Excellence in Motion

TM

Technical Note: CANopen Electronic Data Sheet and Object Dictionary

Table of Contents
Electronic Data Sheet (EDS) ...................................................................................................................................1
Standard Data Types.....................................................................................................................................................................1 Standard Object Types..................................................................................................................................................................1 Object Access ...............................................................................................................................................................................2 PDO Mapping .............................................................................................................................................................................2 Sample EDS Entries .....................................................................................................................................................................2

Object Dictionary ....................................................................................................................................................3

List of Tables
Table 1: Standard Data Types .......................................................................................................................................................1 Table 2: Standard Object Types ....................................................................................................................................................1 Table 3: Object Access ..................................................................................................................................................................2 Table 4: PDO Mapping ...............................................................................................................................................................2 Table 5: Mandatory Objects .........................................................................................................................................................3 Table 6: Manufacturer Specific Objects 0x2000 to 0x2004...........................................................................................................3 Table 7: Manufacturer Specific Objects 0x2006 to 0x2033...........................................................................................................4 Table 8: Manufacturer Specific Objects 0x2034 to 0x2401...........................................................................................................5 Table 9: Optional Objects 0x1003 to 0x1010...............................................................................................................................5 Table 10: Optional Objects 0x1011 to 0x1601.............................................................................................................................6 Table 11: Optional Objects 0x1602 to 0x1A01 ............................................................................................................................7 Table 12: Optional Objects 0x1A02 to 0x6502 ............................................................................................................................8

CANopen Object Dictionary Change Log Date 03/10/2007 12/07/2007 Revision 031007 120707 Changes Initial Release Removed 5000 series objects as they are factory use only. Added and updated objects to be current with Firmware Version 5.38.

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies. Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the application or use of any product or circuit described herein; neither does it convey any license under its patent rights of others. Intelligent Motion Systems and are trademarks of Intelligent Motion Systems, Inc.
TM

Intelligent Motion Systems, Inc.s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury. Per Intelligent Motion Systems, Inc.s terms and conditions of sales, the user of Intelligent Motion Systems, Inc., products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems, Inc., against all damages.

CANopen Electronic Data Sheet and Object Dictionary Revision R120707

Copyright Intelligent Motion Systems, Inc. All Rights Reserved

technical note
Electronic Data Sheet (EDS)

CANopen Electronic Data Sheet and Object Dictionary

The data type and meaning of the value must be known to the enquirer. For this reason there is the electronic data sheet (EDS), which describes each object dictionary entry with address (main-/subindex), parameter name, data type, access type and default value. An EDS is an ASCII file in WIN.INI format, which is used by CANopen configuration tools to allow the user to configure devices. The data types used in CANopen are the usual bytes, words and double words, with and without signs in each case. The EDS file for IMS products conforms to CiA DS-306, Electronic Data Sheet Standard for CANopen, and may be downloaded at http://www.imshome.com/canopen.html. The subsections below detail the standard EDS naming conventions. Standard Data Types Note: Not all data types are utilized by IMS.
Standard Data Types 0x0001 0x0002 0x0003 0x0004 0x0005 0x0006 0x0007 0x0008 0x0009 0x000A 0x000B 0x000C 0x000D 0x000E 0x000F 0x0020 0x0021 0x0022 1 Bit Boolean 8 Bit Signed Integer 16 Bit Signed Integer 32 Bit Signed Integer 8 Bit Unsigned Integer 16 Bit Unsigned Integer 32 Bit Unsigned Integer Single Precision Floating Point Visible String Octet String Date Time of Day Time Difference Bit String Domain PDO CommPar PDO Mapping SDO Parameter Table 1: Standard Data Types

Standard Object Types

Standard Object Types 0x07 0x08 0x09 var (Variable) array record Table 2: Standard Object Types

Object Access
Object Access const ro wo rw Read-Only, will not Change Read Only, can be changed Write Only Read/Writable Table 3: Object Access

