections ............................................................. 1-1 Part 1: Hardware Refer ence F igure 1.1.1: Micr ostepping MF orce P owerDrive ...................................................................... 1-5 F igure 1.2.1: MF orce P owerDriv e Mechanical S pecificatio[...]

  • Page 8

    iv List of T ables Part 1: Hardware Refer ence T able 1.2.1: Electrical S pecifications .......................................................................................... 1-7 T able 1.2.2: Thermal S pecifications ........................................................................................... 1-7 T able 1.2.3: I/O Specifications [...]

  • Page 9

    1-1 P art 1: Hardwar e Specifications Note: A characteristic of all motors is back EMF . Back EMF is a source of current that can push the output of a power supply beyond the maximum operating voltage of the driver . As a result, damage to the stepper driver could occur over a period of time. Care should be taken so that the back EMF does not exce[...]

  • Page 10

    1-2 Microstepping MF orce P owerD rive Manual R evision R032008 Connect Opto Reference and Logic Inputs U sing 22 A WG wire, connect the Opto R eference to the desired refer ence point. The refer ence will determine whether or not the logic input is sinking or sourcing. If Sinking I nputs are desired, connect the O pto reference to a +5 to +24 VDC [...]

  • Page 11

    1-3 P art 1: Hardwar e Specifications Section 1.1: Introduction to the Micr ostepping MFor ce PowerDrive Section 1.2: Microstepping MFor ce PowerDrive Detailed Specifications Part 1: Hardware Reference TM FORCE POWE R DR IVE MICROSTEPPING[...]

  • Page 12

    1-4 Microstepping MF orce P owerD rive Manual R evision R032008 P age Intentionally Left Blank[...]

  • Page 13

    1-5 P art 1: Hardwar e Specifications SECTION 1.1 Introduction to the Microstepping MFor ce PowerDrive The Microstepping MF orce P ow- erDrive is a high performance, low cost microstepping driver that delivers unsurpassed smoothness and perfor- mance achieved through IMS’ s advanced 2nd generation current control. B y applying innovativ e techni[...]

  • Page 14

    1-6 Microstepping MF orce P owerD rive Manual R evision R032008 Features and Benefits High P erformance Microstepping Driver Advanced 2nd Generation C urrent Control for E xceptional P erformance and Smoothness Single S upply: +12 to +75 VDC Low Cost Extremely Compact High Output C urrent: U p to 5 Amps RMS, 7 Amps P eak (Per P hase) 20 Microstep R[...]

  • Page 15

    1-7 P art 1: Hardwar e Specifications SECTION 1.2 Microstepping MForce PowerDrive Detailed Specifications General Specifications Electrical Specifications Input V oltage (+V) Range* +12 to +75 VDC Max Power Supply Current (Per MForce PowerDrive)* 4 Amps Output Current RMS 5 Amps Output Current Peak (Per Phase) 7 Amps * Actual Power Supply Current [...]

  • Page 16

    1-8 Microstepping MF orce P owerD rive Manual R evision R032008 Mechanical Specifications - Dimensions in Inches (mm) Figur e 1.2.1: MFor ce P owerDriv e Mechanical Specifications Microstepping MForce PowerDrive Setup Parameters Name Function Range Units Default MHC Motor Hold Current 0 to 100 percent 5 MRC Motor Run Current 1 to 100 percent 25 MSE[...]

  • Page 17

    1-9 P art 1: Hardwar e Specifications Pin Assignment and Description P1 12-Pin Locking W ire Crimp Connector Option - Power , I/O and SPI Communications Pin Assignment - P1 Power , I/O and SPI Connections Pin # Function Description Pin 1 N/C No Connect Pin 2 N/C No Connect Pin 3 Opto Reference The Signal applied to the Optocoupler Reference will d[...]

