pmdi servo motion control€¦ · if you are developing a new system or updating an existing...

Servo Motion ControlPMDiPrecisionMicroDynamics

Jeff Roblee, VP Engineering, Precitech, Inc.

”

PMDi is a true partner with tremendous technical expertise. They rapidly create a cost-effective

solution, whether it is a totally new development project or a fix to an existing system.

”

2008 Hardware and

Software Catalog

Precision DynamicsMicro

In motion for you.....

PMDi has an outstanding ability to work with

customers to help them succeed with servo

motion control systems, delivering products

and service through a dedicated, innovative,

and capable technical staff.

Distinctive Excellence

Innovation

Experience

Customization

Support

Mile Erlic

President

Andy Matkovic

VP OperationsTom Erlic

CEO

Management

If you are developing a new system or updating an existing machine,

consider Precision MicroDynamics. As a motion control expert since 1993,

PMDi excels at providing high-performance solutions in specialized CNC,

aerospace, data storage, medical, and semi-conductor applications.

PMDi has focused on building successful relationships with customers by

providing a comprehensive approach to motion control solutions. Our biggest

advantage is our talented technical staff that relies on years of motion control

experience and expertise. Not only do we provide the very best in hardware,

firmware, and software, PMDi takes development to the next level with

continuous innovation, custom solutions, and the best support in the motion

control industry.

PMDi delivers

at every level during the

development process

Your Product

Development

PMDi offers more:

Product Family:

Customization:

Innovation:

PMDi has a solution for your development

needs. Our extensive family of motion control products

includes a wide variety of hardware controllers and modules

supported by comprehensive software and firmware.

PMDi focuses on market research and

maintaining close ties with customers. The results are client-

driven solutions with an emphasis on customization and ever-

expanding capabilities.

PMDi is attentive to market forces that drive

technology and capabilities forward. Our focus on R&D has

resulted in cutting-edge motion control solutions that continue

to keep your products ahead of the competition.

Initially, a decision is made to create a new

machine or upgrade an existing one. That’s

where PMDi comes in. We offer

comprehensive motion control solutions that

encompass your design specifications. Our

technical staff simplifies the decision-making

process resulting in successful design and

development.

PMDi prides itself on seeing each client

through the entire development process with

training, custom features, and extensive

support. Our staff of motion control experts

can assist in system optimization with

custom hardware, software, and firmware

features that not only meet, but exceed,

your design specifications.

Once the development stage is

complete and machine sales

commence, PMDi provides

continued support with the latest

motion control innovations. In order

to maintain a competitive advantage,

the newest machines, as well as

existing machines in the field, can

be updated with the latest software

and firmware.

Product

Maturity

Production

Concept

DevelopmentP DiM

Eventually, the product life-cycle

dictates that an upgrade of the

existing machine is necessary. PMDi

is focused on research and

innovation that enables existing

customers to upgrade systems

requiring tighter specifications or a

complete overhaul. The next

generation of product designs

becomes easier and cost-effective.

Precitech Inc. is an ultra-precision

machine and metrology systems

manufacturer. Precitech provides a

complete line of ultra-precision single-

point diamond turning, grinding,

grooving and milling machines for the

production of components by the

electro-optic, ophthalmic, and

precision metal-working industries.

Courtesy Precitech, Inc.

Nanoform 350- Ultra-precision diamond

machining system.

INNOVA 200- Semiconductor overlay

measuring system.

Courtesy View, Inc.

View Micro-Metrology Inc. produces high-

accuracy, non-contact measuring

instruments, including automated and

manual microscopes for dimensional

measurement. Applications range from

industrial to scientific and research. Their

customer base includes many of the

leading manufacturers of computers,

magnetic media, and semiconductors.

MrBot: The first fully-actuated MRI robot

MrBot is a fully-actuated robot for image-

guided access of the prostate gland

customized for needle insertion and

designed to be compatible with Magnetic

Resonance Imagers (MRI) of the highest

field strength. MrBot accommodates

various needle drivers for different percu-

taneous interventions such as biopsy,

thermal ablations, or brachytherapy.

AI-HR4- ALIO Industries three-axis tri-pod.

ALIO Industries is an innovator in nano

technology motion systems. ALIO has an ever-

expanding, cost-effective product line including

Hexapod robotic systems, air bearing systems,

and mechanical bearing linear and rotary nano-

precision systems for atmospheric, clean room

and ultra-high vacuum chambers.

Markets Served

PMDiPrecisionMicroDynamics

Precision MicroDynamics is an

OEM oriented company. We

develop strong relationships with

our customers and make certain

they dominate their respective

target markets by delivering the

technology and support they

need. The majority of PMDi’s

customers can be categorized in

the following industries and

application areas:

Metrology

CNC

Grinding

Test and Measurement

Ophthalmic

Inspection

Waterjet

Military

Automation

Lens-Grinding

Medical

Semiconductor

Lithography and Imaging

Filament Winding

Data Storage

Spindle Control

Velocity Control

Fast-tool Servo

LIO INDUSTRIES

V

Courtesy ALIO Industries

18 PMDiPrecision MicroDynamics Inc, 512 Frances Ave, Unit 3, Victoria, BC, Canada, V8Z1A14

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Courtesy Johns Hopkins

Customers

ALIO Stage System with PMDi Controller

Linear Stage Controller

Alio Industries designs and manufactures precision nanometer linear

and rotary stages for a range of applications including semi-conductor,

microscope, and flat-panel display.

What started as interest in a controller and software package, quickly

lead to the development of a custom integrated solution; the Alio

Linear Stage System consisting of an industrial PC with hardware and

software selected from the PMDi product family.

Besides integrating the hardware for the controller unit, PMDi’s

engineering staff designed a custom interconnect and graphical user

interface based on Alio specifications.

Custom Electronics

A leading supplier of precision inertial guidance test systems,

rotational rate tables, centrifuges, and dynamic flight test tables came

to PMDi for a distributed system and software package.

PMDi offered an off-the-shelf solution including high performance

hardware, firmware and software. To optimize system performance

and reduce manufacturing and support costs PMDi developed a

custom module that integrates various features from several off-the-

shelf MotionWire modules. The MWC-101 contains a customer driven

set of hardware features based on existing hardware and firmware.

MWC-101

Motion Control System

OEM customers often find difficulties specifying a motherboard or PC

backplane for their motion control systems.

