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The compact Motion Logic system, Rexroth IndraMotion MLC provides you with the freedom neccissary for continuous and modern machine automation. Innovative software and firmware functions with easy engineering and open interfaces offer you maximal flexibility in all motion applications with real time.
The ideal fusion of motion control, PLC and technology building blocks makes IndraMotion MLC the innovative system for the new generation of controller-based motion solutions by Rexroth. Via the PLCopen-compatible user interface and the integrated IndraLogic system, motion functions become transparent and simple by using standardized IEC 61131-3 building blocks.
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IDM3000 Intelligent Servo Drive
IDM3000 is a 3 kW intelligent servo drive that embeds motion controller, drive and PLC functionalities in the same unit. It is specially designed for servo applications requiring high peak torque, dynamic response and flexible integration features. It can be used to control brushless, induction, and DC motors up to 3 kW. IDM3000 drives 10 A continuous and 30 A peak currents, at a supply voltage ranging from 160 to 325 V. It is equipped with several sensors including resolver. The addition of resolver feedback increases the versatility of the drive in motion control projects that involve very high temperature, vibration, shock and dirty environments.
Key Features:
- Suitable for brushless motors, DC brush and induction (optional)
- Motion controller, drive and PLC functionalities in one unit
- 20-30 V logic and 160-325 V motor power supply
- Opto-isolated programmable digital inputs / outputs and analog inputs
- Resolver, SSI and quadrature encoder
- Sin/Cos encoder (optional)
- RS-232 and CAN / CANopen
- Compact design: 200 x 130 x 50 mm
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The Geo Brick Drive brings together the intelligence and capability of the Turbo PMAC2 motion controller with the latest IGBT-based drive technology in a compact, smart 4/6/8 axis servo drive package.
The flexible nature of the Turbo PMAC2 enables the Geo Brick Drive to drive brush, brushless or AC induction motors with unsurpassed pure digital DSP performance. The absence of analog signals— required for typical motion controller/drive interfacing—enables higher gains, better overall performance and tighter integration, while significantly driving costs and setup time down.
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The compact Motion Logic system, Rexroth IndraMotion MLC provides you with the freedom neccissary for continuous and modern machine automation. Innovative software and firmware functions with easy engineering and open interfaces offer you maximal flexibility in all motion applications with real time.
The ideal fusion of motion control, PLC and technology building blocks makes IndraMotion MLC the innovative system for the new generation of controller-based motion solutions by Rexroth. Via the PLCopen-compatible user interface and the integrated IndraLogic system, motion functions become transparent and simple by using standardized IEC 61131-3 building blocks.
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Galil offers a complete line of single and multi-axis controllers for stepper and servo motors. Interfaces include PCI, ISA, PC/104, cPCI, VME, USB, RS232 and Ethernet. Modes of motion include point-to-point positioning, jogging, linear and circular interpolation, contouring, ecam and electronic gearing. Also programmable I/O for interface to external sensors.
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Mercury is a digital closed-loop servo drive for DC brushed and brushless motors (BLDC, BLAC), capable of driving motors up to a 1.1KW peak.
Its design includes multiple communication ports (RS232, CAN), giving designers a wide choice of interfacing methods.
Its extended voltage operation range allows it to be used in industry or robotics, and its reduced size and the absence of any external heat sink allow the controller to be integrated into critical-size applications.
The design also includes a wide variety of self-protection mechanisms (thermal, overcurrent, under and overvoltage, etc.).
Other main features are the free firmware updates and the inclusion of a motion control API for C/C++, with functions that permit easy controller operation.
Main features:
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- Fully digital servo drive controller.
- No extra heat sink necessary.
- Compact design.
- Sinusoidal and trapezoidal commutation (brushless motors).
- Space vector modulation (AC brushless motors - BLAC).
- PWM modulation (DC brushed and brushless motors - BLDC).
- Motion modes: Position, Velocity and Homing.
- Feedback combinations:
- Hall effect and encoder sensors (only AC brushless motors)
- Hall effect sensors (only DC brushless motors)
- or only encoder
- Programmable protection against overcurrent, under and overvoltage and overtemperature.
- Programmable general purpose inputs and outputs.
- On board temperature and bus voltage sensor.
- Easily programmed via API Motion Control Library in C/C++.
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The VME58 is a VME bus-based motion controller with 4 or 8 axes of motion that support both servo and stepper applications.
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The PCIx is a PCI 4 axis motion controller that conforms to the PCI Rev. 2.2 specification. The PCIx is a
four-axis controller for either servo or stepping motors. It supports 12 general purpose bits which are
opto-isolated for optimum noise immunity. The home and over travel inputs are opt-isolated. The architecture
of the PCIx includes a dual-port Ram for special functions where fast collection of large amounts
of data is required, such as profile capture.
