Profinet Io PDF
Profinet Io PDF
Profinet Io PDF
Hand this manual and all other pertinent product documentation over to all
users of the product.
Carefully read and observe all safety instructions and the chapter “Before you
begin - safety information”.
Table of Contents
Important information..................................................................... 3
1 Introduction.................................................................................... 1
1.1 Fieldbus devices on the Profinet IO network....................... 1
1.2 Lexium MDrive Profinet configuration................................ 2
1.2.1 Output registers..................................................... 2
1.2.2 Input registers........................................................ 2
3 Basics............................................................................................. 7
3.1 Profinet IO technology......................................................... 7
3.1.1 Data security.......................................................... 7
3.1.2 Basics.................................................................... 7
3.2 Lexium MDrive Profinet configuration................................. 9
3.2.1 TCP/IP configuration tool....................................... 9
3.2.2 GSDML (Generic Station Description Markup Lan-
guage) file......................................................................... 9
4 Installation.................................................................................... 11
5 Configuration............................................................................... 13
7 Register mapping........................................................................ 17
7.1 Register mapping to address............................................ 17
7.2 Data types used................................................................ 17
7.3 Output register mapping.................................................... 18
7.3.1 Variably mapped registers................................... 18
7.3.2 Fixed mapping registers...................................... 19
7.4 Input register mapping....................................................... 20
7.4.1 Variably mapped registers................................... 20
7.5 Register mapping best practices....................................... 21
9 Glossary....................................................................................... 23
9.1 Units and conversion tables.............................................. 23
9.1.1 Length.................................................................. 23
9.1.2 Mass.................................................................... 23
9.1.3 Force.................................................................... 23
9.1.4 Power................................................................... 24
9.1.5 Rotation............................................................... 24
9.1.6 Torque................................................................. 24
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Table of Contents Profinet IO Fieldbus manual
List of Figures
List of Tables
ii
Profinet IO Fieldbus manual About this manual
Source manuals The latest versions of the manuals can be downloaded from the Internet
at:
http://motion.schneider-electric.com
Applicable manuals for Lexium MDrive Profinet products are:
• MCode Programming and Software Reference manual
• Lexium MDrive Ethernet TCP/IP Hardware manual
• Profinet IO Fieldbus manual
Graphic User Interface software For commissioning, a Graphic User Interface (GUI) is available for use
with Lexium MDrive products as part of the Lexium MDrive Software
Suite. This software is available for download from the Internet at:
http://motion.schneider-electric.com
Further reading
Recommended literature for further reading.
Fieldbus interface 1
About the manual Profinet IO Fieldbus manual
2 Fieldbus interface
Profinet IO Fieldbus manual 1 Introduction
1 Introduction
1
Profinet IO is used for data exchange between I/O controllers (PLC,
etc.) and I/O devices (field devices) such as the Lexium MDrive Profinet.
Profinet IO uses the proven communication model and application view
of Profibus DP and extends it by Ethernet as the communication medi-
um. Among other benefits, this provides a greater bandwidth and allows
more stations on the network. The Profinet IO specifications define a
protocol and an application interface for exchanging I/O data, alarms and
diagnostics and for transmitting data records and logbook information.
To exchange I/O data and alarms, Profinet IO is based directly on the
Ethernet protocol.
Ethernet switch
IO-Controller
Fieldbus interface 1
1 Introduction Profinet IO Fieldbus manual
GSDML
FILE
IP Address
Subnet Mask
Register mapping
Output registers
Input registers
2 Fieldbus interface
Profinet IO Fieldbus manual 2 Before you begin - safety information
Fieldbus interface 3
2 Before you begin - safety information Profinet IO Fieldbus manual
4 Fieldbus interface
Profinet IO Fieldbus manual 2 Before you begin - safety information
LOSS OF CONTROL
• The designer of any control scheme must consider the
potential failure modes of control paths and, for certain
critical functions, provide a means to achieve a safe state
during and after a path failure. Examples of critical control
functions are emergency stop, overtravel stop, power out-
age and restart.
