Omron OMNUC U Series Quick start guide

TECHNICALGUIDE
ServoSystem
Startup
Cat. No. I801-E1-1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

About thisManual:
Thisguide describesthe installation and startup proceduresof the ServoSystemsothatitcan
be efficientlyputin actualoperation in a short time.
Thisguide providesdetailed descriptionsofkeypointsforefficiently starting up the ServoSys-
temasfollows:
·Check the wiring byefficientlyusing the monitorfunction.
·Perform gain adjustmentsproperly.
·Find the causesofalarmsquicklyand takethe appropriatecountermeasures.
·Take appropriatecountermeasuresforposition deviation thatmightbe caused by
noise.
Thisguide appliestothe following OMRONproducts:
·OMNUC U Series
·OMNUC H Series
·OMNUC MSeries
·OMNUC R Series
It isrecommended that the following manualsbe referred towhen actuallyperforming the work.
ItemCatalog No.Model
OMNUC U SeriesI501 R88D-UA Analog InputwithPowerSupply
I502 R88D-UP Pulse-trainInputwithPowerSupply
OMNUC H SeriesI508 R88D-HT/HS
OMNUC MSeriesI511 R88D-MT
OMNUC R SeriesI503 R88D-RA Analog InputwithPowerSupply
I505 R88D-RP Pulse-trainInputwithPowerSupply
I504 R88D-RB Analog InputwithoutPowerSupply
I506 R88D-RR Pulse-trainInputwithoutPowerSupply
Finally,pleaseread thisguide carefullyand be sureyou understand the information provided
before attempting toinstall and startup the ServoSystem.The guide includesthe sectionsde-
scribed below.
Chapter1providesasummaryof the ServoSystemand all gainsused forthe ServoSystem
loops.
Chapter2describeswiring checks,possiblesystemstartup errors,and countermeasures
againstposition deviation when constructing the ServoSystem.
Chapter3describesthe probablecausesofServoDriveralarmsthatmayoccurand the counter-
measuresrequired to deal withthem.
Chapter4describesthe typesand generation ofnoise and provides countermeasuresagainst
noise.
The Appendixprovidesan example of the configuration of the ServoDriver’smaincircuitry.
WARNINGFailuretoread and understand the information provided inthismanualmay
resultin personal injuryordeath,damage tothe product, orproduct failure.
Pleaseread eachsection initsentiretyand be sureyou understand the
information provided inthe section and related sectionsbefore attempting anyof
the proceduresoroperationsgiven.
!
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

Ó
O
M
R
O
N
,
1
9
9
7
All rightsreserved.No partofthispublication may bereproduced,storedinaretrievalsystem,ortransmitted,
inany form,orby any means,mechanical,electronic,photocopying,recording,orotherwise,without theprior
written permission ofOMRON.
No patent liabilityisassumedwithrespect totheuseoftheinformation contained herein.Moreover,because
OMRON isconstantlystriving toimproveitshigh-quality products,theinformation containedinthismanual
is subject tochangewithoutnotice.Every precaution hasbeentakeninthepreparation ofthismanual.Never-
theless,OMRON assumesno responsibilityforerrorsoromissions.Neitherisany liabilityassumedfordam-
agesresulting fromtheuseoftheinformation containedinthispublication.
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

TECHNICALGUIDE
ServoSystem
Startup
Cat. No. I801-E1-1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

TableofContents
Chapter 1.GainAdjustment1-1.................................
1-1Typesand MeaningsofGain 1-2...................................................
1-1-1Summary ofServo System1-2..............................................
1-1-2Gain 1-3................................................................
1-1-3TypesofGains1-4.......................................................
1-2GainAdjustment1-5............................................................
1-2-1GainAdjustmentProcedure1-5.............................................
1-2-2Relationship betweenGainAdjustmentand Response1-5........................
1-3SpecialAdjustmentParameters1-10.................................................
Chapter 2.ConnectiontoPositionControlUnit2-1.................
2-1Wiring Check 2-2...............................................................
2-1-1Wiring CheckwithI/OMonitor2-2..........................................
2-1-2Wiring CheckwithoutI/OMonitor2-3.......................................
2-2SystemStartup Errors2-4........................................................
2-3CountermeasuresAgainstPosition Deviation 2-9......................................
Chapter 3.Servo Driver Errors3-1...............................
3-1Alarmsand Countermeasures3-2..................................................
Chapter 4.CountermeasuresAgainstNoise4-1.....................
4-1Generation and TypesofNoise4-2.................................................
4-1-1Noise4-2...............................................................
4-1-2TypesofNoise4-2.......................................................
4-1-3NoiseTransmission Paths4-3...............................................
4-2NoiseSuppression 4-6...........................................................
4-2-1Countermeasures4-6......................................................
4-2-2PracticalNoiseSuppression 4-6.............................................
4-2-3OtherCountermeasures4-8.................................................
4-2-4NoiseSuppression Example4-10.............................................
Chapter 5.Appendix 5-1........................................
5-1Configuration ofMainCircuitry 5-2................................................
RevisionHistoryR-1.................................
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