The PMDi Motion Control Motherboard (MCMB) simplifies the

selection process. The MCMB alleviates the problem of potential

obsolescence and hardware incompatibility issues. PMDi created the

MCMB for OEM customers as a robust solution designed for long life.

The MCMB contains the necessary ports for a broad range of PC

peripheral devices (monitor, keyboard, mouse, ethernet, and flash

memory) and one or more PMDi PCI controller card.

Walt Lewandowski,

R&D Engineer, Precitech, Inc.

PMDi has worked with us more as a

partner than a vendor. They were quick

to react to our needs, tailoring their own

product to fit our specific goals.

”

”

Custom ProductsWe listen to our customers. Often, market forces require fast delivery of

custom features. PMDi is attentive to its customers' needs and many of

these requirements are specified into new product developments.

PMDi's high-speed MotionWire network makes it easy to

create customer specified electronic hardware modules.

Hardware:

Software and Firmware: PMDi often makes changes to our standard

motion control libraries and firmware releases to reflect the specific

needs of our clients.

MCMB and LC228

Custom ApplicationsCustom Applications PMDi

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Phone: 250 382 7249 Toll free: 1 866 548 5639 Fax: 1 250 382 1830 Sales: [email protected]

MotionWire

Modules

Servo Motors

CAT5e Cable

Cables and Wires

Supported

Control Hardware

PMDi controllers and modules support a wide

range of actuators and control hardware. Our

engineering staff continues to add customer

specified hardware to the ever-growing list of

motion controllers and MotionWire modules.

MotionWire facilitates the expansion of supported

hardware based on the short development time

required to specify and produce new control

features. PMDi supports the following hardware:

Position Feedback

Actuators

Digital IO

Analog IO

Quadrature Encoder

Inductosyn

Resolver

ENDAT Serial Encoder

SSI Serial Encoder

Sin/Cos Scale Interpolator

Linear Motor Amplifiers

Stepper Motor Amplifiers

BLDC Motor Amplifiers

Spindle Motor Amplifiers

PWM Amplifiers

Hall Sensors

Joystick

Handwheel

Temperature Sensors

Pressure Sensors

Velocity Resolvers

Position Resolvers

Tachometers

Spindles Linear Stages


PMDi produces a range of control hardware including

an industrial PC motherboard, PC-based motion

controllers, modules, custom cables, interconnect

boards, and enclosures. Our most important goal is

providing customers a complete motion solution that meets

and surpasses their design specifications. Furthermore, if

PMDi does not have a hardware capability, we can work

with clients to add it.

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Supported

Control Hardware

Motion System

Motion Control HardwareMotion Control Hardware

The are PCI-bus multi-axis controllers for automated

machines with four to sixteen high-performance servo motors. Install multiple

controllers for systems with higher motor counts. Each control board has one

MotionWir port for I/O expansion.

MC8000 / MC4000

e*

The is a low cost multi-axis controller with all the features required in

automated machines with up to four servo motors plus four stepper motors.

The is a multi-axis servo motion controller for distributed hardware

configurations acting as a master controller for the MotionWire* network. Each

DMC100 can control up to 16 servo motors and has four MotionWire ports for

communication with remote MotionWire I/O modules. The DMC100 uses the

PCI bus for communication with a PC host.

The is a solid-state, industrial quality PC mother board. It was designed

to mate perfectly with PMDi motion controllers creating a compact electronic

sandwich.

LC228

DMC100

MCMB

Multi-function

module with

4-to-8 Axis

Servo/Stepper

Capability

Digital I/O Module

Position Feedback Modules

Multi-Function IO Modules

2 or 4 Channel

Quadrature

Encoder

Modules

2 or 4 Channel

Sin/Cos

Interpolator

Modules

2 or 4 Channel

SSI or ENDAT

Position Decoder

Modules

Analog I/O Modules

4 Channel

Analog

Input/Output

Modules

64-bit Digital

Input/Output

Module

PC-based Control Hardware MotionWire Modules

MotionWire modules provide I/O capability for a MotionWire

network. The DMC100, MC4000, and MC8000 are master

control boards that communicate with remotely located

modules over the network.

Modules are available for servo and stepper motor interfaces,

digital quadrature and Sin/Cos encoders, ENDAT and SSI

absolute encoders, analog I/O, digital I/O, and OEM specified

custom modules.

* MotionWire Network- MotionWire is PMDi's proprietary high speed communication protocol for servo motion control and data acquisition. A MotionWire network uses standard RJ45 connectors

and CAT5e cabling in a star and/or daisy chain topology. Each chain in a MotionWire network can communicate at 120Mbps.

2 Channel

Resolver /

Inductosyn

Decoder

Module

Motion Controllers

New

New Products

Motion Control Motherboard

Hardware PMDi

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Digital inputs

Digital outputs

4

20

Quadrature decoder inputs 4

Analog outputs (DAC)

Position compare outputs 1

PULSE/DIRECTION outputs

4

8

LC228

Position capture inputs 4

LC228

Economical multi-axis PCI controller

Analog outputs go to zero on timeout

Generate SYNC signal and PC interrupts

±10 V

Pulse/direction, capture/compare

100-Pin SCSI

Low Cost:

WDOG

PIT

Floating-Point DSP Processor

Analog Outputs

High Speed Digital I/O

Connectors to Amplifiers and Sensors

:

:

:

:

:

Features

SCSI

Connector

The LC228 is a low-cost, multi-axis PCI-bus card that controls up to

eight motion axes. The LC228 is ideal for synchronous curvilinear motion

and event-based asynchronous motion serving the semiconductor,

magnetics, CNC, automotive, and packaging industries. Application areas

include material handling, material processing, and testing.