  • Page 18

    1-10 Microstepping MF orce P owerD rive Manual R evision R032008 P3 Connector - DC Power , 2-Pin Locking W ire Crimp Pin Assignment - P3 Power 2-Pin Locking Wire Crimp Function Description Pin 1 +V +12 to +75 VDC, 4 Amps Maximum per MDrive34Plus. Pin 2 GND Power Supply Return. T able 1.2.8: P3 Connector P3 12 10 8 6 4 2 1 1 9 7 5 3 1 1 2 Figur e 1.[...]

  • Page 19

    1-1 1 P art 1: Hardwar e Specifications Options and Accessories Parameter Setup Cable and Adapters The optional 12.0' (3.6m) parameter setup cable part number MD-CC300-000 facilitates communications wiring and is recommended with first order . I t connects from the 10-Pin IDC Connector located at P2 to a PC's USB port. If the12-pin plugg[...]

  • Page 20

    1-12 Microstepping MF orce P owerD rive Manual R evision R032008 P age Intentionally Left Blank[...]

  • Page 21

    1 P art 2: Interfacing and Configuring Section 2.1: Mounting and Connection Recommendations Section 2.2: Logic Interface and Connection Section 2.3: Connecting SPI Communications Section 2.4: Using the IMS SPI Motor Interface Section 2.5: Using User -Defined SPI Part 2: Interfacing and Configuring TM FORCE MICRO DRIVE MICROSTEPPING[...]

  • Page 22

    2 Microstepping MF orce P owerD rive Manual R evision R032008 P age Intentionally Left Blank[...]

  • Page 23

    3 P art 2: Interfacing and Configuring SECTION 2.1 Mounting and Connection Guidelines Mounting Recommendations The Microstepping MF orce P owerD rive may be mounted two ways: end mounted or flat mounted End mount- ing will use #8 hardware, flat mounting will use standar d #6 hardwar e. Do not exceed the r ecommended mount- ing torque specification[...]

  • Page 24

    4 Microstepping MF orce P owerD rive Manual R evision R032008 Figur e 2.1.2: End M ounting the MF orce P owerDrive Securing Power Leads and Logic Leads Some applications may requir e that the MF orce and/or the connected motor to mov e with the axis motion. If this is a requirement of your application, the motor leads must be pr operly anchored. Th[...]

  • Page 25

    5 P art 2: Interfacing and Configuring Rules of W iring • P ower Supply and M otor wiring should be shielded twisted pairs, and run separately from signal- carrying wires. • A minimum of one twist per inch is recommended. • Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of mor e than 5 feet, 18 gauge or better[...]

  • Page 26

    6 Microstepping MF orce P owerD rive Manual R evision R032008 P age Intentionally Left Blank[...]

  • Page 27

    7 P art 2: Interfacing and Configuring SECTION 2.2 Interfacing DC Power Choosing a Power Supply for Y our MForce PowerDrive When choosing a power supply for your MF orce P owerDrive ther e are performance and sizing issues that must be addressed. An undersized power supply can lead to poor performance and even possible damage to the device, which [...]

  • Page 28

    8 Microstepping MF orce P owerD rive Manual R evision R032008 DC Power Supply Recommendations The power r equirements for the Microstepping MF orce P owerD rive are: Output V oltage ...................................................................+12 to +75 VDC (I ncludes Back EMF) Curr ent (max. per unit) ........................................[...]

  • Page 29

    9 P art 2: Interfacing and Configuring P3 Unregulated Linear or Switching Power Supply Power Ground +VDC Shield to Earth Ground + – ! W ARNING! Do not connect or disconnect cabling while power is applied! Optional Prototype Development Cable: PD02-3400-FL3 Pin 1 Pin 2 Basic DC Power Connection Figur e 2.2.2: MF orce P ow erDrive DC P ower Connec[...]

  • Page 30

    10 Microstepping MF orce P owerD rive Manual R evision R032008 W ARNING! DO NOT connect or disconnect power leads when power is applied! Disconnect the AC power side to power down the DC power supply . Example C – Cabling 50 Feet or Greater , AC Power to Power Supply Figure 2.2.4: AC To Full W a ve Bridge Rectifier, Cabling over 50 F eet Figure 2[...]

