Cytron SmartDriveDuo-30 MDDS30 User manual

SmartDriveDuo-30
MDDS30
User’s Manual
Rev 1.0
April 2017
Information contained in this publication regarding device applications and the like is intended through
suggestion only and may be superseded by updates. It is your responsibility to ensure that your application
meets with your specifications. No representation or warranty is given and no liability is assumed by Cytron
Technologies Incorporated with respect to the accuracy or use of such information or infringement of
patents or other intellectual property rights arising from such use or otherwise. Use of Cytron
Technologies’s products as critical components in life support system is not authorized except with express
written approval by Cytron Technologies. No licenses are conveyed, implicitly or otherwise, under any
intellectual property rights.

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
INDEX
1. INTRODUCTION
2. PACKING LIST
3. PRODUCT SPECIFICATIONS
4. BOARD LAYOUT
5. POWER SUPPLY
6. MOTOR CONNECTION
7. SAFETY FEATURES
8. INPUT MODES
8.1. RC (Radio Control)
8.2. Microcontroller Analog/PWM
8.3. Serial Simplified
8.4. Serial Packetized
9. WARRANTY
PAGES
2
3
4
6
8
9
10
11
13
15
17
19
21
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 1

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
1. INTRODUCTION
SmartDriveDuo-30 is one of the latest smart series motor drivers designed to drive medium
power brushed DC motor with current capacity up to 80A peak (few seconds) and 30A
continuously, each channel. This driver is designed specially for controlling differential drive
mobile robot using RC controller. Nevertheless, MDDS30 also can be controlled using analog
joystick or microcontroller (PWM, Serial). MOSFETs are switched at 18 KHz to ensure quiet
operation and no annoying whining sound. Besides, it also equipped with a microcontroller
unit to provide smart features such as multiple input mode and thermal protection.
“SmartDriveDuo-30’s feature makes driving a robot with
differential drive a truly plug and play experience”
Some of the features for SmartDriveDuo-30 are summarized as below:
●Bi-directional control for dual brushed DC motor.
●Support motor voltage from 7V to 35V.
●Maximum current up to 80A peak (1 second), 30A continuously, each channel.
●On board MOSFETs are switched at 18 KHz for quiet operation.
●Battery low voltage indicator.
●Battery over voltage indicator.
●Thermal protection.
●Current limit protection.
●Multiple input modes: RC, Analog/PWM, Serial Simplified and Serial Packetized.
●On board push buttons for fast test and manual operation.
●NO POLARITY PROTECTION FOR V MOTOR.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 2

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
2. PACKING LIST
Please check the parts and components according to the packing list. If there are any parts
missing, please contact us at [email protected] immediately.
No
ITEMS
QUANTITY
1
SmartDriveDuo-30 (Code: MDDS30)
1
2
Grove 4 Pin Buckled 20cm Cable (Code: WR-EX-GROVE)
2
3
2561 3 Ways Connector Extension Wire (Code: WR-EX-2561-03)
2
Optional External Fan (Not included):
No
ITEMS
QUANTITY
1
DC5V Brushless Fan 40 x 40 x 20mm (Code: FAN-05-040040020)
1
2
PCB Stand (Screw & Screw) 30mm (Code: SD-SS-30)
4
3
Bolt M3 x 25mm (Code: HD-PM-M3-25)
4
4
M3 Nut (Code: HD-PM-M3-NUT)
4
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 3

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
3. PRODUCT SPECIFICATIONS
Dimension (unit in mm):
●MDDS30 main board.
●MDDS30 height.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 4

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
MDDS30 bottom cover:
Absolute Maximum Rating of SmartDriveDuo-30:
No
PARAMETERS
Min
Typ
Max
Unit
1
Input Voltage (Motor Supply Voltage)
7
–
35
V
2
IMAX (Max Continuous Motor Current)*
–
–
30
A
3
IPEAK (Peak Motor Current)**
–
–
80
A
4
VIOH (Logic Input – HIGH Level)
1.3
–
5
V
5
VIOL (Logic Input – LOW Level)
0
–
0.7
V
*Depends on the room temperature.
**Must not exceed 1 second.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 5