24Digital inputs

Digital outputs

4

24

PRO LITE


Aux quad. decoder inputs


4

STEP

8

24

Position capture inputs


4

8


4

8 4

MotionWire port

Differ. analog inputs (ADC) 4

24

DUAL

4

4

4

4

8

8 8

4

8

1 1 1 1

MC4000 Versions

308mm by 107mmSize:

4 × 60-pin

IDH Connectors

48Digital inputs

Digital outputs

8

48

PRO LITE


Aux quad. decoder inputs


8

STEP

16

48

Position capture inputs


8

16


8

16 8

MotionWire port

Differ. analog inputs (ADC) 8

48

DUAL

8

8

8

8

16

16 16

8

16

1 1 1 1

MC8000 Versions

Analog outputs go to zero on timeout

Generate SYNC signal and PC interrupts

Pulse & direction, quad. decoder

Connect to MotionWire network

60-Pin IDH

WDOG

PIT

High Speed Digital I/O

MotionWire Port

Connectors to Amplifiers and Sensors

:

:

:

:

:

Floating-Point DSP Processor

Analog Outputs

Analog Inputs

Digital Inputs and Outputs

Quadrature Decoders

SYNC

±10 V

±10 V

TTL levels

A/B/Z up to 60MHz*

Sync data & control across all channels & boards

:

:

:

:

:

MC8000 / MC4000 Features

* Options available. See ‘Ordering’

Size: 225mm by 107mm

2 60-pin

IDH Connectors

×

MC8000 MC4000

The MC8000 and MC4000 are multi-axis PCI-bus motion control cards. The MC8000 controls eight to sixteen servo motion axes, and

the MC4000 controls four to eight servo motion axes. The MC8000 and MC4000 are ideal for synchronous curvilinear motion and

event-based asynchronous motion serving the semiconductor, magnetics, medical, military, CNC, automotive, and packaging

industries. Application areas include material handling and processing, testing, and high performance tracking.


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Motion ControllersMotion Controllers

MotionWire

MotionWire is PMDi’s high-speed, synchronous motion

control network. MotionWire uses RJ45 connectors and

CAT5e cabling in a star and/or daisy-chain topology for the

communication link between the servo controller and modules.

MotionWire technology is ideal for high performance

applications including nanometer position control, high

tolerance velocity regulation, tightly synchronized multi-axis

motion, distributed systems with high axis counts, and

buffered data acquisition. Applications include

MotionWire modules are available for servo and stepper motor

interfaces, digital I/O, analog I/O, serial encoders and Sin/Cos

interpolators. MotionWire is synchronous and deterministic - a

specification required for precise motion control applications.

The DMC100 has four MotionWire ports. The communication

rate is 120Mbps for each port, providing 480Mbps

communication capability in a distributed motion control

network.

CNC machine

tools, semiconductor, flat panel, data storage, automotive,

medical, aerospace, coil winding, assembly, and others.

Cables are minimized in a MotionWire set up. Integration is

fast and field servicing is easy. Remote diagnostic software

enables fast installation, debugging, and verification of

network operation.

Reduces wiring & labor

Increases performance

Adds modularity

DMC100

Features

Floating-point DSP processor.

4 MotionWire ports.

Attach up to 16 modules on each MotionWire port.

120Mbps communication rate per MotionWire port.

198mm by 107mmSize:

The DMC100 is a multi-axis servo motion board for

distributed control. It is a master controller for a

MotionWire network. Each DMC100 can be used to control

up to sixteen servo motors. The DMC100 has four

MotionWire ports for communication with remote MotionWire

I/O modules. The DMC100 uses the PCI bus for

communication with a PC host.

Motion Control Accessories

Interconnect boards Din-rail mounting

Shielded cables CAT5e cablesRegular cables

Custom enclosures

Standard accessories

ensure the integrity of

a control system by

optimizing the linkages

between electronic

hardware and how the

hardware is mounted

within an enclosure.

PMDi offers a variety

of standard

accessories for our

line of motion control

products. These

include communication

cables, shielded

cables, CAT5e cables,

interconnect boards,

din-rail mounting

enclosures, PC

enclosures, and others.

MotionWire HardwareMotionWire Hardware PMDi

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MW-70 MW-71 MW-72(4-channel Input), (4-channel Output), (4-channel In/Out)Analog I/O Modules

175mm by 100mmSize:

The MW-70, MW-71 and MW-72 MotionWire modules provide four

channels of analog input, four channels of analog output, and four

channels of analog input and output respectively.

The analog inputs are 16-bit differential signals. Analog anti-aliasing filters

support high quality analog to digital conversion. Special capabilities

include analog capture and compare.

The analog outputs are 16-bit signals. Anti-imaging filters create smooth

level transitions.

Features

Analog Inputs:

Analog Outputs:

HSD I/O:

- Range (±5V and ±10V)

- Range (±5V, ±10V, and 0-10V)

- TTL levels (source/sink 25mA)High Speed Digital (HSD)* 8

Outputs (DAC) 4

8

Differential Inputs (ADC) 4 4

MW-70 MW-71 MW-72Analog I/O

8

4

* Used for Position Capture, Position Compare, Digital Input, and Digital Output


MW-52 MW-53(4-Channel), (2-Channel)

MW-52 MW-53

Interpolator channels 4

Buffered capture/compare

High-speed digital (HSD)*

2

8 8

Sin/Cos Decoders

2


Features

The Interpolator module decodes the displacement of an analog Sin/Cos

position scale into a high-resolution digital position.

Application areas include:

- Rotary air bearing - Nano-technology

- Hydrostatic bearing - Velocity regulation

- Magnetic bearing - Sub-arcsecond

- Linear air bearing - Differential driver

- CNC - Fast tool servo

MW-52/53 modules support several encoder manufacturers including

, , and .

The analog scale generates two differential sinusoidal signals (A/A* &

B/B*) and a third analog signal representing a reference position (Z/Z*).

The differential sinusoidal signals have a nominal phase offset of 90°,

hence the common description Sin/Cos scale.

Heidenhain Renishaw Sony

* Other encoder input settings are possible. Consult factory

175mm by 100mmSize:

Encoder Signals*

Interpolation Factors

Capture/Compare

Auto-compensation

Maximum Frequency

- Differential Sin/Cos/Index at 0.6 - 1.2V.

- 16, 64, 256, 1024, 2048, 4096 and 8192.

- Position indexing and single-shot or buffered array.

- DC offset, phase, and amplitude.

- 3.7MHz (channels sampled simultaneously).

Sin/Cos Interpolator Modules

Signal Conditioner for Sin/Cos Scale Encoders

The SC-01 is an adapter board designed to interface between a low

voltage read head outputting single-ended signals and an MW-52/53. The

main purpose of the adapter board is to adjust the signal offsets (mainly

dc-offset and amplitude errors) to nominal values before being passed into

the MW-52/53 for sinusoidal interpolation.