  • Page 31

    1 1 P art 2: Interfacing and Configuring SECTION 2.3 Motor Selection and Interface Selecting a Motor When selecting a stepper motor for your application, there are sev eral factors that need to be taken into consider- ation:   How will the motor be coupled to the load?   How much torque is required to move the load?   How fast do[...]

  • Page 32

    12 Microstepping MF orce P owerD rive Manual R evision R032008 The per ph ase win din g in duc tan ce s pec ifi ed m ay be d iff ere nt t han th e pe r p hase in duc tanc e s een by you r MF orce P owerDrive d riv er d epe ndin g o n t he w iri ng conf igu rati on use d. Y our ca lcul ati ons mus t a llow fo r t he a ctu al i ndu c- tan ce t hat th[...]

  • Page 33

    13 P art 2: Interfacing and Configuring 23 Frame Enhanced (2.4A - Not Available with Double Shaft) Single Shaft Double Shaft M-2218-2.4S ............................................................................................................................N/A M-2222-2.4S ........................................................................[...]

  • Page 34

    14 Microstepping MF orce P owerD rive Manual R evision R032008 The IOS motor is available in the following frames: Frame Siz e IMS PN 23 F rame ................................................................................................................... M3-2220-IOS 34 F rame ....................................................................[...]

  • Page 35

    15 P art 2: Interfacing and Configuring 6 Lead Motors Like 8 lead stepping motors, 6 lead motors have two configurations available for high speed or high torque operation. The higher speed configuration, or half coil, is so described because it uses one half of the motor’s inductor windings. The higher torque configuration, or full coil, uses[...]

  • Page 36

    16 Microstepping MF orce P owerD rive Manual R evision R032008 Figur e 2.3.6: 4 Lead Motor Connections 1 3 4 2 P4 PHASE A PHASE A B PHASE PHASE B 4 Le a d Mo t or s 4 le a d mo t or s a re t he le as t fl ex i bl e b ut e as i es t t o wi r e. Sp e ed a n d to r qu e w il l de p en d o n wi n di ng in du c ta nc e . In se tt i ng t he dr iv e r ou[...]

  • Page 37

    17 P art 2: Interfacing and Configuring Shield to Earth Ground on Supply End Only Ferrite Beads *L z 0.5 MH * 0.5 MH is a typical starting point for the Common Mode Line F ilters. B y increasing or decreasing the value of L you can set the drain current to a minimum to meet your application ’ s requirements. Common Mode Line Filters (2x) From Mi[...]

  • Page 38

    18 Microstepping MF orce P owerD rive Manual R evision R032008[...]

  • Page 39

    19 P art 2: Interfacing and Configuring SECTION 2.4 Logic Interface and Connection Optically Isolated Logic Inputs The Microstepping MF orce P owerD rive has three optically isolated logic inputs which are located on connector P1. These inputs are isolated to minimize or eliminate electrical noise coupled onto the driv e control signals. Each inpu[...]

  • Page 40

    20 Microstepping MF orce P owerD rive Manual R evision R032008 and sourcing configurations, the driver output circuitry will be disabled. Please note that the internal sine/cosine position generator will continue to increment or decrement as long as step clock pluses ar e being received by the Microstepping MF orce P owerD rive. Clock Inputs The Mi[...]

  • Page 41

    21 P art 2: Interfacing and Configuring T DSU T DH T SH T SL Direction Step T DC T CHL T CHL Channel A Channel B Direction Change T SH T SL T DC T SH T SL T DC Step Up Step Down STEP/DIRECTION TIMING QUADRA TURE TIMING UP/DOWN TIMING Figur e 2.4.3: Clock Input T iming Char acteristics Clock Input Timing Symbol Parameter T ype and V alue Step/Direc[...]

  • Page 42

    22 Microstepping MF orce P owerD rive Manual R evision R032008 Optocoupler Reference The Microstepping MF orce P owerD rive Logic Inputs are optically isolated to pr event electrical noise being coupled into the inputs and causing erratic operation. There are two ways that the Optocoupler R eference will be connected depending whether the Inputs ar[...]