• Separate or redundant control paths must be provided for
critical functions.
• System control paths may include communication links.
Consideration must be given to the implication of unantici-
pated transmission delays or failures of the link.
• Observe all accident prevention regulations and local
safety guidelines. 1)
• Each implementation of the product must be individually
and thoroughly tested for proper operation before being
placed into service.
Failure to follow these instructions can result in death or
serious injury.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control”
and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide
for Selection, Installation and Operation of Adjustable-Speed Drive Systems”.
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Fieldbus interface 5
2 Before you begin - safety information Profinet IO Fieldbus manual
6 Fieldbus interface
Profinet IO Fieldbus manual 3 Basics
3 Basics
3
3.1 Profinet IO technology
Profinet IO is one of two open Ethernet automation standards from
Profibus International. Profinet IO is a high level networking protocol
for industrial automation applications. Using the framework of standard
Ethernet hardware and software to exchange data, alarms and diagnos-
tic data.
3.1.2 Basics
PROFINET is defined by PROFIBUS and PROFINET International (PI)
and backed by the INTERBUS Club and, since 2003, is part of the IEC
61158 and IEC 61784 standards.
http://www.profibus.com/
Cable length The maximum cable length is 100 m between Profinet terminal points
and 90 m between infrastructure components. However, interference in
industrial environments may require you to use shorter cables.
connection.
• IO-Devices: IO-Devices are distributed devices connected to an IO-
Controller over Ethernet. The Lexium MDrive Profinet is classified
as an IO-device.
Fieldbus interface 7
3 Basics Profinet IO Fieldbus manual
IO-Supervisor
Factory network
Managed switch
IO-Device
IO-Device
IO-Controller Switch
IO-Device
IO-Controller
IO-Device
Switch
Figure 3.1: Profinet IO network with Lexium MDrive
Lexium MDrive IO structure The Lexium MDrive network representation is consists of three slots,
0...2.
Slot 0 does not contain IO data, but contains the device identification
information. Slots 1 and 2 represent the input and output data, each in
a 128 byte string containing IO data divided into registers to represent
Lexium MDrive control and status data.
The registers may be variably mapped to desired MDrive functions us-
ing the TCP/IP configuration Utility. The default parameter mapping is
shown in Section 7 of this document.
Lexium MDrive
Output
MSB LSB
Register 38 ... . . . Register 1
128 bytes
Input
MSB LSB
IO-Controller ... . . . Register 39
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Register 72
128 bytes
8 Fieldbus interface
Profinet IO Fieldbus manual 3 Basics
IP Address and subnet masl A Profinet IO device requires three things to operate within a Profinet
network:
1) A MAC address: This is preassigned to each Lexium MDrive Ether-
net TCP/IP product at time of manufacture.
2) IP Address: This is assigned during configuration using the TCP/IP
configuration utility, part of the LMD Software Suite. The defailt IP is
192.168.33.1
3) A logical name: This is a unique name by which the device is identi-
fiable to the IO Controller. It is assigned by the user during configu-
ration using the TCP/IP configuration Utility. The default name is
“mdrive”
The basic TCP/IP configuration such as the IP address and subnet
mask MUST be first configured using the TCP/IP configuration tool
before installing into a network.
Note that the Lexium MDrive Profinet DOES not support Profinet RDO
services, bootp or DHCP. The use of the TCP/IP tool is required for
initial TCP/IP setup>
Detailed instructions for initial configuration is contained in the Lexium
MDrive Software Suite manual, available online at:
http://motion.schneider-electric.com
IO register mapping The input and output channels of the Lexium MDrive are configured by
default to map to the most commonly used parameters, commands and
status data.
These may be remapped based upon the needs of the application using
the TCP/IP Configuration Utility.
See the Lexium MDrive Software Suite manual, instructions.
http://motion.schneider-electric.com
The default mapping of the IO registers is contained in Section 7 of this
document.