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
4. BOARD LAYOUT
LABEL
FUNCTION
A
MOTOR RIGHT LED INDICATOR
Indication for current flow and direction for motor RIGHT. If LED MRA turns on, means current
flows from output MRA to MRB. Vice versa.
B
MOTOR RIGHT TERMINAL BLOCK
Connect to motor RIGHT at your mobile robot. User can screw to lock the wire to the terminal
block. Please use wire with proper thickness to support the expected current.
C
POWER SUPPLY TERMINAL BLOCK
Connect to battery power source. User can screw to lock the wire to the terminal block. NO
POLARITY PROTECTION, please double check the connection before power up. Please use wire
with proper thickness to support the expected current.
D
MOTOR LEFT TERMINAL BLOCK
Connect to motor LEFT at your mobile robot. User can screw to lock the wire to the terminal
block or solder the wire directly to the pad at bottom layer. Please use wire with proper
thickness to support the expected current.
E
MOTOR LEFT LED INDICATOR
Indication for current flow and direction for motor LEFT. If LED MLA turns on, means current
flows from output MLA to MLB. Vice versa.
F
COOLING FAN CONNECTOR
Optional cooling fan (not included) can be connected here and mount at the bottom PCB.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 6

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
G
HEAT SINK
This area might be hot, please be careful.
H
RIGHT CHANNEL LED INDICATOR
RUN - Turns on when motor RIGHT is running. If signal error received for motor RIGHT, it will
blink.
ERR - Blinks at specific count if there have an error.
OC - Light up if overcurrent happened.
I
LEFT CHANNEL LED INDICATOR
RUN - Turns on when motor LEFT is running. If signal error received for motor LEFT, it will blink.
ERR - Blinks at specific count if there have an error.
OC - Light up if overcurrent happened.
J
POWER LED INDICATOR
Indication for board’s power.
K
MOTOR LEFT TEST BUTTON
Fast test to check driver functionality for motor LEFT. If MLA is pressed, current flows from
output MLA to MLB. Vice Versa.
L
MOTOR RIGHT TEST BUTTON
Fast test to check driver functionality for motor RIGHT. If MRA is pressed, current flows from
output MRA to MRB. Vice Versa.
M
RC INPUT PIN
This pins specially for RC receiver input wire. RC1 for forward/reverse and RC2 for steering.
N
ANALOG/PWM INPUT PIN (GROVE)
AN1 - Analog/PWM signal for motor LEFT.
AN2 - Analog/PWM signal for motor RIGHT.
O
DIGITAL/SERIAL INPUT PIN (GROVE)
IN1 - Digital signal (direction) for motor LEFT, or can be used for Serial mode.
IN2 - Digital signal (direction) for motor RIGHT.
P
MODE SELECTION DIP SWITCH
User can select different input mode by setting the DIP switch.
Q
RESET BUTTON
Press this button will restart the system. This is useful if you want to change mode without
recycle power (turn off and on).
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 7

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
5. POWER SUPPLY
SmartDriveDuo-30 supports battery with input voltage ranges from 7V to 35V. The
recommended power sources are:
●6 – 18 cells NiMH or NiCd battery.
●3 – 6 cells LiPo or Li-Ion battery.
●7V – 35V sealed lead acid battery.
●7V – 35V power supply. MUST BE IN PARALLEL WITH A BATTERY WITH SAME VOLTAGE
The power source can be connected to SmartDriveDuo-30 either via the terminal block, or
soldered directly to the pad at the bottom layer. THERE IS NO POLARITY PROTECTION ON
MDDS30, PLEASE DOUBLE CHECK THE CONNECTION BEFORE CONNECTING TO THE
BATTERY.
NOTE
If a power supply that cannot sink current is being used (example: bench top and AC to DC
switching power supply), the input voltage will rise when the driver is regenerating (motor
is slowing down, or being pushed by external force). Thus, it is important to connect a
battery with same voltage in parallel with the power supply to absorb the current
generated by the motor. Else, the input voltage might rise to a level where
SmartDriveDuo-30 can’t handle and it will be destroyed permanently or the power supply
trigger protection mode.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 8

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
6. MOTOR CONNECTION
Similar to the power supply, connection to the motor can be made either via the terminal
block, or it can be soldered directly to the bottom layer pad.
For MIXED mode, especially for RC input mode, each terminal block must be connected to
the same side of the motor. For example, left terminal block connected to motor LEFT and
right terminal block connected to motor RIGHT. User can further test it by controlling the
motor by using RC controller. If the motor give wrong direction, reverse the polarity of the
motor connection at the terminal block.
WARNING!
IF YOU’RE DEVELOPING A MOBILE ROBOT, PLEASE TAKE NOTE ON THIS:
Pushing the robot without connecting the batteries to the driver is very risky and might
burn the motor driver. When the robot is being pushed, power will be generated by the
motor. If the battery is connected, the generated power will flow to the battery and
charge it.  If the battery is not connected, the generated power has nowhere to go and
the voltage will rise. If the generated voltage is higher than what the motor driver can
handle, components may burn!
This condition is categorized under misuse, and
DAMAGED CAUSED BY MISUSE IS NOT COVERED UNDER WARRANTY
What you can do to move your robot from one place to another?
1. If you plan to push/pull the robot, please make sure the batteries is connected to the
motor driver* or
2. disconnect the motor from the motor driver.
3. Use trolley to carry your robot. (Recommended)
*You will feel difficult to push the robot, because the motor driver is in brake state.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 9