Chapter 1
GainAdjustment
1-1Typesand MeaningsofGain
1-2GainAdjustment
1-3SpecialAdjustmentParameters
1
.
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1
-
2
1-2
1-1Types and MeaningsofGain
The word“gain”appearsfrequentlyinthistechnicalguide.The gainisone of the indis-
pensable parametersof the ServoSystem. If the gain adjustmentof the ServoSystemis
insufficient, the operation of the ServoSystemwill be unsatisfactory,inwhichcasethe
ServoSystemwill causemachinery vibration and an alarm will result. Asummaryof the
ServoSystemand all gainsused forthe ServoSystemloopsare described below.
1-1-1SummaryofServoSystem
The ServoSystemusesfeedback loops. In a feedback loop, the responsevalue isfed back afterthe
command sothat the difference between the response and command valueswill be as close aspos-
sibletozero.The ServoSystemconsistsof three feedback loops(i.e., position loop,speed loop,and
currentloop).Refertothe following block diagram.
Position Loop
·The position loop isused tolet the rotation angle of the motor reachthe desired position (i.e., the de-
sired rotation angle)thatwasexternallydesignated.
·The speed command isoutput fromthe position loop tothe speed loop.
·The position loop feedsback the position data(i.e., the information on rotation angle)of the encoderor
resolver.
Speed Loop
·The speed loop isused tolet the motor rotate at the speed designated bythe externalanalog speed
command orthe speed command thatisoutput fromthe position loop.
·The currentcommand isoutput fromthe speed loop tothe currentloop.
·The speed loop feedsback the speed data of the encoderor resolver.
CurrentLoop
·The currentloop providesthe motorwiththe currentdesignated bythe currentcommand thatisoutput
fromthe speed loop.
·The currentloop feedsback the motorcurrentvalue.
The gainisa parameterto adjust the responsespeed ofafeedback loop.
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1-3
Configuration ExampleofServoSystem
Command pulses
(Position command)Deviation counter
Position gainSpeed gainCurrentgain
Motor
Current feedback
Speed feedback
Speed detection
Feedback pulse(position feedback)
Encoder
or resolver
Position ControlUnitwith analog output
Position ControlUnitwith
pulse-train output
ServoDriverwith analog input
ServoDriverwith pulse-traininput
Servomotor
1-1-2Gain
The gainisanotherwordfor magnification.
The difference between the command and responsevaluesin a feedback loop ismultiplied bythe gain
and the resultisoutput fromthe feedback loop.The difference between the targetposition and present
position inthe position loop, forexample,isobtained asa position deviation ordeviation countervalue.
The value multiplied bythe position loop proportionalgainisoutputasaspeed command.
Inthe actualServoSystem, the targetposition isexpressed by command pulsesand the presentposi-
tion isexpressed byfeedback pulses,bothfromwhichthe position deviation pertime unitis calculated.
The deviation countertotalsall the per-time-unitposition deviationsto obtainthe position deviation of
the ServoSystem.
Target
position
(Position
command)
Position deviation
xPosition loop proportionalgain
(Position gain:Kp)
Presentposition
Speed
command
tospeed
loop
The higherthe gain ofanyfeedback loop is, the higherthe outputof the feedback loop is. In otherwords,
if the gainincreases, the outputpowertofixthe deviation will increase.The ServoSystemwith high
gainsisidealbecausethe gainsensure a high responsespeed and reduce errors. If the gainsaretoo
high,however, the ServoSystemwill causemachine vibration according tothe size and rigidityof the
machine system.The ServoSystem, therefore,requiresgain adjustmentaccording tothe machine sys-
tem.
NoteRigidityindicatesthe engagementstrength of the machine system.The backlash orspring por-
tion ofamachine system reducesthe rigidityof the machine system.
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1
-
4
1-4
1-1-3Types ofGains
The following table describesgainsand adjustmentparametersthatwill improvethe responsecharac-
teristics of the ServoSystem.
Gainand adjustment
parameterFunction Parameternameforeachseries
Currentloop command
filterThe current(torque) responsespeed will change byadjusting thisgain.
Adjust thisgainif the ServoSystem
doesnotstop causing machine
vibration afterothergainsare adjusted.
Thereisno need to adjust thisgainin
normaloperation.
U:Torque command filtertimeconstant
H:---
M:Currentcommand filtertime
constant
R:High-range filterfrequency selection
(Onlyformodelswithindependent
powersupplies)
Speed loop proportional
gainThe responsecharacteristics of the ServoSystemin accelerating or
decelerating operation will change by
adjusting thisgain.
Adjust thisgaintosuppress the
overshooting orundershooting of the
ServoSystemand improvethe
responsecharacteristics of the Servo
System.
U:Speed loop gain
H:Speed loop proportionalgain
M: Inertiaratio
R:ACgain(See note 1)
Speed loop integralgainThe responsecharacteristics of the
ServoSysteminslowoperation will