90mm by 40mmSize:

SC-01

10

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MotionWire ModulesMotionWire Modules

MW-50 MW-51

Decoder channels 4


2

Quadrature Decoder

8 8

* Position Capture, Position Compare, Digital Input, and Digital Output

MW-58

Decoder channels 4


Resolver/Inductosyn

8

* Position Capture, Position Compare, and Digital IO

Resolver / Inductosyn

175mm by 100mmSize:

The MW-58 MotionWire module decodes two of

resolver/inductosyn inputs for accurate measurement of a

rotary axis. These modules are highly accurate, extremely

reliable, and inherently rugged to meet the demands of military,

space, and industrial environments.

channels

Advanced features include

buffered position capture and compare.

Features

Interpolation Factors*

HSD I/O:

Registration

- 256, 1024, 4096, 16384, 65536,

262144, and 1048576.

- TTL levels (source/sink 25mA)

- Position capture and compare

* Interpolation factor per quadrant.

MW-58 (2-Channel)

MW-54 MW-55

SSI Interface 4

ENDAT Interface

High-speed digital *(HSD)

2

MW-56

4

MW-57

2

8 8 8 8

Serial Decoders


The MW-54 and MW-55 MotionWire

modules provide four and two

channels of SSI (

absolute encoder

inputs respectively.

The MW-56 and MW-57 MotionWire

modules provide four and two

channels of ENDAT absolute encoder

inputs respectively. ENDAT 2.2 is a

digital, bi-directional interface for fast

data transfer with high transmission

reliability (RS-485).

Synchronous-Serial

Interface- RS422)

Precision MicroDynamics will adjust the SSI and ENDAT firmware at

customer request for a specific encoder manufacturer and model.

* Other encoder input settings are possible. Consult factory

The MW-50 and MW-51

MotionWire modules provide four

and two channel quadrature

encoder inputs respectively. A

60MHz counting rate is available

as an option.

Advanced features include

position capture and position

compare for each encoder input.

Features

Encoder Inputs

HSD I/O:

Registration

Input Frequency

Configurations

- A, B, Z, A*, B*, and Z*



- Up to 60MHz*

- Single-ended

- Differential (no termination)

- Differential (with termination)

112mm by 100mmSize:

112mm by 100mmSize:

MW-50 MW-51(4-channel), (2-channel)Quadrature Decoder Modules

Features

SSI Inputs:

ENDAT Inputs:

HSD I/O:

Registration

- RS-422

- RS-485



SSI Decoder Modules

ENDAT Decoder Modules

MW-54 MW-55(4-channel), (2-channel)

MW-56 MW-57(4-channel), (2-channel)

MotionWire ModulesMotionWire Modules PMDi

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20Digital inputs

Digital outputs

4

40


40

28


8 4

28 14

2 4

Quadrature decoder inputs 4 2 4

MW-10 MW-11 MW-15

High-speed digital (HSD)* 4 4

175mm by 100mmSize:

The MW-10/11 MotionWire modules control a variety of actuators,

including brushed servo motors, brushless servo motors, piezo

ceramic motors, voice coil actuators, and stepper motors. There

are plenty of digital inputs and outputs for digital sensors, and

switch and relay control. Advanced features include position

capture and compare.

Customers connect their own break-out board to the 60-pin

headers for a mechanically stable electronics platform. Contact

PMDi about custom breakout solutions that may include optical

isolation, relays, amplifiers, and specified connectors.

The MW-15 MotionWire module controls a variety of stepper

motors. The MW-15 provides plenty of digital I/O for sensors, and

switch and relay control. A typical configuration for the MW-15

controls a machine with four closed loop stepper motors.

* or higher quadrature rates.Consult factory f

ABZ Quadrature Decoders

Analog Outputs

Digital Inputs

Digital Outputs

HSD I/O

Other

- Up to 60MHz*

- 10V (MW-10 and MW-11)

- TTL levels (sink 25mA)

- TTL levels (source 25mA)


- Position capture/compare

Features


Multi-Function I/O Modules

MW-1x Versions

The MotionWire communication protocol makes it easy to create custom electronic hardware and firmware for modules

based on OEM specifications. PMDi is attentive to new and existing customer needs. Many requirements are incorporated

into new product developments.

Custom MotionWire Modules

MW-30 (64-bit)

Features

Number of Bits

Configure Bits

Digital Inputs

Digital Outputs

- 64 digital input/output lines

- Jumper settings for 7 configurations

- TTL levels (sink 25mA)

- TTL levels (source 25mA)

112mm by 100mmSize:

The MW-30 provides 64 bits of TTL compatible Digital I/O. Set the

inputs and outputs to different configurations in banks of eight bits.

The MW-30 has two 40-pin headers. Connect your own break-out

board to these headers for a mechanically stable electronics

platform. PMDi can design a custom breakout board solution that

includes optical isolation, relays and specified connectors.

Digital I/O Module


MW-10 MW-11 MW-15(4 servo motors), (2 servo motors), (4 stepper motors)

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MotionWire ModulesMotionWire Modules

190mm by 145mmSize:

Power Supply

(5V and ATX)

:

:

:

:

:

:

:

:

:

Supported Controllers

Recommended Compact Flash

Recommended ETX Processor Speed

USB 2.0

Size

Recommended OS

Reset Switch

Battery

Ethernet

MC8000, MC4000, DMC1000, LC228

> 512MB

> 500MHz

Keyboard, mouse, DVD, hard-drive

190 mm x 145mm

Windows XP Embedded

Generate reset for control card and CPU

On-board battery for CMOS updating

Communication to other PCs

Features

Motion Control Motherboard

USB x 4Ethernet SVGA

CPU

Battery

Flash

Memory

RESET

VIDEO

10/100MHz

CPU and Controller

Details

CPU ETX Module

POWER 1

POWER 2

PCI

STORAGE Compact Flash

Single slot

ETHERNET

5V Supply

USB 4 Ports

SVGA

Hardware

ATX Supply

MCMB

New

PCI Slot

The motion control motherboard (MCMB) is PMDi’s

single board computer. The MCMB contains the

necessary ports for a broad range of PC peripheral

devices (monitor, keyboard, mouse, ethernet, and flash

memory) and one or more PMDi PCI controller cards

(e.g. DMC100).

The MCMB simplifies the task of specifying a computer

system for a PMDi controller board. It is simple to set

up, reduces reliance on hardware that may become

obsolete, has been optimized for motion control

systems, and has a flash memory card instead of a

hard-drive.

The MCMB incorporates the Windows XP Embedded

operating system making the MCMB a broad-based

solution for a range of PC-based servo control

applications. But, any custom OS can be implemented.

The OS is contained on the compact flash card, which

supports interchangeability of various memory images

during development.