Definition The GSDML file is an XML (eXtensible Markup Language) file that
describes the implementation of the Lexium MDrive Profinet device.
This file will be loaded into the SIMATIC S7 controller software for your
Siemens PLC.
The file contains all of the identification and configuration information
for the Lexium MDrive Profinet device, with the exception of the TCP/IP
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information.
The following information is contained in the GSDML file.
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3 Basics Profinet IO Fieldbus manual
The GSDML file for the Lexium MDrive Profinet device may be located
either in the installation folder (C:\Program Files (x86)\Schneider Elec-
tric Motion USA\Lexium Mdrive\LMDxE\) for the TCP/IP Configuration
Utility on your computer’s hard drive or on the web at:
http://motion.schneider-electric.com
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10 Fieldbus interface
Profinet IO Fieldbus manual 4 Installation
4 Installation
4
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4 Installation Profinet IO Fieldbus manual
12 Fieldbus interface
Profinet IO Fieldbus manual 5 Commissioning
5 Configuration
5
Configuring the Lexium MDrive Profinet devices is accomplished using
the TCP/IP Configuration utility. This required utility is part of the Lexium
MDrive Software Suite and may be found on the Internet at:
http://motion.schneider-electric.com/lmd/lexium-mdrive-software.php
This utility will be used to configure the networking information such
as the IP address and Subnet mask, and the device name required by
Profinet IO devices.
Fieldbus interface 13
5 Commissioning Profinet IO Fieldbus manual
14 Fieldbus interface
Profinet IO Fieldbus manual 6 Diagnostics and troubleshooting
Connections for fieldbus mode If the product cannot be addressed via the fieldbus, first check the con-
nections. The product manual contains the technical data of the device
and information on network and device installation. Check the following:
• Power connections to the device
• Fieldbus cable and fieldbus wiring
• Network connection to the device
You can also use the TCP/IP Configuration Utility for troubleshooting.
Fieldbus function test If the connections are correct, check the settings for the fieldbus ad-
dresses. After correct configuration of the transmission data, test field-
bus mode.
1) In addition to the master that knows the product via the GSDML
file and addressing, activate a bus monitor that, as a passive
device, displays messages.
2) Switch the supply voltage off and on.
3) O
bserve the network messages that are generated briefly after
the supply voltage is switched on. A bus monitor can be used to
record the elapsed time between
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6 Diagnostics and troubleshooting Profinet IO Fieldbus manual
MS = Module Status
NS = Network Status
MS NS
1 7
16 Fieldbus interface
Profinet IO Fieldbus manual 7 Object model
7 Register mapping
7
The Lexium MDrive Profinet IO uses 72 registers to transfer IO data between
the IO-CONTROLLER (PLC) and the IO-DEVICE (Lexium MDrive Profinet.)
Output registers.............................................................................. 1 - 38
Input registers............................................................................... 39 - 72
All of the registers ar by default mapped to an MCode command. For ex-
ample Register 1 is mapped to A (Acceleration).
These (with the exception of the toggle and string registers, may be re-
mapped to an MCode command corresponding to the register’s data type, or
set to NULL.
It is recommended that unused commands be remapped to a NULL setting
to speed cycle time
Output
The mapping of the addresses are determined by the PLC, the TCP/IP con-
figuration Utility may be used as an address reference by entering a starting
address and viewing the tool tips on the Profinet tab of the utility.
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7 Object model Profinet IO Fieldbus manual
*This table uses an example starting address of 5000. The tooltip in the TCP configuration utility,will display the register address you have set
in the “Starting address tooltip.”
XX Available on closed loop models only (LMDCNxxx), will be NULL on open loop models (LMDONxxx).
18 Fieldbus interface
Profinet IO Fieldbus manual 7 Object model
XX Available on closed loop models only (LMDCNxxx), will be NULL on open loop
Fieldbus interface 19
7 Object model Profinet IO Fieldbus manual
*This table uses an example starting address of 5130. The tooltip in the TCP configuration utility,will display the register address you have set
in the “Starting address tooltip.”