PDO Mapping
PDO Mapping 0x0 0x1 Cannot be mapped to a PDO Can be mapped to a PDO Table 4: PDO Mapping

Sample EDS Entries

[6068] ParameterName=usPosition_window_time_ms_6068h0 ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x00 PDOMapping=0x0 [606C] ParameterName=Velocity_actual_value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0x0 PDOMapping=0x1 [607C] ParameterName=lHome_Offset_607Ch ObjectType=0x7 DataType=0x0004 AccessType=rw DefaultValue=0x0 PDOMapping=0x0 LowLimit=0x80000000 HighLimit=0x7FFFFFFF

Object Dictionary
The CANopen object dictionary in the following tables show all the Indexes defined in the Electronic Data Sheet.

Mandatory Objects Index 0x1000 0x1001 0x1018 0 1 2 3 4 0x6040 0x6041 0x6060 0x6061 0x6064 0x607A 0x6081 0x6083 0x6086 0x6089 Sub Parameter Name Device Type Error Register Device Identity Number of Entries Vendor ID Product Code Revision Number Serial Number ControlWord StatusWord Modes of Operation Modes of Operation Display Position Actual Value Target Position Profile Velocity Profile Acceleration Motion Profile Type Position Notation Index Object Type var var array var var var var var var var var var var var var var var var Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned16 Unsigned16 Signed8 Signed8 Signed32 Signed32 Unsigned32 Signed16 Signed16 Signed8 const const const const ro rw ro rw ro ro rw rw rw rw rw 0x04 0x0000021B 0x0 0x507 n/a n/a n/a 0x01 0x0 0x0 0x0 512000d 100000d 0x0 0x0 No No No No No Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 0x80000000 0xEE 0x7FFFFFFF 0x12 Data Type Unsigned32 Unsigned8 Access Type const ro Default 0x00040192 0x0 PDO No No LowLimit HighLimit

Table 5: Mandatory Objects Manufacturer Specific Objects 0x2000 to 0x2004 Index 0x2000 0 1 2 3 4 5 0x2002 0 1 2 3 0x2004 0 1 2 3 4 5 6 7 Sub Parameter Name Configure I/O Discretes Number of Entries Configure I/O as Input or Output Configure I/O as Sinking or Sourcing Configure I/O as Both Sinking and Sourcing Configure I/O as a Polarity Input Configure I/O as a Polarity Output Configure Input Switches Number of Entries Define Home Switch Define Positive Limit Switch Define Negative Limit Switch Configure Digital Input Mask Number of Entries Digital Input Filter Mask Digital Input Filter Mask Digital Input Filter Mask Digital Input Filter Mask Digital Input Filter Mask Digital Input Filter Mask Digital Input Filter Mask Object Type array var var var var var var array var var var var array var var var var var var var var Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 const rw rw rw rw rw rw rw 0x08 0x01 0x02 0x04 0x08 0x10 0x20 0x40 No No No No No No No No 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Unsigned8 Unsigned8 Unsigned8 Unsigned8 const rw rw rw 0x03 0x00 0x00 0x00 No No No No Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 const rw rw rw rw rw 0x05 0x00 0x00 0x00 0x00 0x00 No No No No No No Data Type Access Type Default PDO LowLimit HighLimit