change byadjusting thisgain.
Usethisgainto adjust the servo-lock
strength of the ServoSystem.
U:Speed loop integraltimeconstant
(See note 2)
H:Speed loop integralgain
M:Speed gain
R:ACgain
Position loop
proportionalgainThe positioning time of the Servo Systemwill change byadjusting this
gain.
Adjust thisgaintosuppress the
overshooting orundershooting of the
ServoSystemand minimizethe
positioning time.
U:Position loop gain
H:Position loop proportionalgain
M:Position gain
R:Loop gain
(Onlyformodelswith pulse-traininput)
Note 1.The ACgain of the RSeries variesthe speed loop proportionalgain and speed loop integral
gainsimultaneously.Fordetails,referto1-3SpecialAdjustmentParameters.
Note 2.The integralgain of the speed loop of the USeriesisadjusted withthe speed loop integraltime
constant. (Speed loop integralgainµ1/Speed loop integraltimeconstant)
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1-5
1-2GainAdjustment
Gain adjustmentisindispensabletothe functionalityof the ServoSystem. If the gain
adjustmentof the ServoSystemisinsufficient, the performance of the ServoSystemwill
be unsatisfactoryand the ServoSystemwill thereforecausemachine vibration ornot
ensure precise positioning.Adjust the currentloop,speed loop,and position loop gains
of the ServoSysteminthisorder.The currentloop is,however,adjusted beforeship-
ping.The user, therefore,need notadjustanyparameterof the currentloop.
1-2-1GainAdjustmentProcedure
The following describesthe gain adjustmentprocedureforthe ServoSystem.
1.Speed Loop Adjustment
SSpeed loop proportionalgain
SSpeed loop integralgain(Speed loop integraltimeconstant)
SCurrentloop command filter
Basicadjustmentsof the ServoSystemare possiblewiththe proportionaland integralgainsonly,in
whichcase however, the machine system maynotstop vibrating or mayhaveaslowpositioning
operation due toinsufficientgains. If the machine systemhasaslowpositioning operation ordoes
notstop vibrating,adjust the filtertimeconstantof the currentloop.
2.Position Loop Adjustment
SPosition loop proportionalgain
Thisgain adjustmentisrequired onlyforpulse-traininputand isirrelevant to analog input.
1-2-2Relationship betweenGainAdjustmentand Response
HSpeed Loop Adjustment
The following graph indicateshowthe responsecharacteristics (i.e., the frequency characteristics)of
the ServoSystemwill varywithchangesinthe speed loop gain and adjustmentparametervalue.
Compensating force
Strong
Weak
Speed loop integralgain
(Changesthe strength
inlowfrequencies.)
Speed loop proportionalgain
(Changesthe totalstrength.)
Slowaction Frequency (Operating speed)
Currentcommand filter
(Changesthe strength
in high frequencies.)
Quick action
Inthe above graph, the Xaxisindicatesfrequency (movementspeed)and the Yaxisindicates compen-
sating forcefor reducing the difference between the response and command asmuch aspossible.
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1
-
6
1-6
DSpeed Loop Proportional Gain
·The responsecharacteristics of the ServoSystemin all frequency bands change byadjusting this
gain.
·The compensating force and responsecharacteristics riseif the gainincreases.
·Increasethe gain asmuch aspossible provided that the adjusted gain doesnotcausemachinery
vibration.
DSpeed Loop Integral Gain
·The responsecharacteristics of the ServoSysteminlowfrequencies change byadjusting thisgain.
·The servo-lock forcerisesif the gainincreases.
·Increasethe gain asmuch aspossible provided that the adjusted gain doesnotcausemachine vibra-
tion.
Inthe case of the USeries,decreasethe value of the speed loop integraltimeconstant.
DCurrentCommand Filter
·The responsecharacteristics of the ServoSystemin high frequencies change byadjusting thisgain.
·If the value of the filtertimeconstantislarge,command changeswill be made less extreme and will
then be provided tothe currentloop.
·The adjustmentof the currentcomment filterwill be effectiveifmachinery vibration doesnotstop with
the adjustmentof the speed loop proportionalgain and integralgain.
AdjustmentExample 1
·Refertothe following forthe normaladjustmentof the ServoSystemthatwill notrequire anyadjust-
mentof the currentcommand filtertostop machine vibration (i.e., the currentcommand filterisused
withfactory settings).
·Adjust the proportionalgainfirst, and then the integralgain.
BeforeAdjustment
Machine resonance point
Frequency (operating speed)
Afteradjustment
©Increasethe integralgain pro-
vided that the adjusted gain does
notcausemachine vibration.
¡Increasethe proportionalgain
provided that the adjusted gain
doesnotcausemachine vibration.
Frequency (operating speed)
Compensating force
Compensating force
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1-7
AdjustmentExample 2
·Refertothe following forthe adjustmentof the ServoSystemthathasastrong machine resonance
pointinahigh-frequency band. Inthis condition, the motor may continue buzzing orvibrate athigh
frequency if the gainsarelow.
·Adjust the currentcommand filtertimeconstant, proportionalgain,and integralgaininthisorder.The