XX Available on closed loop models only (LMDCNxxx), will be NULL on open loop models (LMDONxxx).
20 Fieldbus interface
Profinet IO Fieldbus manual 7 Object model
Fieldbus interface 21
7 Object model Profinet IO Fieldbus manual
22 Fieldbus interface
Profinet IO Fieldbus manual 9 Glossary
9 Glossary
9
9.1 Units and conversion tables
The value in the specified unit (left column) is calculated for the desired
unit (top row) with the formula (in the field).
Example: conversion of 5 meters [m] to yards [yd]
5 m / 0.9144 = 5.468 yd
9.1.1 Length
in ft yd m cm mm
in — / 12 / 36 * 0.0254 * 2.54 * 25.4
ft * 12 — / 3 * 0.30479 * 30.479 * 304.79
yd * 36 *3 — * 0.9144 * 91.44 * 914.4
m / 0.0254 / 0.30479 / 0.9144 — * 100 * 1000
cm / 2.54 / 30.479 / 91.44 / 100 — * 10
mm / 25.4 / 304.79 / 914.4 / 1000 / 10 —
9.1.2 Mass
lb oz slug kg g
lb — * 16 * 0.03108095 * 0.4535924 * 453.5924
oz / 16 — * 1.942559*10-3 * 0.02834952 * 28.34952
slug / 0.03108095 * 1.942559*10-3 — * 14.5939 * 14593.9
kg / 0.453592370 / 0.02834952 / 14.5939 — * 1000
g / 453.592370 / 28.34952 / 14593.9 / 1000 —
9.1.3 Force
lb oz p dyne N
lb — * 16 * 453.55358 * 444822.2 * 4.448222
oz / 16 — * 28.349524 * 27801 * 0.27801
p / 453.55358 / 28.349524 — * 980.7 * 9.807*10-3
dyne / 444822.2 / 27801 / 980.7 — / 100*103
N / 4.448222 / 0.27801 / 9.807*10-3 * 100*103 —
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9.1.4 Power
HP W
HP — * 745.72218
W / 745.72218 —
9.1.5 Rotation
9.1.6 Torque
9.1.8 Temperature
°F °C K
°F — (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15
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°C °C * 9/5 + 32 — °C + 273,15
K (K - 273.15) * 9/5 + 32 K - 273.15 —
AWG 1 2 3 4 5 6 7 8 9 10 11 12 13
mm2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6
AWG 14 15 16 17 18 19 20 21 22 23 24 25 26
mm2 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13
AC Alternating current
Acceleration The time rate of change of velocity with respect to a fixed reference
frame. The commanded step rate is started at a base velocity and ac-
celerated at a slew velocity at a defined and controlled rate or rate of
changes.
ASCII American Standard Code for Information Interchange. Standard for cod-
ing of characters.
Back Electro-Motive Force (Back EMF) Also known as regeneration current, the reversed bias generated by
rotation of the magnetic field across a stator’s windings. Sometimes
referred to as counter EMF.
Closed Loop System In motion control, this term describes a system wherein a velocity or
position (or both) sensor is used to generate signals for comparison
to desired parameters. For cases where loads are not predictable, the
closed loop feedback from an external encoder to the controller may be
used for stall detection, position maintenance or position verification.
Daisy Chain This term is used to describe the linking of several devices in sequence,
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such that a single signal stream flows through one device and on to
another
DC Direct current
Detent Torque The periodic torque ripple resulting from the tendency of the magnetic
rotor and stator poles to align themselves to positions of minimal reluc-
tance. The measurement is taken with all phases de-energized.
Duty Cycle For a repetitive cycle, the ratio of on time to total cycle time.
Error class Classification of errors into groups. The different error classes allow for
specific responses to faults, e.g. by severity.