The MCMB contains a PCI angle connector for PMDi

controller cards. Once the MCMB and one or more

controller cards are attached together, the control

system is a space saver.

Motion HardwareMotion Hardware PMDi

www.pmdi.com 13

Solid-state design

Simple and reliable

Ideal for industrial controls

Long life

Standard PC peripheral support

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General Motion Library

MotionTools 2.0

. It is used to

build and run custom human-machine interface

prototypes through user-designed panels and scripts

which have access to the entire Motion Control

Interface (MCI) library.

Motion control hardware configuration and initialization

is handled through a straightforward graphical

interface, and all possible motion control parameters

are automatically named and available for viewing and

modification.

. It provides the tools you need to get your

motors, amplifiers, switches and sensors tuned and

working together with our Motion Control Interface

(MCI) library.

Monitor positions, velocities, drive levels, digital inputs

and outputs, analog inputs and outputs, and more at

the full servo rate while issuing a variety of motion

commands and tuning the control structure for optimal

performance. The MotionTools Workspace can run in

parallel with customer applications to monitor the

behavior of a system and diagnose and solve issues.

MotionTools 2.0 is a software application which

provides a graphical user interface to PMDi’s

motion control libraries and hardware

The MotionTools Workspace is a customizable

application which runs on the MotionTools 2.0

platform

The Motion Control Interface Library (MCI) is PMDi’s general

motion library. It contains hundreds of functions used to

perform complex multi-axis moves, home a machine, trigger

events, compensate encoders, and implement peripherals

such as handwheels and joysticks.

The Win32/.NET library makes it easy to interface with PMDi's

motion control hardware from a custom C/C++, C#, or VB

application. MCI functions can be called from MotionTools 2.0

scripts for quick prototyping HMI applications.

Graphical Hardware Interface

HMI Prototyping

Scripting

MotionTools Workspace

Diagnostic Tools

Oscilloscope

Bode Plot

Board Set-up

Tuning

Data Acquisition

Filter Design

MotionTools Workspace

CNC Motion Library

Our CNC software C-library (CNC-GCode) is supported under

the QNX Neutrino real-time operating system and Windows. In

the simplest form all you need is your favorite text editor and a

GNU C-compiler.

The QNX Neutrino microkernel offers the best in reliability

where timing constraints are a critical aspect of system design.

It is often used in mission critical applications such as air traffic

control and 9-1-1 emergency response.

Test and Diagnostic Software

MotionSuite

Motion Control Software

MotionSuite is PMDi's standard software package. It

includes the MotionTools 2.0 interface software, the

MCI-SoftLIB library, and the CNC-GCode library.

Custom Development for OEM Customers

Sometimes, creating motion control applications requires

tools that lie outside the standard set of software

development libraries included in PMDi’s MotionSuite. An

OEM customer with a broad knowledge of our control

products can write their own DSP code.

Add new custom features, protect intellectual property, and

incorporate high-frequency, process specific features.

Customers write their entire application from scratch or

enter user locations in PMDi’s DSP code base. For more

information, contact our sales department.


MCI-SoftLIB

CNC-GCode

MotionTools 2.0

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Software SolutionsSoftware Solutions

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.NET Development

The software application shown to the right was developed as a G-code controller for an ALIO 5-axis nano CNC machine. From

concept to final product, a variety of PMDi's software development tools were used:

- MotionTools 2.0 was used to monitor and

verify encoder and digital I/O inputs after

initial hardware setup, and to configure the

controller initialization file which specifies

the mapping between hardware inputs and

outputs and our motion control software.

- The MotionTools Workspace was used to

tune and optimize the servoing of each

axis.

- Custom DSP callout functions were

written to perform kinematic calculations to

translate cartesian to joint space in real-

time on the DSP.

- The Win32 G-code library was used to

run standard G-code files on the

customized DSP code.

- The MCI .NET library was used to quickly

develop a user-interface application in C#

with a familiar CNC interface. It provides

real-time position and status feedback,

supports pause/resume, variable jog

control, and immediate-mode G-code

commands.

Performance

Development

Reliability and Security

Compatibility

Support

- Code running in a secure environment

- .NET GUI applications run at native OS speed

- Latest tools have context-sensitive editing and help

- .NET applications can be written in a variety of languages

- Error handling and debugging capabilities

- Managed code means no system crashes or memory leaks

- .NET is built around security in a networked environment

- Existing Win32 C/C++ DLLs can be wrapped in .NET Code

- A wide variety of third-party .NET components are available

- Latest versions of Windows are heavily based on .NET technologies

Software DevelopmentSoftware Development PMDi

www.pmdi.com 15

Sample Application

Custom Software

The strength of our software lies in PMDi’s attention to

customer needs. Making improvements to our motion control

library releases is an ongoing part of R&D. Thus, OEM

specified functions often find their way into our standard set

of software libraries and development tools. PMDi strives to

be responsive to new and existing clients. For this reason,

creating custom functions has always been a major part of

our service and support.

ALIO AI-HR4 tri-pod

Custom .NET GUI

.NET application code sample


The Motion Control Interface (MCI) library is a rich set of high-level motion

control and data acquisition functions used to develop WIN32 and .NET

applications. It forms the cornerstone of PMDi's application programming

interface, providing comprehensive high-level support functions for a complete set

of motion control tasks. It seamlessly interfaces with DSP controller code and low-

level hardware access libraries, taking the complexity out of motion control

programming while delivering a robust and flexible set of capabilities.

Tasks such as controller initialization, homing, coordinated axis moves, setting

and responding to digital I/O events, PVT moves, splining, error handling, and

buffered data acquisition are handled by a few simple functions which hide most

of the complexity inherent in precision motion control.

MCI is interrupt-based and fully thread-

safe for maximum responsiveness and

programming flexibility. Comprehensive

logging gives you the feedback you need

to diagnose errors and fix problems quickly.

MCI is suitable for a range of applications

including high-speed pick and place, ultra-

precise coordinate measurement,

assembly, material processing and

handling, and many others.

For tuning, diagnostics, and prototyping,

MotionTools provides full MCI support

through custom scripts and the built-in

MotionTools Workspace. MCI functions

can be entered, tested, and debugged

very quickly while monitoring all relevant

parameters in the MotionTools GUI.