Table 6: Manufacturer Specific Objects 0x2000 to 0x2004

Manufacturer Specific Objects 0x2006 to 0x2033 Index 0x2006 0 1 2 3 4 5 6 7 8 0x2007 0 1 0x2008 0 1 0x2010 0 1 2 3 0x2018 0 1 2 2 0x2020 0 1 2 2022 0 1 2 0x2030 0x2031 0x2032 0 1 2 0x2033 0 1 2 3 4 Sub Parameter Name Configure Digital Input Filtering Number of Entries Digital Input Filter Time Digital Input Filter Time Digital Input Filter Time Digital Input Filter Time Digital Input Filter Time Digital Input Filter Time Digital Input Filter Time Digital Input Filter Time Inhibit Switch Action Number of Entries Inhibit Switch Action Brake Switch Defined Number of Entries Brake Switch Defined Analog Input Number of Entries Analog Input Reading Analog Input Configuration Analog Input Filter Level Temperature Error Number of Entries Temperature Reading Temperature Warning Temperature Error Software Limits as Hardware Number of Entries Limit Reached Flag Limit Reached Mask Actual Position Software Limit Number of Entries Actual Position Negative Software Limit Actual Position Positive Software Limit Output Bridge Polarity Unit Options Clock Options Number of Entries Step/Direction Options SCSW Capture Input Configuration Number of Entries Capture Input Control Capture Input Flag Capture Input Filter Capture Input Position Object Type array var var var var var var var var var array var var array var var record var var var var array var var var var array var var var array var var var var var array var var var array var var var var var Unsigned8 Unsigned8 Unsigned8 Unsigned8 Signed32 const rw rw rw rw 0x04 0x00 0x00 0x00 0x00 No No No No Yes Unsigned8 Unsigned8 Unsigned8 const rw rw 0x02 0x00 0x00 No No No Unsigned8 Signed32 Signed32 Signed8 Unsigned8 const rw rw rw rw 0x02 0x80000001 0x7FFFFFFF 0 0x00 No No No No No Unsigned8 Unsigned8 Unsigned8 const rw rw 0x02 0x00 0x00 No No No -128 127 Unsigned8 Signed8 Signed8 Signed8 const ro rw rw 0x03 80 85 No Yes No No 50 50 120 120 Unsigned8 Unsigned16 Unsigned8 Unsigned8 const ro rw rw 0x03 0x0 0x0 0x0 No Yes No No 0d 31d Unsigned8 Unsigned8 const rw 0x01 0x00 No No 0x00 0xFF Unsigned8 Unsigned8 const rw 0x01 12 No No 0 12 Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 Unsigned8 const rw rw rw rw rw rw rw rw 0x08 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 No No No No No No No No No 0d 0d 0d 0d 0d 0d 0d 0d 250d 250d 250d 250d 250d 250d 250d 250d Data Type Access Type Default PDO LowLimit HighLimit

Table 7: Manufacturer Specific Objects 0x2006 to 0x2033

Manufacturer Specific Objects 0x2034 to 0x2401 Index 0x2034 0 1 0x2035 0 1 2 0x2036 0x2037 0x2098 0x2204 0x2205 0x2211 0x2212 0x2401 Sub Parameter Name Bridge-On Settle Allow Time Number of Entries Bridge-On Settle Allow Time Brake Settle Allow Time Number of Entries Brake-On Settle Timer Brake-Off Settle Timer Hold Current Delay Time Bridge-On to Encoder Settle Time Homing Configuration Run Current Percent Hold Current Percent Position Present Point Target Position Final Point Target General Purpose User Variable Object Type var const var var const var var var var var var var var var var Unsigned16 Unsigned16 Unsigned16 Unsigned16 Unsigned8 Unsigned8 Unsigned8 Signed32 Signed32 Unsigned8 Unsigned16 Unsigned16 ro rw rw rw rw rw rw rw ro ro rw 0x03 0 0 500 300 1 25d 5d 0d 0d 0 No No No No No No No No No No No 0 0 0d 0d 3000 1 100d 100d 0 0 2000 1000 Data Type Unsigned16 ro rw 0x02 0 No No 0 1000 Access Type Default PDO LowLimit HighLimit

Table 8: Manufacturer Specific Objects 0x2034 to 0x2401 Optional Objects 0x1003 to 0x1010 Index 0x1003 0 1 2 3 4 0x1005 0x1007 0x1008 Sub Parameter Name Predefined Error Field Number of Errors Standard Error Field Standard Error Field Standard Error Field Standard Error Field COBID SYNC Window Length Device Name Object Type array var var var var var var var var Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Visible String rw ro ro ro ro rw rw const 0x0 0x0 0x0 0x0 0x0 0x80 0x0 CANOpen MDrivePlus Motion Control Node V1.00 V5.32 0x0 0x0 0x4 0x0 0x0 0x0 0x0 No No No No No No No No Data Type Access Type Default PDO LowLimit HighLimit