Fatal error In the case of fatal error, the drive is not longer able to control the motor,
so that an immediate switch-off of the drive is necessary.
Fault reset A function used to restore the drive to an operational state after a
detected fault is cleared by removing the cause of the fault so that the
fault is no longer active (transition from state “Fault” to state “Operation
Enable”).
Full Duplex The transmission of data in two directions simultaneously. For example,
a telephone is a full-duplex device because both parties can talk at the
same time.
Ground Loop A ground loop is any part of the DC return path (ground) that has more
than one possible path between any two points.
Half Duplex The transmission of data in just one direction at a time. For example, a
walkie-talkie is a half-duplex device because only one party can talk at a
time.
Half Step This term means that the motor shaft will move a distance of 0.9 degree
(400 steps per shaft revolution) instead of moving 1.8 degree per digital
pulse.
Hybrid Motion Technology™ (HMT) A motor control technology representing a new paradigm in brushless
motor control. By bridging the gap between stepper and servo perfor-
mance, HMT offers system integrators a third choice in motion system
design.
Hybrid Motors Hybrid stepper motors feature the best characteristics of PM and VR
motors. Hybrid steppers are best suited for industrial applications be-
cause of high static and run torque, a standard low step angle of 1.8°,
and the ability to Microstep. Hybrid stepper motors offer the ability to
precisely position a load without using a closed-loop feedback device
such as an encoder.
Holding Torque The maximum torque or force that can be externally applied to a
stopped, energized motor without causing the rotor to rotate continu-
ously. This is also called “static torque”.
I/O Inputs/outputs
Inc Increments
Index pulse Signal of an encoder to reference the rotor position in the motor. The
encoder returns one index pulse per revolution.
Inertia (Reflected) Inertia as seen by the stepper motor when driving through a speed
change, reducer or gear train.
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Lag The amount (in full motor steps) that the rotor lags the stator. Lag condi-
tions are caused by loading on the motor shaft, as during transient load-
ing or rapid acceleration.
Lead The amount (in full motor steps) that the rotor leads the stator. Lead
conditions are caused by an overhauling load, as during periods of rapid
deceleration.
Limit switch Switch that signals overtravel of the permissible range of travel.
Locked rotor When the lag/lead limit is reached, a timer starts a countdown that is
determined by the user. The locked rotor will assert itself by triggering
a flag and, depending on the selected mode, by disabling the output
bridge.
Loss of synchronization In traditional stepper systems, when the lead/lag relationship of the rotor
and stator reaches two full motor steps, the alignment of the magnetic
fields is broken and the motor will stall in a freewheeling state. Hybrid
Motion Technology eliminates this.
Motor phase current The available torque of a stepper motor is determined by the mo-
tor phase current. The higher the motor phase current the higher the
torque.
Node guarding Monitoring of the connection with the slave at an interface for cyclic data
traffic.
Open Loop System An open loop motion control system is where no external sensors are
used to provide position or velocity feedback signals, such as encoder
feedback of position.
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Parameter Device data and values that can be set by the user.
Persistent Indicates whether the value of the parameter remains in the memory
after the device is switched off.
Position lead/lag The HMT circuitry continually tracks the position lead or lag error, and
may use it to correct position.
Position make-up When active, the position make-up can correct for position errors oc-
curring due to transient loads. The lost steps may be interleaved with
incoming steps, or reinserted into the profile at the end of a move.
Power stage The power stage controls the motor. The power stage generates cur-
rents for controlling the motor on the basis of the positioning signals
from the controller.
Pull-In Torque This is the maximum torque the stepper motor can develop when instan-
taneously started at that speed.
Pull-Out Torque This is the maximum torque that the stepper can develop once an ac-
celeration profile has been used to “ramp” it to the target speed.
Quick Stop Function used to enable fast deceleration of the motor via a command
or in the event of a malfunction.
Resonance The frequency that a stepper motor system may begin to oscillate. Pri-
mary resonance frequency occurs at about one revolution per second.