resonance of the ServoSystemwiththe machine systemcan be avoided byincreasing the value of the
currentcommand filtertimeconstant. Then adjust the othergainsinthe usual way.
BeforeAdjustment
Frequency (operating speed)
Afteradjustment
Frequency (operating speed)
Compensating force
Compensating force
Strong machine resonance point
Vibratesat thispointStops vibrating
Strong machine resonance point
Adjust the currentcommand filterbyincreasing the
value of the currentcommand filtertimeconstant.
AdjustmentExample 3
·Refertothe following forthe adjustmentof the ServoSystemthathasastrong machine resonance
pointinalow-frequency band. Inthis condition, the motor may vibrate atlowfrequency if the gainsare
low.
·Adjust the proportionalgain and then integralgain.To avoidthe resonance of the ServoSystemwith
the machine system,decreasethe value of the proportionalgain.Then adjust the integralgainsothat
the ServoSystemcan maintain necessaryresponsespeed.
BeforeAdjustment
Frequency (Operating speed)
Afteradjustment
Frequency (Operating speed)
Compensating force
Compensating force
Strong machineryresonance point
Vibratesat thispointStops vibrating
Strong machineryresonance point
©
Increase
the integral
gain provided
that the adjusted
gain doesnotcause
machine vibration.
¡Decreasethe proportion-
algain provided that the
adjusted gain doesnot
causemachine vibration.
Response SpeedChange vs.Speed Loop Adjustment
The following graph indicateshowthe responsecharacteristics of the ServoSystemwill varywiththe
changesinthe speed loop gain and adjustmentparametervalue.
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1
-
8
1-8
Speed Loop Proportional Gainvs.Response Characteristics
Motor
speed Speed loop proportionalgainishigh.
(Machine vibration will resultifgainistoo high.)
Speed loop proportionalgainislow.
Time
Speed Loop Integral Gainvs.Response Characteristics
Motor
speed
Time
Speed loop integralgainishigh.
(Integraltimeconstantvalue is small.)
Speed loop integralgainislow.
(Integraltimeconstantvalue islarge.)
HPosition Loop Adjustment
·Adjust the position loop afteradjusting the speed loop.
·Good responsecharacteristics are obtained byincreasing the position loop proportionalgain provided
that the overshooting orundershooting of the ServoSystemdoesnotresult.
Position Loop Proportional Gainvs.Response Characteristics
Motor
speed
Time
Overshooting Position loop proportionalgainishigh.
Position loop proportional
gainislow.Undershooting
·Overshooting and undershooting can be easily checked by checking the outputvoltage of the NMter-
minal with an oscilloscope.
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1-9
·If an oscilloscope isnotavailable,visuallyinspect the operation of the motorshaft or machine system.
If thereisundershooting, the shaft will perform positioning inthe opposite direction of the rotating
direction beforethe shaft stopsas showninthe following illustration.
Startsrotating Rotating Stop
The shaft makesastop
inthe oppositerotating
direction.
·The amountofovershooting orundershooting varieswiththe rotationalspeed of the motor.Usually,
the higherthe rotationalspeed is, the greaterthe overshooting orundershooting is.Therefore,itis
recommended that the ServoSystembe adjusted forthe top rotation speed.
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1
-
1
0
1-10
1-3SpecialAdjustmentParameters
Gainsand adjustmentparametersforall OMRONServoDriversare described below.
The auto-tuning function incorporated bythe USeriesallowseasy automaticgain ad-
justmentaccording tothe machine system.
HAuto-tuning Function (USeries)
·The auto-tuning function allowsautomaticgain adjustmentaccording tothe load while operating the
machine system.
·The idealadjustmentaccording tothe rigidityof the machine systemwill be possible byjustselecting
the responsecharacteristics if the auto-tuning function isused. It isthusrecommended that thisfunc-
tion be used asmuch aspossible.
·The auto-tuning function isavailableto all machine systemsexcept the following,whichmayrequire
manualadjustment.
Machine systemswith heavy friction
Machine systemwithlowrigidity
HSemi-auto-tuning Function (HSeries)
·The semi-auto-tuning function makesitpossibleto adjust the speed loop proportionalgain and inte-
gralgain byjustsetting the load inertiaratiotothe rotorinertiaratio of the motor.
·The mostsuitable gain according tothe inertiaratioispresetasatable.
·Manualadjustmentisrequired for machine systemswith heavy friction orlowrigidity.
·The position loop requiresadjustmentaccording tothe machine system.The semi-auto-tuning func-
tion doesnotperform position loop adjustment.
HAC Gain(RSeries)
·The ACgainisused to adjust the speed loop proportionalgain and integralgainsimultaneously.
·The ratio of the proportionalgaintointegralgainisfixed.
Compensating force
ChangeinResponse Characteristics vs.AC Gain
Frequency (operating speed)
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