0x1009 0x100A 0x100C 0x100D 0x1010 0 1 2 3 4

Device Hardware Version Device Firmware Version Guard Time Life Time Factor Store Parameter Settings Largest Sub-Index Supported Save All Parameters Save Communication Parameters Save Application Parameters Save Manufacturer Parameters

var var var var array var var var var var

Visible String Visible String Unsigned16 Unsigned8 Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32

const const rw rw const rw rw rw rw

No No No No No No No No No

Table 9: Optional Objects 0x1003 to 0x1010

Optional Objects 0x1011 to 0x1601 Index 0x1011 0 1 1 1 1 0x1012 0x1014 0x1015 0x1017 0x1400 0 1 2 3 0x1401 0 1 2 3 0x1402 0 1 2 3 0x1600 0 1 2 3 4 5 6 7 8 0x1601 0 1 2 3 4 5 6 7 8 Sub Parameter Name Restore Parameters Largest Sub-Index Supported Restore All Default Paramters Restore Comm Default Parameters Restore App Default Parameters Restore Manuf Default Parameters COB-ID Time Stamp Message COB-ID Emergency Message Emergency Inhibit Time 100us Producer Heartbeat Time 1st Receive PDO Parameter Largest Sub-Index Supported COD-ID Used by PDO Transmission Type Inhibit Time 2nd Receive PDO Parameter Largest Sub-Index Supported COD-ID Used by PDO Transmission Type Inhibit Time 3rd Receive PDO Parameter Largest Sub-Index Supported COD-ID Used by PDO Transmission Type Inhibit Time 1st Receive PDO Mapping Parameters Number of Mapped Objects 1st Mapped Application Object 2nd Mapped Application Object 3rd Mapped Application Object 4th Mapped Application Object 5th Mapped Application Object 6th Mapped Application Object 7th Mapped Application Object 8th Mapped Application Object 2nd Receive PDO Mapping Parameters Number of Mapped Objects 1st Mapped Application Object 2nd Mapped Application Object 3rd Mapped Application Object 4th Mapped Application Object 5th Mapped Application Object 6th Mapped Application Object 7th Mapped Application Object 8th Mapped Application Object Object Type array var var var var var var var var var record var var var var record var var var var record var var var var record var var var var var var var var var record var var var var var var var var var Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 rw rw rw rw rw rw rw rw rw 0x1 0x60400010 0x607A0020 0x0 0x0 0x0 0x0 0x0 0x0 No No No No No No No No No Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 rw rw rw rw rw rw rw rw rw 0x1 0x60400010 0x0 0x0 0x0 0x0 0x0 0x0 0x0 No No No No No No No No No Unsigned8 Unsigned32 Unsigned8 Unsigned16 const rw rw rw 0x3 0x80000400 255d 0x0 No No No No Unsigned8 Unsigned32 Unsigned8 Unsigned16 const rw rw rw 0x3 0x80000300 255d 0x0 No No No No Unsigned8 Unsigned32 Unsigned8 Unsigned16 const rw rw rw 0x3 0x80000200 255d 0x0 No No No No Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned16 Unsigned16 const rw rw rw rw rw rw rw rw 0x4 0x00000001 0x00000001 0x00000001 0x00000001 0x00000100 0x80000000 0x0 0x0 No No No No No No No No No Data Type Access Type Default PDO LowLimit HighLimit