This oscillation will cause a loss of effective torque and may result in
loss of synchronism. The designer should consider reducing or shifting
the resonance frequency by utilizing half step or micro-step techniques
or work outside the primary resonance frequency.
Rotor The moving part of the motor, consisting of the shaft and the magnets.
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These magnets are similar to the field winding of a brush type DC motor
RS485 Fieldbus interface as per EIA-485 which enables serial data transmission
with multiple devices.
Sinking Current Refers to the current flowing into the output of the chip. This means that
a device connected between the positive supply and the chip output will
be switched on when the output is low.
Slew The position of a move profile where the motor is operating at a constant
velocity
Sourcing Current Refers to the current flowing out of the output of the chip. This means
that a device connected between the chip output and the negative sup-
ply will be switched on when the output is high.
Stall detection Stall detection monitors whether the index pulse is always correctly trig-
gered at the same angle position of the motor shaft.
Stator The stationary part of the motor. Specifically, it is the iron core with the
wire winding in it that is pressed into the shell of the frame. The winding
pattern determines the voltage constant of the motor.
Torque ramp Deceleration of the motor with the maximum possible deceleration,
which is only limited by the maximum permissible current. The higher
the permissible braking current, the stronger the deceleration. Because
energy is recovered up depending on the coupled load, the voltage may
increase to excessively high values. In this case the maximum permis-
sible current must be reduced.
Variable current control When active, variable current control will control the motor current as
such to maintain the torque and speed on the load to what is required
by the profile. This leads to reduced motor heating and greater system
efficiency.
Warning If not used within the context of safety instructions, a warning alerts to
a potential problem detected by a monitoring function. A warning is not
a fault and does not cause a transition of the operating state. Warnings
belong to error class 0.
Watchdog Unit that monitors cyclic basic functions in the product. Power stage and
outputs are switched off in the event of faults.
Zero crossing The point in a stepper motor where one phase is at 100% current and
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Totally Integrated Automation setup Profinet IO Fieldbus manual
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Profinet IO Fieldbus manual Totally Integrated Automation setup
3) Install the General Station Description (GSD) file. This will make the
Lexium MDrive available in the system Hardware Catalog. This is
done through the options menu.
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Totally Integrated Automation setup Profinet IO Fieldbus manual
5) From the Topology Screen, select a Lexium MDrive from the Cata-
log. It will be located in the “Other Field Devices/PROFINET IO/I/O/
Schneider Electric/Lexium MDrive/Head Module/Lexium Mdrive/
Standalone, no Pdev
34 Fieldbus interface
Profinet IO Fieldbus manual Totally Integrated Automation setup
6) In device view, set the IP Address of the LMD. This must match
what is set using the TCP Configuration Utility.
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Totally Integrated Automation setup Profinet IO Fieldbus manual
8) Define I/O by double clicking on the 128 bytes I and 128 bytes 0
subtext in the catalog menu.
9) In Topology view, connect the PLC port and the LMD port by drag-
ging from one to the other..
36 Fieldbus interface
Profinet IO Fieldbus manual Totally Integrated Automation setup
10) In network view, ensure that the Lexium MDrive is assigned to the
PLC that is controlling it.
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Totally Integrated Automation setup Profinet IO Fieldbus manual
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38 Fieldbus interface
WARRANTY
Reference the web site at www.motion.schneider-electric.com for the latest warranty and product information.
USA SALES OFFICES
East Region
Tel. 610-573-9655
e-mail: e.region@imshome.com
Northeast Region
Tel. 860-368-9703
e-mail: n.region@imshome.com
Central Region
Tel. 630-267-3302
e-mail: c.region@imshome.com
Western Region
Tel. 602-578-7201
e-mail: w.region@imshome.com
TECHNICAL SUPPORT
Tel. +00 (1) 860-295-6102 – Fax +00 (1) 860-295-6107
e-mail: etech@imshome.com
Date : 10 / 2014