  • Page 43

    23 P art 2: Interfacing and Configuring + Microstepping MForce PowerDrive +5 to +24VDC Optocoupler Reference Input Controller Output Controller Ground + +5 to +24VDC Optocoupler Reference Input Controller Output Controller Ground NPN Open Collector Interface (Sinking) PNP Open Collector Interface (Sourcing) Microstepping MForce PowerDrive Input Co[...]

  • Page 44

    24 Microstepping MF orce P owerD rive Manual R evision R032008 Switch Interface Example Switch Interface (Sinking) Switch Interface (Sourcing) + +5 to +24VDC Optocoupler Reference Enable Input SPST Switch GND + Enable Input +5 to +24VDC Optocoupler Reference GND SPST Switch Enable Input Microstepping MForce PowerDrive Microstepping MForce PowerDriv[...]

  • Page 45

    25 P art 2: Interfacing and Configuring Minimum Required Connections The connections shown are the minimum r equired to operate the Microstepping MF orce P ow erDrive. These are illustrated in both Sinking and Sour cing Configurations. Please reference the P in Configuration diagram and Specification T ables for the Microstepping MF orce P owerDri[...]

  • Page 46

    26 Microstepping MF orce P owerD rive Manual R evision R032008 SECTION 2.5 Connecting SPI Communications Connecting the SPI Interface The SPI (Serial P eripheral Interface) is the com- munications and configuration interface. F or prototyping we recommend the pur chase of the parameter setup cable MD-CC300-000. If using the Microstepping MF orce P [...]

  • Page 47

    27 P art 2: Interfacing and Configuring SPI Pins and Connections +5 VDC OUT 19 15 2 3 4 PC Parallel/SPI Port P1 10 12 7 9 1 1 MASTER OUT/SLA VE IN MASTER IN/SLA VE OUT SPI CLOCK 8 CHIP SELECT COMM GND 12-Pin Locking Wire Crimp For Use ONL Y with IMS Parameter Setup Cable Figur e 2.5.2: SPI Pins and Connections, 12-Pin Wir e Crimp Logic Level Shift[...]

  • Page 48

    28 Microstepping MF orce P owerD rive Manual R evision R032008 Figur e 2.5.4: SPI Master with a S ingle Microstepping MF orce P owerDrive S P I M a s t e r w i t h M u l t i p l e M i c r o s t e p p i n g M F o r c e P o w e r D r i v e I t i s p o s s i bl e t o l i n k mu l t i p l e M i cr o s t e p p i n g M F o r c e P o w e r D r i v e u ni [...]

  • Page 49

    29 P art 2: Interfacing and Configuring SECTION 2.6 Using the IMS SPI Motor Interface Installation The IMS SPI M otor Interface is a utility that easily allows you to set up the parameters of y our Microstepping MF orce P owerDrive. I t is available both on the CD that came with your pr oduct and on the IMS web site at http://www .imshome.com/soft[...]

  • Page 50

    30 Microstepping MF orce P owerD rive Manual R evision R032008 IMS SPI Motor Interface Menu Options File > Open: Opens a saved *.mot (M otor Settings) file. > Save: Sav es the current motor settings as a *.mot file for later re-use > Save As > Exit - Disconnects from the device and opens the I nitialization Dialog. View > M otion Set[...]

  • Page 51

    31 P art 2: Interfacing and Configuring Recall! Retrieves the settings from the M icrostepping MF orce P owerDriv e. Upgrade! U pgrades the Microstepping MF orce P owerD rive firmware by placing the device in U pgrade M ode and launching the firmware upgrader utility . Help > IMS Internet T utorials: Link to an IMS W eb Site page containing Int[...]

  • Page 52

    32 Microstepping MF orce P owerD rive Manual R evision R032008 1. MSEL: Microstep R esolution Select. 2. HCDT : Holding Current Delay T ime. 3. MR C: M otor Run C urrent 4. M otor Holding C urrent 5. U ser ID: 3-character ID 6. Dir ection Override: Allows the user to set the CW/CCW direction of the motor in r elation to the Direction I nput from th[...]