Motion Control Interface LibrarySample Capabilities

• S-curve and trapezoidal profile

• Position-time profiles

• Position-velocity-time profiles

• Mixed profiles

• Independent axis moves

• Coordinated axis moves

• Change position, velocity, and

acceleration during motion

• Continuous contouring

• Lines, arcs and splines

• Absolute and relative moves

• Home to switch and index

• Set and clear digital I/O

• Wait on digital events

• Amp enable and disable

• Dual-encoder feedback.

• PIDVAFF feedback control filter

• Notch and lowpass filters

• Deadband and saturation control

• Motion settled event

• Automatic response to errors

• Continuous data logging

• Position capture and compare

• Streaming capture and compare

• Joystick and handwheel support

• Auto focus support.....and more

Retargeting is useful when changes in

position or velocity are required while an

existing motion is being executed.

In the example, a new end-point is selected

during an existing move if an input signal is

detected. Speed, acceleration, and

deceleration values are selected for the

retargeted trajectory. The change in final

position results from the retarget function call.

Retargeting

Original

trajectory

Retargeted

trajectory

OEM machines often require a variety of human-interface input devices.

MCI supports peripheral hardware such as joysticks and handwheels.

Since all our client needs do not fit into the scope of the MCI-SoftLIB

functions, we work closely with customers to create solutions based on

existing functions.

Joysticks and Handwheels Custom Motion

Dual Axis

Encoder Compensation

Encoder compensation allows you to add a

correction value to a destination axis based

on the position of a source axis,

automatically compensating for scale and

other similar errors along the entire path of

relative motion.

Dual axis functionality simplifies the control of a

pair of motors with separate encoders along a

unified axis, such as in a gantry. No two motors

are alike. Errors must be accounted for so the

actual position on the unified axis is maintained

based on the position for each separate motor.

Sample Function Calls

Position Velocity Time

The custom profile shown is made up of

three velocity segments. Users are free to

design their own PVT profiles.

Position

Velocity

Acceleration


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General Motion SoftwareGeneral Motion Software

(4, 1)

Approximation Spline

(1, 3)

(0, 0)

(-1, -3)

Start Point

(4, 1)

Interpolation Spline

(1, 3)

(0, 0)

(-1, -3)

Start Point

Cubic Spline

MCI provides functions for cubic splining. The two-dimensional example

illustrates the function call and implementation. A spline can be configured to

interpolate (flag = 1), or approximate (flag = 0) specified points. The

interpolated spline generates a motion profile which includes the path-points.

Approximated splines generate a “best-fit”, keeping the minimal path curvature.

//********* Variables for Function Call ************

//******* Double Array holding the Setpoints ******

************* MCI Spline Call ******************

int int int

int int

board = 0; nAxes = 4; nPts = 4;

flag = 1; axis = 0,1 ;

double array = -1, 0, 1, 4 , -3, 0, 3, 1 ;

mciSplineAbs board, nAxes, nPts, flag, axis, array ;

[] { }

[][] {{ } { }}

( )

Mixed Velocity Profiles

Applications such as require

optimized throughput where a mixed

profile is useful. In the

"pick" phase, maximum speed is attained in a

short time using the trapezoidal profile.

Overshoot is not a concern. In the "place"

phase, an S-curve profile eliminates possible

overshoot, otherwise the part could be

damaged when it comes into contact with the

substrate.

pick-and-place

Trapezoidal / S-curve

Autofocus applies corrective action on an

axis based on analog input sensors. In the

example, a microscope probes the irregular

surface of an object. When a change in

depth occurs on the surface, the focal

distance is altered accordingly.

Autofocus

S-curveTrapezoidal

Axis XA

xis

Z

Part

Scope

Position Capture

Store motor positions based on an active

digital input. High-speed position capture is

useful for applications where axis position is

tied closely to an external event. Capture

latency is 100 ns.

Position Compare

Trigger multiple digital outputs in succession

without stopping motion. An example

application of the position compare feature

is camera triggering during motion; load the

desired positions and when the latest new

position count equals the next pre-loaded

position, a digital output triggers the camera.

Position Registration

Initialization / Shutdown

General Motion

Independent Axis Move

Coordinated Move

Homing

Digital I/O

Error-handling

Data Access

Buffered Data Acquisition

Handwheel

Joystick

Autofocus

Capture and Compare

Axis Slaving

Encoder Compensation

Backlash Compensation

Tachometer

Autophase

mciControllerInit

mciControllerStart

mciControllerStop

mciBlockingMode

mciBlendMode

mciMotionDone

mciPositionDoneWaitAll

mciPathStop

mciSpeedSet

mciAccelSet

mciDecelSet

mciAccelProfileSet

mciDecelProfileSet

mciMoveRel

mciRetargetAbs

mciDwell

mciMoveVel

mciPVTLoad

mciVectorSpeedSet

mciVectorAccelSet

mciVectorDecelSet

mciVectorStartSpeedSet

mciVectorStopSpeedSet

mciArcNAbs

mciArcNRel

mciCircle2DAbs

mciCircle2DRel

mciArc2DAbs

mciArc2DRel

mciSplineAbs

mciPCubicN

mciHomePositionSet

mciHomeOnSpeedSet

mciHomeOffSpeedSet

mciHomeAccelSet

mciHomeDecelSet

mciHomeToSwitch

mciHomeToIndex

mciHomeDoneWaitAll

mciHomeAbort

mciDigitalSet

mciDigitalClear

mciAmpEnable

mciAmpDisable

mciErrCheckEnable

mciErrCheckDisable

mciErrWaitAny

mciErrFlagsGet

mciSoftEmergStop

mciSoftEmergStopRelease

mciErrClear

mciReadFloat

mciReadDouble

mciReadLong

mciMotionDoneTolSet

mciSoftLimitSet

mciErrorResponseSet

mciFollowErrorMaxSet

mciControllerSaturationSet

mciReadBufferSetup

mciReadBuffer

mciHwheelEnable

mciHwheelDisable

mciHwheelSoftLimitEnable

mciJstkEnable

mciJstkDisable

mciJstkSoftLimitEnable

mciAutoFocusEnable

mciAutoFocusDisable

mciAutoFocusGainSet

mciAutoFocusMaxDeltaSet

mciCaptureStart

mciCaptureAbort

mciCompareStart

mciCompareAbort

mciSlaveEnable

mciSlaveDisable

mciEncoderCompEnable

mciEncoderCompDisable

mciEncoderCompLoad

mciBacklashEnable

mciBacklashDisable

mciBacklashSet

mciTachOutEnable

mciTachOutDisable

mciAutoPhase

Function Calls

General Motion SoftwareGeneral Motion Software PMDi

www.pmdi.com 17

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CNC Motion Library

Viper: Router/Mill for High-Speed 3D Machining

CNC-GCode is a high performance software package for

CNC machine tool control. Your machine will have the best

form and finish at the fastest throughput in your market segment.