1-11
HFeed-forward Function (USeries:Feed-forwardValue;HSeries:
Position Loop Feed-forwardGain)
·The feed-forwardfunction isenabled at the time ofpulse-traininput.
·Thisfunction addsthe frequency ofpulse-traininput tothe speed loop.
·The command isoutput tothe speed loop before position deviation pulsesare accumulated, thusre-
ducing the deviation countervalue and saving positioning time.
·Feed-forward adjustmentwill notbe effectiveif the position loop gain and speed loop gain aretoo high.
GainAdjustmentChapter1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

Chapter 2
ConnectiontoPosition
ControlUnit
2-1Wiring Check
2-2SystemStartup Errors
2-3CountermeasuresAgainstPosition Deviation
2
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

2
-
2
2-2
2-1Wiring Check
Caremustbe taken forPosition Control Unitand ServoDriverconnection,which needs
acomparativelylarge numberofwires.Besurethatall lines connecting the Position
Control Unitand ServoDriverarewired correctly. It will be difficult tofind wiring mistakes
aftercompleting the ServoSystemconstruction.
2-1-1Wiring Check withI/OMonitor
·U,H,and MSeriesincorporateanI/O monitorfunction.
·Wiring mistakes can be easilyfound byusing thisfunction.
·The contentsof I/O monitorvarywiththe Series.Refertothe respective operation manual.
I/O MonitorExample
SYSMACPosition ControlUnit
OMNUC U-series
ACServoDriver
Force-reset the
deviation counter.
Check the ON/OFF statusofsignals
inmonitormode (Un-06).
OMNUC U-series
ACServomotor
ConnectiontoPositionControlUnit Chapter2
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

2-3
2-1-2Wiring Check withoutI/OMonitor
·If no I/O monitorisavailable,use a multimeterand check the voltage as showninthe following dia-
gram.
·Therewill beavoltage between the terminalsif the output transistorisON.The reading of the multime-
terwill be0Vif the output transistorisOFF.
OutputPowersupplyInput
Multimeter
Voltage isON:Output transistorON
0V:Output transistorOFF
ConnectiontoPositionControlUnit Chapter2
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]