  • Page 53

    33 P art 2: Interfacing and Configuring HC DT ( H ol d Cu r re nt De lay Ti me ) Th e H C D T M ot or H o ld C u r r en t D el a y set s ti m e i n mi l l is e co nds f or t he R u n C ur r en t to s wi t c h t o Ho l d C ur r en t wh e n mo tio n is c om p le te. Wh en mo tio n is c om p l et e , t h e Mi cr os te p p in g MF o rc e P ow er D ri [...]

  • Page 54

    34 Microstepping MF orce P owerD rive Manual R evision R032008 Screen 2: I/O Settings Configuration Screen The I/O Settings screen may be accessed b y clicking View > IO Settings on the menu bar . This screen is used to configure the Input Clock type, the filtering and the A ctive High/Lo w State of the E nable Input. Input Clock T ype The Input[...]

  • Page 55

    35 P art 2: Interfacing and Configuring IMS Part Number/Serial Number Screen The IMS P art N umber and Serial N umber screen is accessed by clicking "V iew > P art and Serial N umbers". This screen is read-only and will display the part and serial number , as well as the fault code if existing. IMS may require this information if call[...]

  • Page 56

    36 Microstepping MF orce P owerD rive Manual R evision R032008 Upgrading the Firmware in the Microstepping MFor ce PowerDrive The IMS SPI Upgrader Screen N ew firmware releases are posted to the IMS web site at http://www .imshome.com. The IMS SPI M otor Interface is required to upgrade y our Microstepping MF orce P owerD rive product. T o launch t[...]

  • Page 57

    37 P art 2: Interfacing and Configuring Initialization Screen This screen will be active under five conditions: When the program initially starts up and seeks for a compatible device. The U ser selects F ile > Exit when connected to the device. The U ser clicks the Exit button while connected to the device. The U pgrade Pr ocess completes. The [...]

  • Page 58

    38 Microstepping MF orce P owerD rive Manual R evision R032008 Motor Settings Screen (PWM Current Contr ol) The Motor settings scr een allows the user to fine tune the settings of the PWM to optimize the curr ent output for a variety of stepping motors. There are four parameters that may be set: PWM Mask PWM P eriod (Duty Cycle) PWM F requency Rang[...]

  • Page 59

    39 P art 2: Interfacing and Configuring T ypical PWM Mask Settings (Currents Balanced) Mask (hex) Mask (dec) REVTM FORTM Mask (hex) Mask (dec) REVTM FORTM 0x00 0 600 ns 600 ns 0x88 135 1.6 µs 1.6 µs 0x1 1 17 700 ns 700 ns 0x99 153 1.8 µs 1.8 µs 0x22 34 800 ns 800 ns 0xAA 170 2.0 µs 2.0 µs 0x33 51 900 ns 900 ns 0xBB 187 2.2 µs 2.2 µs 0x44 6[...]

  • Page 60

    40 Microstepping MF orce P owerD rive Manual R evision R032008 PWM Control Bits Bit 7 – QUIET This bit changes PWM operation. When quiet is set, the bridge logic does not enter the rev erse measure period, therefor e there are fewer transitions. The bridge is disabled during zero cross. This mode is used at rest or when moving v ery slowly . When[...]

  • Page 61

    41 P art 2: Interfacing and Configuring SECTION 2.7 Using User -Defined SPI The MF orce can be configured and operated through the end-user's SP I interface without using the IMS SPI M o- tor Interface software and optional parameter setup cable. An example of when this might be used is in cases where the machine design requir es parameter s[...]

  • Page 62

    42 Microstepping MF orce P owerD rive Manual R evision R032008 SPI Commands and Parameters U se the following table and figure found on the follo wing page together as the Byte or der read and written from the MDrivePlus M icrostepping, as well as the checksum at the end of a WRITE is critical. SPI Commands and Parameters Command/ Parameter HEX (De[...]