The libraries include G-code / HPGL support under Windows

and QNX real-time operating system.

The CNC-GC C libraries provide a wealth of functions for

parsing files, issuing immediate commands,

merging short lines, path look ahead, cutter compensation, tool

compensation, velocity override, pause and resume, line

number retrieval, and threading. There are additional library

functions for axes homing, setting PID filter gains, configuring

sinusoidal commutation, detecting software and hardware limits,

data acquisition, and more.

The high speed tasks such as sinusoidal commutation, PID, and

fast tool servo run on PMDi DSP boards at a higher frequency.

The parser, path planner, error detection, and GUI run

on the PC Host. Buffers of various sizes on the DSP board and

Host PC enable real time data acquisition with no loss of data.

ode

G-code G-code

G-code

G-code

FlexiCAM is a manufacturer of high-performance CNC

cutting solutions with a standard line of routers &

engravers. Flexicam’s team of engineers create custom

solutions and offer products for a wide range of

industries, with a focus on the woodworking, plastic

parts manufacturing, and sign-making industries.

Courtesy FlexiCAM

Pause and Resume Motion Machine motion can be paused during a move. Motion stops as soon as possible at the

commanded acceleration rate. If the acceleration is not sufficient to stop during the current path

segment, the pause happens over the following segments, taking as many as required to stop.

Then it is possible to resume the motion. If the machine is jogged away from the paused point, it

will be moved back into place.

B

A

Cutter tool

Part surface

Tool path

Part

Many CAD programs

approximate curves

with short line

segments (segment

A). PMDi’s control

process analyses

these line segments

and joins them with

arcs for smoother

motion (segment B).

If a series of short connected paths are

issued at high speed, the velocity

increases over as many segments as are

necessary. The system looks ahead in the

path segment buffer to stop the machine

by the end of the path, maintaining a

velocity that can be stopped in that

distance. The search also detects lower-

velocity segments and decelerates to

meet them.

Cutter Compensation

Cutter compensation adjusts the path

described in the G-code file by the

radius of the cutting tool. It is also

used to make path adjustments due

to tool change or tool wear. Both left

and right cutter compensation is

supported. Excellent performance is

preserved over short lines and sharp

corners.

Feedrate override is used to move a cutting

tool at a slower or faster speed compared to

the speed specified in the G-code file.

Acceleration and deceleration constraints

are preserved over curves that are created

using many short lines.

B

A

Filtering Degenerate Lines

CAD programs may insert

small degenerate lines in

the output (segment A).

PMDi’s control process

evaluates all line

segments and eliminates

unnecessary segments

that may interfere with

acceptable machine tool

behavior (segment B).

Feedrate Override

Merging Short Lines

CNC Features


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CNC SoftwareCNC Software

Initialize & Execute

Position Functions

Status

Tool Compensation

Offsets

Feed Rates

Feedrate Selection

Accelerations

Left Handed Coordinate

Callback

Unit Conversion

Parsing

Path Commands

Pause

Velocity Scaling: Ratiometric

Velocity Override: Absolute

Line Merging

Arc Merging

Line Filtering Motion

Offsets

Line Numbers

Kinematic Limits

Acceleration Override

Path Preview

Error Recovery

Blocking Mode

Velocity Look Ahead

Threading Axis

and more....

GCode Function Calls

Nanoform 350: Ultra-precision diamond machining system

G and M Codes

Rapid Traverse Positioning

Linear Interpolation

Arc Clockwise (2D)

Arc Counter Clockwise (2D)

Dwell

XY Plane Selection

ZX Plane Selection

YZ Plane Selection

Threading

Cutter Compensation Cancel

Cutter Compensation - Left

Cutter Compensation - Right

Select Coordinate System

Inch Programming

Metric Programming (mm)

Circular Interpolation Clockwise (3D)

Circular Interpolation Counter Clockwise (3D)

Cancel Multi quadrant Circular Interpolation

Multi quadrant Circular Interpolation

Absolute Dimension Input

Relative Dimension Input

Preset Position

Inches (mm) per Minute Feedrate

End of Program

End of Data

G00

G01

G02

G03

G04

G17

G18

G19

G33

G40

G41

G42

G54

G70

G71

G72

G73

G74

G75

G90

G91

G92

G94

M02

M30

(Grouping - () is supported via .ini file switch)

(Multiply Divide)

(Add Subtract)

(Bitwise And, Or, Xor)

(Logical And)

(Logical Or)

(Logical Xor)

(Sine, in degrees)

(Cosine, in degrees)

(Tangent, in degrees)

(Arc Sine, returns degrees)

(Arc Cosine, returns degrees)

(Arc Tangent, returns degrees)

(Natural Logarithm)

(e^x)

(Square Root)

(Absolute Value)

(Integer Part, rounds to nearest integer)

(Integer Part, rounds to nearest integer)

(Rounds to next lower integer. 3.5 => 3, -2.5 => -3)

(Rounds to next higher integer. 3.5 => 4, -2.5 => -2)

[ ]

* /

+ -

& | ^

AND

OR

XOR

SIN

COS

TAN

ASIN

ACOS

ATAN

LN

EXP

SQRT

ABS

INT

ROUND

FIX

FUP

Math Support

PMDi follows the EIA-RS274D and NIST RS274/NGC implementations of the GCode language. OEM software developers are free to

define their own G, M, T, S and F codes through user defined C source code files.

A macro language following the NIST standard is provided, allowing for variables and mathematical expressions within GCode blocks.

Looping and flow control structures such as IF..THEN, FOR, WHILE and GOSUB are made available.

CNC SoftwareCNC Software PMDi

www.pmdi.com 19

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Oscilloscope

MotionTools provides a virtual oscilloscope for capturing

and displaying real-time motion control data.

- large buffers ensure that data

acquisition is done at the full controller rate.

- 32 channels on up to 4

simultaneous independent scopes.

- access hundreds of

parameters on the control board or module.

- freeze, trace, save, and

load arbitrarily large data sets.