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
7. SAFETY FEATURES
SmartDriveDuo-30 incorporates some safety features which make it robust and reliable
motor driver. Below are the detailed descriptions for each feature.
1. Input Error (Error LED blinks 2 times)
Every time SmartDriveDuo-30 is power up, the input data must be ‘stop’ (for RC, Analog,
PWM input mode). This feature prevent the driver from sudden run, especially when the
driver accidently reset.
2. Under Voltage Warning (Error LED blinks 3 times)
Upon power on, SmartDriveDuo-30 will automatically detect the number of cells for the
battery. If it is set to LiPo, when the input voltage falls below 3.0V per cell during
operation, the error LED will blink to warn the user. However, the power to the motor
will be maintained and will not be cut out. Thus, it is user’s responsibility to stop the
motor driving and replace battery to avoid further damage to the battery. If other types
of battery is used to power the board (e.g NiMH, NiCD, SLA), the under voltage warning
will still be shown. In this case, user may ignore the warning and he/she needs to
estimate when to replace the battery by him/herself.
3. Over Voltage Protection (Error LED blinks 4 times)
If over voltage is detected (> 35V), SmartDriveDuo-30 will not operate.
4. Over Temperature Protection (Error LED blinks 5 times)
SmartDriveDuo-30 is equipped with a temperature sensor to monitor its operating
temperature. It will gradually lower down the duty cycle percentage base on the
temperature as shown below:
TEMPERATURE (°C)
MAX CURRENT (A)
< 50
80
50 - 70
50
70 - 100
40
> 100
30
WARNING!
MDDS30 does not come with POLARITY PROTECTION, please double check the connection
before powering up.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 10

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
8. INPUT MODES
When the SmartDriveDuo-30 is powered up, RUN (Left), ERR (Left), RUN (Right) and ERR
(Right) LEDs will running once. After that, the input mode will be read from the DIP switch
and retained as long as the driver is powered. If you wish to change the input mode, you will
need to change the setting on the DIP switch and press the RESET button, or power cycle
the driver (turn it off and turn it on again).
SmartDriveDuo-30 supports four different types of input mode:
1. RC (Radio Control).
2. Microcontroller Analog/PWM.
3. Serial Simplified.
4. Serial Packetized.
The DIP switch settings for each mode and the function for input pin are summarized on the
table below.
DIP Switch
1
2
3
4
5
6
RC
0
0
CHANNEL
00 - Mixed
01 - Independent Right
10 - Independent Left
11 - Independent Both
0 - Linear
1 - Exponential
0 - RC
1 - MCU
Analog
0
1
0 - Locked Anti-Phase
1 - Signed Magnitude
PWM
1
0
Serial
Simplified
1
1
0
BAUDRATE
000 - 1200
001 - 2400
010 - 4800
011 - 9600
100 - 19200
101 - 38400
110 - 57600
111 - 115200
Serial
Packetized
1
1
1
ADDRESS
Start from 000 (Decimal: 0) to 111 (Decimal: 7)
DIP Switch
7
8
RC
BATTERY MONITOR
00 - LiPo (Lithium Polymer)
01 - NiMH (Nickel-Metal Hydride)
10 - SLA (Sealed Lead Acid)
11 - Off
Analog
PWM
Serial Simplified
Serial Packetized
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 11

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
8.1 RC (Radio Controlled)
In RC input mode, the speed and direction of the motor is controlled by the signal from the
standard hobby radio control transmitter and receiver, or a microcontroller generating the
similar signal.
NOTE
The RC transmitter must be ON before power up the SmartDriveDuo-30.
RC Input mode is selected by setting the SW1 & SW2 to 0 (Down). SW3 – SW6 can be
configured depending on the requirement of the user.
Input Mode
SW1:SW2
00
RC INPUT MODE
Single or
Mixed Mode
SW3:SW4
00
01
10
11
MIXED
The motor speed is controlled by channel RC1 and direction is controlled
by channel RC2. Recommended this mode if controlled using RC
transmitter/receiver.
INDEPENDENT RIGHT
Only motor Right will active, motor Left will inactive. Motor Right is
controlled by channel RC2.
INDEPENDENT LEFT
Only motor Left will active, motor Right will inactive. Motor Left is
controlled by channel RC1.
INDEPENDENT BOTH
Both motor is active and can be controlled individually through channel
RC1 and RC2. Recommended this mode if controlled using
Microcontroller.
Exponential
Mode
SW5
0
1
OFF
The speed is linear with the input signal. This is for low to medium speed
motor.
ON
The response to input is exponential and thus soften the control around
the center zero speed point. This is suitable for high speed and very
sensitive motor.
MCU Mode
SW6
0
OFF
The center point will be calibrated upon power up. Timeout occurs after
lost of signal for 100ms and the motor will be stopped for safety
purpose.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 12