  • Page 63

    43 P art 2: Interfacing and Configuring Figur e 2.7.2: Read/W rite Byte Or der for P arameter Settings (Default P arameters S hown) SPI Communications Sequence See Timing D iagram and Byte Or der figures. READ 1. Send READ ALL Command 0x40 down MOSI to M icrostepping MF orce P owerDriv e followed by FF (15 Bytes). 2. Receive P arameter settings fr[...]

  • Page 64

    44 Microstepping MF orce P owerD rive Manual R evision R032008 Page Intentionally Left Blank[...]

  • Page 65

    A-1 Appendices TM Appendices Appendix A: Optional Pr ototype Development Cables TM FORCE MICRO DRIVE MICROSTEPPING[...]

  • Page 66

    A-2 Microstepping MF orce P owerD rive Manual R evision R032008 P age Intentionally Left Blank[...]

  • Page 67

    A-3 Appendices WARN ING ! DO NOT connect or disconnect the MD-CC300-000 C o mm u n i ca t i o ns C o nv e r t er C a bl e f ro m M Fo r c e w h i l e p o w er i s applied! Appendix C Optional Prototype Development Cables MD-CC300-000: USB to SPI Parameter Setup Cable The MD-CC300-000 USB to SPI P arameter Setup Cable provides a communication connec[...]

  • Page 68

    A-4 Microstepping MF orce P owerD rive Manual R evision R032008 Figur e A.3: T ypical Setup, Adapter and P rototype Development Cable 12 12 11 2 1 1 P1 P2 ADAPTER P/N MD-ADP-14C TM T o MForce T o Customer PC USB Port T o Customer Interface MD-ADP-1723C Adapter Cable MD-CC300-000 Parameter Setup Cable ADP-3512-FL Prototype Development Cable 12 12 11[...]

  • Page 69

    A-5 Appendices 6) Select “Search for the best driver in these locations ”. (a) Check “Include this location in the search ”. (b) Browse to the CD [D rive Letter]: Cable_DriversMD-CC303-000_DRIVERS. (c) Click Next (F igure A.6). 7) The drivers will begin to copy . 8) On the Dialog for W indows Logo Compatibility T esting, click “Continue[...]

  • Page 70

    A-6 Microstepping MF orce P owerD rive Manual R evision R032008 Determining the V irtual COM Port (VCP) The MD-CC300-000 uses a Virtual COM P ort to communicate through the USB port to the MForce. A V CP is a software driven serial port which emulates a hardwar e port in Windows. The drivers for the MD-CC300-000 will automatically assign a V CP to [...]

  • Page 71

    A-7 Appendices PD12-1434-FL3 — Power , I/O and SPI The PD12-1434-FL3 is a 10’ (3.0 m) P rototype Development Cable used to connect to the 12-Pin Locking Wire Crimp Connector . The Connector end plugs into the P1 Connector of the MF orce P owerD rive. The F ly- ing Lead end connects to a Control Interface such as a PLC, an SP I Interface such as[...]

  • Page 72

    A-8 Microstepping MF orce P owerD rive Manual R evision R032008 Prototype Development Cable PD02-2300-FL3 IMS recommends the P rototype Development Cable PD02-3400-FL3 for interfacing po wer to the MF orce P owerDrive. Motor Power (+12 to +75 VDC) Power Supply Return (Ground) Drain Wire (Connect to Earth at Power Supply) Pin 1 (Red Wire) 10 ft (3.0[...]

  • Page 73

    W ARRANTY TWENTY -FOUR (24) MONTH LIMITED W ARRANTY Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use and service for which the Product was design[...]

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    intelligent motion systems, I N C . Excellence in Motion TECHNICAL SUPPORT (U.S.A.) Phone: 860/295-6102 Fax: 860/295-6107 E-mail: etech@imshome.com IMS ASIA P ACIFIC OFFICE 30 Raffles Pl., 23-00 Caltex House Singapore 048622 Phone: +65/6233/6846 Fax: +65/6233/5044 E-mail: wllee@imshome.com IMS EUROPEAN SALES MGT . 4 Quai Des Etroits 69005 L yon, F[...]