Never miss data

Flexible display

No data is out of reach

Powerful data analysis

MotionTools is PMDi's powerful application software

which wraps a convenient graphical user interface

around our general motion control library (MCI). It

provides board configuration, data display, utilities,

custom interface building, and flexible scripting in a

convenient, utility-based package.

Get your motion system up and running in a single

working day.

Graphical User Interface

View data with powerful utilities

Diagnose and troubleshoot a system

Create custom machine interfaces

Reduce development time

Board Configuration

MotionTools provides an easy-to-use board

configuration tool for creating, viewing, and editing

controller initialization files.

- display and edit all board

configuration parameters.

- parameters are grouped by

functionality and clearly labeled with help text.

- configure simple one-axis or complex

coordinated multi-axis systems.

Powerful

Easy to use

Flexible


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MotionTools 2.0

Set up, Tuning, and DiagnosticsSet up, Tuning, and Diagnostics

Utilities

Data Sources and Display

Filter Design - easily

create low-pass and

notch filters and apply

them to velocity input

and output drive

signals.

Motion Shuttle - set accelerations,

speeds, and endpoints. Issue multiple

axis motion commands.

MotionTools comes with many useful utility windows, including the following:

MotionTools provides flexible numeric

data display and editing.

-

dozens of different parameters

displayed at once.

- simply click on a

parameter and type a new value.

- specify integer,

floating-point, hexadecimal, and

arbitrary bit-masks.

- text scales from

microscopic to gigantic depending on

your needs.

View as much data as you need

Easily edit values

Flexible display

View big or small

Homing - configure and

issue coordinated

homing commands.

Error Handling - display motion control error states,

enable/disable specific error handling, and clear errors.

Digital I/O - view any digital I/O state on the board.

Change outputs with the click of a mouse.

MotionTools offers easy access to all on-board data

sources including scopes, panels, and scripts.

- all motion control and

system parameters are readily accessible.

- parameters are clearly

labeled and sorted.

- add new named data

sources with arbitrary memory addresses.

Nothing is hidden

Everything is named

Custom data sources

Amplifiers - enable

and disable amplifiers

or view enabled states.Control Structure - display/edit controller gains and related parameters

Position Capture/Compare - enter

lists of points and perform position

capture and compare logic.

PMDi

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Set up, Tuning, and DiagnosticsSet up, Tuning, and Diagnostics

Training

PMDi provides service and support information on

our website at pmdi.com.

Sales

Services

Ordering and Quotations - Place any order or

contact us with your specifications to receive a

better idea about hardware and software costs.

Representatives and Distributors - Inquire about

the nearest sales support in your region.

Technical Support - Send your questions and

inquiries directly to one of our engineers or

technical staff for the quickest response.

Custom Features - Ask about custom features

for OEM customers.

Training - Inquire about our personalized training

sessions.

Technical Support

Work With the Engineering Staff

Training sessions are designed to help programmers become proficient at using PMDi's

software systems. Training is conducted at our headquarters. Participants are introduced to

PMDi's talented engineering staff, leading to a long-lasting and efficient working

relationship. Training sessions are designed with specific customer needs in mind. PMDi

focuses attention on each client and not on impersonal courses to large groups.

Get training prior to development to hit the ground running. That way, our engineers

can steer you in the proper direction right from the beginning.

Another option is to get training during the development process. Once you start

programming, PMDi will gear training sessions around issues specific to your needs.

Telephone and Email

On-Site

PMDi is a customer oriented company. We are committed to providing the best technical

support available in the industry.

PMDi has a long history of on-site customer support. Often this is the only way to resolve

the toughest issues. On-site support leads to personal relationships you will be able to rely

on far into the future to help solve your toughest technical challenges. For on-site

technical support contact our management team at 1 250 382 7249 (ext. 331 or 332).

www.pmdi.com

For information about service and support, contact sales at:

Email:

Tel: 1 250 382 7249

Toll Free: 1 866 548 5639

[email protected]


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Service and SupportService and Support

PCI Bus Motion Controllers

D - On-chip DSP memory (Mbits)

E - Max decoder count frequency (MHz)1

2

4

10

60

4

8

– – –MC 0 0 0 D E

PRO

DUAL

LITE

STEP

MC4000

MC8000

DMC100 –DMC100 D

D - On-chip DSP memory (Mbits) 1, 2, 4

MotionWire Modules

Software Suites

MotionWire Cables CAT5e DataTwist (2, 5, 10, and 25 feet)....................................... CAT5e-

MotionSuite MotionTools 2.0..............................................................................

MCI-SoftLIB

CNC-GCode

MotionSuite

Accessories Ribbon cable, 1m, 60-pin (custom lengths available)

Shielded ribbon cable, 1m, 60-pin (custom lengths available)

Sixty position terminal block

WH-60

WHS-60

TERM/60

Multi-Function IO

Digital I/O

Quadrature Decoder

Sin/Cos Interpolator

SSI Position Decoder

ENDAT Position Decoder

Resolver/Inductsyn Decoder

Analog I/O

Signal Conditioner

4-Axis Servo (10MHz encoders)..................................................




4-Axis Stepper (10MHz encoders)...............................................

4-Axis Stepper (60MHz encoders)...............................................

64-bit Input/Output........................................................................

4-Channel (10MHz encoders)......................................................




4-Channel Analog Scale...............................................................

2-Channel Analog Scale...............................................................

4-Channel Serial Input.................................................................




2-Channel Resolver/Inductosyn Input..........................................

4-Channel 16-bit Input.................................................................

4-Channel 16-bit Output...............................................................

4-Channel 16-bit Input/Output......................................................

1-Channel Signal Conditioner (for MW-52 and 53)......................

MW-10-E10

MW-10-E60

MW-11-E10

MW-11-E60

MW-15-E10

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MW-30

MW-50-E10

MW-50-E60

MW-51-E10

MW-51-E60

MW-52

MW-53

MW-54

MW-55

MW-56

MW-57

MW-58

MW-70

MW-71

MW-72

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LC228 LC228

Ordering PMDi

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Motion Control Motherboard............................................................................................................... MCMB

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Since 1993 2008

Headquarters

Precision MicroDynamics Inc.

512 Frances Avenue, Unit 3,

Victoria, BC, Canada

Website: www.pmdi.com

V8Z 1A1

US and Canada: 1 866 548 5639 (Toll Free)

Worldwide: 1 250 382 7249

Fax: 1 250 382 1830

PMDiPrecisionMicroDynamics

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Fax: 1 250 382 1830

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