Table 10: Optional Objects 0x1011 to 0x1601

Optional Objects 0x1602 to 0x1A01 Index 0x1602 0 1 2 3 4 5 6 7 8 0x1800 0 1 2 3 4 0x1801 0 1 2 3 4 0x1801 0 1 2 3 4 0x1A00 0 1 2 3 4 5 6 7 8 0x1A01 0 1 2 3 4 5 6 7 8 Sub Parameter Name 3rd Receive PDO Mapping Parameters Number of Mapped Objects 1st Mapped Application Object 2nd Mapped Application Object 3rd Mapped Application Object 4th Mapped Application Object 5th Mapped Application Object 6th Mapped Application Object 7th Mapped Application Object 8th Mapped Application Object 1st Transmit PDO Parameter Largest Sub-Index Supported COD-ID Used by PDO Transmission Type Inhibit Time Event Timer 2nd Transmit PDO Parameter Largest Sub-Index Supported COD-ID Used by PDO Transmission Type Inhibit Time Event Timer 3rd Transmit PDO Parameter Largest Sub-Index Supported COD-ID Used by PDO Transmission Type Inhibit Time Event Timer 1st Transmit PDO Mapping Parameters Number of Mapped Objects 1st Mapped Application Object 2nd Mapped Application Object 3rd Mapped Application Object 4th Mapped Application Object 5th Mapped Application Object 6th Mapped Application Object 7th Mapped Application Object 8th Mapped Application Object 2nd Transmit PDO Mapping Parameters Number of Mapped Objects 1st Mapped Application Object 2nd Mapped Application Object 3rd Mapped Application Object 4th Mapped Application Object 5th Mapped Application Object 6th Mapped Application Object 7th Mapped Application Object 8th Mapped Application Object Object Type record var var var var var var var var var record var var var var var record var var var var var record var var var var var record var var var var var var var var var record var var var var var var var var var Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 rw rw rw rw rw rw rw rw rw 0x1 0x60400010 0x60640020 0x0 0x0 0x0 0x0 0x0 0x0 No No No No No No No No No Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 rw rw rw rw rw rw rw rw rw 0x1 0x60410010 0x0 0x0 0x0 0x0 0x0 0x0 0x0 No No No No No No No No No Unsigned8 Unsigned32 Unsigned8 Unsigned16 Unsigned16 const rw rw rw rw 0x5 0xC0000380 255d 0d 100d No No No No No Unsigned8 Unsigned32 Unsigned8 Unsigned16 Unsigned16 const rw rw rw rw 0x5 0x80000280 255d 0d 100d No No No No No Unsigned8 Unsigned32 Unsigned8 Unsigned16 Unsigned16 const rw rw rw rw 0x5 0x40000180 255d 0d 100d No No No No No Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 rw rw rw rw rw rw rw rw rw 0x1 0x60400010 0x60FF0020 0x0 0x0 0x0 0x0 0x0 0x0 No No No No No No No No No Data Type Access Type Default PDO LowLimit HighLimit