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
1
ON
The center point is fixed at 1.5ms and the timeout feature is disabled.
Motor will continue to run with previous speed if new signal is not
detected. This is useful when a microcontroller is used to control the
motor. The microcontroller does not need to send the pulse
continuously to the SmartDriveDuo-30. Instead, it only needs to send a
single pulse when the speed or direction of the motor needs to be
changed.
0 - OFF 1 - ON X - Don’t care
Common DIP switch settings for RC input mode
●RC Mode with RC transmitter/receiver (Mixed)

ON











1
2
3
4
5
6
7
8

*Sample connection for MDDS30 with RC receiver. The channels on RC receiver is depend
on your RC controller’s setting.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 13

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
●RC Mode with microcontroller (Independent Both)

ON











1
2
3
4
5
6
7
8

*Sample connection for MDDS30 with CT UNO (or Arduino/Genuino Uno) and Base Shield
V2. This connection is recommended for beginner.
**Arduino Uno sample code is provided at the following link - GitHub.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 14

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
8.2 Microcontroller Analog/PWM
In Analog/PWM input mode, the speed and direction of the motor is controlled by the
analog voltage or PWM signal. For analog, the valid input range is from 0 to 5V. While for
PWM, it can accept TTL PWM from 1.3 to 5V for HIGH level (refer to Product Specifications).
NOTE
The Analog/PWM signal to stop the motor must be available when SmartDriveDuo-30 is
turned on/reset. Else, the driver will show Input Error until the correct (stop) signal is
available.
Stop signal for Analog
Sign-Magnitude -  0V
Locked Anti-Phase -  2.5V
Stop signal for PWM
Sign-Magnitude -  0%  duty cycle
Locked Anti-Phase -  50%  duty cycle
Analog input mode is selected by setting SW1 to 0 (Down) and SW2 to 1 (Up). PWM input
mode is selected by setting SW1 to 1 (Up) and SW2 to 0 (Down). SW3 – SW6 can be
configured depending on the requirement of the user.
Input Mode
SW1:SW2
01
10
ANALOG INPUT MODE
The input is analog signal. The filter capacitor is not connected and the
input signal is not filtered. SW1 is for Input 1 while SW2 is for Input 2.
PWM INPUT MODE
The input is PWM signal. The filter capacitor is connected and the input
signal is low pass filtered to be an analog signal. SW1 is for Input 1 while
SW2 is for Input 2. SW2 must be set to 0 if Sign-Magnitude mode is
turned on.
Single or
Mixed Mode
SW3:SW4
00
01
10
11
MIXED
The motor speed is controlled by channel AN1 and direction is controlled
by channel AN2.
INDEPENDENT RIGHT
Only motor Right will active, motor Left will inactive. Motor Right is
controlled by channel IN2 and AN2.
INDEPENDENT LEFT
Only motor Left will active, motor Right will inactive. Motor Left is
controlled by channel IN1 and AN1.
INDEPENDENT BOTH
Both motor is active and can be controlled individually through channel
IN1 & AN1 for motor Left, and IN2 & AN2 for motor Right.
Exponential
Mode
SW5
0
OFF
The speed is linear with the input signal. This is for low to medium speed
motor.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 15

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
1
ON
The response to input is exponential and thus soften the control around
the center zero speed point. This is suitable for high speed and very
sensitive motor.
MCU Mode
SW6
0
1
LOCKED ANTI-PHASE
Motor stops when the input signal is 2.5V. Motor moves in one direction
when the input is < 2.5V (0 - 2.5V) and in another direction when the
input is > 2.5V (2.5 - 5V).
SIGNED MAGNITUDE
AN1 and AN2 controls the speed of the motor. Motor stops when the
input is 0V and run at full speed when the input is 5V. IN1 and IN2 is
digital inputs and it controls the direction of the motor respectively.
0 - OFF 1 - ON X - Don’t care
Common DIP switch settings for PWM input mode
●PWM input mode with microcontroller (Independent Both)