Table 11: Optional Objects 0x1602 to 0x1A01

Optional Objects 0x1A02 to 0x6502 Index 0x1A02 0 1 2 3 4 5 6 7 8 0x6007 0x603F 0x605A 0x605B 0x605C 0x605D 0x605E 0x6062 0x6063 0x6065 0x6066 0x6067 0x6068 0x606C 0x607C 0x607E 0x6082 0x6084 0x6093 0 1 2 0x6098 0x6099 0 1 2 0x60F8 0x60FD 0x60FE 0 1 0x60FF 0x6402 0x6502 Sub Parameter Name 3rd Transmit PDO Mapping Parameters Number of Mapped Objects 1st Mapped Application Object 2nd Mapped Application Object 3rd Mapped Application Object 4th Mapped Application Object 5th Mapped Application Object 6th Mapped Application Object 7th Mapped Application Object 8th Mapped Application Object Abort Connection Opcode Error Code Quick Stop Opcode Shutdown Opcode Disable Operation Opcode Halt Opcode Fault Reaction Opcode Position Demand Value Position Actual Value Internal Following Error Window Following Error Timeout (ms) Position Window Position Window Time Velocity Actual Value Home Offset Polarity End Velocity Profile Deceleration Position Factor Number of Entries Numerator Denominator Homing Method Homing Speed Number of Entries Homing Speed Fast Homing Speed Slow Maximum Slippage Digital Inputs Digital Outputs Number of Entries Physical Outputs Target Velocity Motor Type Supported Drive Modes Object Type record var var var var var var var var var var var var var var var var var var var var var var var var var var var array var var var var array var var var var var array var var var var var Unsigned8 Unsigned32 Signed32 Unsigned16 Unsigned32 const rw rw const const 0x1 0x0 0x0 0x0009 0x00000025 No Yes Yes No No 0x80000000 0x7FFFFFFF Unsigned16 Unsigned32 Unsigned32 Signed32 Unsigned32 const rw rw rw ro 0x2 102400d 6400d 512d 0x0 No No No No Yes 0x0 0x0 0x7FFFFFFF 0x7FFFFFFF Unsigned8 Unsigned32 Unsigned32 Signed8 const rw rw rw 0x2 0x1 0x1 0x0 No No No No 0x1 0x1 0x7FFFFFFF 0x7FFFFFFF Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Signed16 Unsigned16 Signed16 Signed16 Signed16 Signed16 Signed16 Signed32 Signed32 Unsigned32 Unsigned16 Unsigned32 Unsigned16 Signed32 Signed32 Unsigned16 Unsigned32 Unsigned32 rw rw rw rw rw rw rw rw rw rw ro rw rw rw rw rw ro ro rw rw rw rw ro rw rw rw ro 0x1 0x60400010 0x606C0020 0x0 0x0 0x0 0x0 0x0 0x0 3d 0x0 2d 0d 0 2d 2 0x0 0x0 512d 0x00 0xFFFFFFFF 0x00 0x0 0x0 0x0 51200d 0x0 No No No No No No No No No No Yes No No No No No Yes Yes No No No No Yes No Yes Yes Yes 0d 0d 0d 0 0d 0d 0x80000000 3d 6d 2d 1 2d 2d 0x7FFFFFFF Data Type Access Type Default PDO LowLimit HighLimit

Table 12: Optional Objects 0x1A02 to 0x6502

Page Intentionally Left Blank

intelligent motion systems, INC.

www.imshome.com
370 N. Main St., P.O. Box 457 Marlborough, CT 06447 U.S.A. Phone: 860/295-6102 Fax: 860/295-6107 E-mail: info@imshome.com TECHNICAL SUPPORT Phone: 860/295-6102 (U.S.A.) Fax: 860/295-6107 E-mail: etech@imshome.com Germany/UK Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: mweber@imshome.com DISTRIBUTED BY: IMS UK Ltd. 25 Barnes Wallis Road Segensworth East Fareham, Hampshire PO15 5TT Phone: +44/0 1489-889825 Fax: +44/0 1489-889857 E-mail: mcheckley@imshome.com IMS ASIA PACIFIC OFFICE 30 Raffles Pl., 23-00 Caltex House Singapore 048622 Phone: +65/6233/6846 Fax: +65/6233/5044 E-mail: wllee@imshome.com IMS EUROPE GmbH Niedereschacherstrasse.54 78083 Dauchingen Germany Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: info@imseuropehome.com European Sales Management 4 Quai Des Etroits 69005 Lyon, France Phone: +33/4 7256 5113 Fax: +33/4 7838 1537 E-mail: bmartinez@imshome.com Germany Sales Phone: +49/35205/4587-8 Fax: +49/35205/4587-9 E-mail: hruhland@imshome.com Germany/UK Technical Support Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: mweber@imshome.com

Excellence in Motion

U.S.A. SALES OFFICES Eastern Region Phone: 862/208-9742 Fax: 973/661-1275 E-mail: jroake@imshome.com Central Region Phone: 260/402-6016 Fax: 419/858-0375 E-mail: dwaksman@imshome.com Western Region Phone: 602/578-7201 E-mail: dweisenberger@imshome.com IMS MOTORS DIVISION 105 Copperwood Way, Suite H Oceanside, CA 92054 Phone: 760/966-3162 Fax: 760/966-3165 E-mail: motors@imshome.com

2007 Intelligent Motion Systems, Inc. All Rights Reserved. REV R031507 IMS Product Disclaimer and most recent product information at www.imshome.com.