ON











1
2
3
4
5
6
7
8

*Sample connection for MDDS30 with CT UNO (or Arduino/Genuino Uno) and Base Shield
V2. This connection is recommended for beginner.
**Arduino Uno library and sample code is provided at the following link - GitHub.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 16

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
8.3 Serial Simplified
In Serial Simplified mode, SmartDriveDuo-30 is controlled by using the UART interface. IN1
pin is connected to the UART receive pin. IN2, AN1 and AN2 pins are not used in this mode.
Serial Simplified mode is selected by setting SW1, SW2 to 1 (Up) and SW3 to 0 (Down). SW4
– SW6 can be configured depending on the requirement of the user.
Input Mode
SW1-SW3
110
SERIAL SIMPLIFIED MODE
UART
Baudrate
SW4-SW6
000
001
010
011
100
101
110
111
1200
2400
4800
9600
19200
38400
57600
115200
0 - OFF 1 - ON X - Don’t care
A single byte of data is all you need to control the speed and direction for each motor. First
MSB bit is to select which motor to control, and the rest bits is to control.
BIT
7MSB
6
5
4
3
2
1
0LSB
FUNCTION
Channel
Direction
Speed
Bit 7 (Channel):
●0 for selecting motor LEFT.
●1 for selecting motor RIGHT.
Bit 6 (Direction):
●0 to set motor direction to CW.
●1 to set motor direction to CCW.
Bit 0 - 5 (Speed):
●0b000000 or 0 (decimal) to stop.
●0b111111 or 63 (decimal) to full speed.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 17

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
Example Serial Simplified data:
Binary bits
Decimal
7
6
5
4
3
2
1
0
1.
0
0
0
0
0
0
0
0
0
motor LEFT stop.
2.
0
0
1
1
1
1
1
1
63
motor LEFT full speed CW.
3.
0
1
0
0
0
0
0
0
64
motor LEFT stop.
4.
0
1
1
1
1
1
1
1
127
motor LEFT full speed CCW.
5.
1
0
0
0
0
0
0
0
128
motor RIGHT stop.
6.
1
0
1
1
1
1
1
1
191
motor RIGHT full speed CW.
7.
1
1
0
0
0
0
0
0
192
motor RIGHT stop.
8.
1
1
1
1
1
1
1
1
255
motor RIGHT full speed CCW.
Common DIP switch settings for Serial Simplified mode
●Serial Simplified mode with microcontroller (Baudrate: 9600bps)

ON











1
2
3
4
5
6
7
8

*Sample connection for MDDS30 with CT UNO (or Arduino/Genuino Uno) and Base Shield
V2. This connection is recommended for beginner.
**Arduino Uno sample code is provided at the following link - GitHub.
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 18

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
8.4 Serial Packetized
In Serial Packetized mode, SmartDriveDuo-30 is controlled by using the UART interface. IN1
pin is connected to the UART receive pin. IN2, AN1 and AN2 pins are not used in this mode.
To control the motor, data sent to the driver must be in 4 bytes packet format which
includes a header, address, command and checksum. Up to 8 units of SmartDriveDuo-30 can
be connected together to a single microcontroller UART Tx pin.
Besides that, the SmartDriveDuo-30 also incorporates an auto-baudrate feature in this
mode. When the driver is powered up, the host microcontroller must send a dummy byte
(Decimal 128 or Hex 0x80) once to the driver. The driver will then calculate the baudrate
automatically based on this byte. After that, SmartDriveDuo-30 is ready to read full packet
(4 bytes) and the baudrate cannot be changed without power recycle (power off and on) or
reset button.
NOTE
When the driver is powered up and waiting for the header byte, the error LED will blink
and indicate that there is input error.
SmartDriveDuo-30 may take up to 500ms to start up after power is applied. Sending a
dummy byte for auto-baudrate during this period may cause undesirable results. Please
allow one-second delay between applying power and sending a dummy byte.
Packetized Serial mode is selected by setting SW1, SW2 and SW3 to 1 (Up). SW4 – SW6 are
used to select the address.
Input Mode
SW1-SW3
111
SERIAL PACKETIZED MODE
UART
Address
SW4-SW6
000
001
010
011
100
101
110
111
Address: 0
Address: 1
Address: 2
Address: 3
Address: 4
Address: 5
Address: 6
Address: 7
0 - OFF 1 - ON X - Don’t care
Created by Cytron Technologies Sdn Bhd  – All Rights Reserved
Back to INDEX 19