The servo output is a +/- 10V or 0-10V signal that is driven by a 16 bit DAC. The servo control loop is a
PID filter with feed forward coefficients. The step pulse is a TTL level 50% duty cycle square wave that
supports velocities of 0 through 1,044,000 pulses per second. The encoder feedback functionality supports
quadrature encoders up to 4 MHz at a 4 times resolution and is used as the servo feedback, as
feedback for the stepper axes or as independent position feedback. The encoder feedback can provide
slip or stall detection. Every axis includes dedicated +/- over travel inputs, a home input, and an auxiliary
output. The PCIx is available in several different models at several different prices so that you don’t
have to pay for a lot of functionality that you don’t need.
Programming
PCIx
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Motion Control Solutions
Baldor provides a wide range of motion control solutions for the automation industry by offering a choice of easy to use programmable motion controllers (positioners) with multi-tasking capability and drives (amplifiers) to suit many applications - the NextMove family is available in PCI format or standalone; the FlexDrive family covers a wide power range; and Ethernet Powerlink (e100 series) provides designers with real-time solutions. Offering between 1 and 12 axes of control, Baldor motion controllers are available with digital and analog I/O for complete machine control. The CAN bus interface can be used to expand the I/O configuration.
Motion control systems can be up and running quickly thanks to Baldor's Mint programming language. Mint is a versatile, yet easy to use, Basic like programming language. A wide range of programmable moves are supported including trapezoidal, S-ramp, linear and circular interpolation, helical interpolation, electronic CAM, gearbox and flying shear. User defined profiles can be added using the supplied embedded 'C' libraries. Mint also supports full control of the I/O and communications back to a host controller. Machine level networking and optional operator panel control can all be controlled under a single Mint application program.
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The MAXp is a PCI bus-based motion controller with up to 8 axes of user-definable servo & stepper motion control. The MAXp is built on a PowerPC 32-bit RISC processor running at 266 MHz. The use of this processor delivers exceptional servo control, capabilities, quality, and application performance on multi-axis requirements. All signals, data points, and the PID loop update every 122s on all 8 axes. Each axis of the MAXp controller can be configured as a servo, open loop stepper, or a closed loop stepper.
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The MAXnet is a Ethernet / RS232 motion controller with up to 5 axes of user-definable servo & stepper motion control. The MAXp is built on a PowerPC 32-bit RISC processor running at 266 MHz. The use of this processor delivers exceptional servo control, capabilities, quality, and application performance on multi-axis requirements. All signals, data points, and the PID loop update every 122μs on all 5 axes. Each axis of the MAXnet controller can be configured as a servo, open loop stepper, or a closed loop stepper.
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PPCI series (PPCI7443) is an advanced PCI-bus format 4-axes motion control board allows control of stepper motors or/and servomotors. The PPCI7443 incorporates a PCL6045 series motion control chip as part of its compact design, and it comes with user-friendly software that incorporates MS-DOS, C/C programming library; Windows® 95/98/ME/NT/2000 DLL; and a test monitor. The software allows for easy set-up and supports up to a maximum of twelve PPCI7443 cards, allowing for operation of up to forty-eight axes.
NPMC series are an advanced PC/104-bus format multi-axes motion control board allows control of stepper motors or/and servomotors. PCL5023 motion control chip is used as key component for 2-axes (NPMC5023-2104) controller board, while, PCL6045 motion control chip is used as key component for 4-axes (NPMC6045A-4104) controller board.
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The PS 30 is a PCI-PC control card consisting of a plug-in card and a card for slot panel mount. Three axes with 2-phase step motors or brush DC servo motors can be operated (mixed equipment). Each axis has two inputs for incremental encoder or position measuring system. Thus, very precise positioning in closed loop mode is possible for all drive systems. Step motors can be operated from full step up to 256 micro steps per full step.
The PS 30 is operated and programmed by a PC. Point-to-point positioning mode with different velocity profiles as well as complex continuous path control like circular interpolation or 3-axes linear interpolation are possible.
Part of the delivery is a 3-fold motor adapter cable and also the software tool OWISoft for comfortable configuration and operation of the PS 30.
- 3-axis control
- for 2-phase step motors and DC-servo motors
- PCI plug in card
- 8 TTL inputs, inputs for limit switches and encoder
- 5 TTL and 2 power outputs
- point-to-point operation, circular interpolation and linear interpolation
Option
- connecting of measuring systems
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ISD720 Intelligent Servo Drive
ISD860 Intelligent Servo Drive
ISD720 and ISD860 are fully digital high-precision servo drives with embedded intelligence and a built-in 720-W or 860-W power amplifier. Used to control brushless DC, brushless AC (vector control) and DC brush motors, these high-performance intelligent servo drives combine motion controller, power amplifier and PLC functionality in a single, compact unit.
The on-board CAN-bus interface allows this type of drive to be used as an intelligent axis in a distributed-intelligence, multiple-axis network (up to 256 axes).
Key Features:
- Suitable for brushless and DC brush motors
- Motion controller, drive and PLC functionalities in one unit
- Output current: 20 A (720 model) / 12 A (860 model) continuous; 49 A peak
- Supply voltage: 10 to 35 V for logic; 10 to 36 V (ISD720) and 10 to 72 V (ISD860) for motor
- Programmable digital inputs / outputs, analog inputs
- Quadrature encoder, Hall sensors or linear Halls
- RS-232 and CAN / CANopen
- Open-frame design (136 x 85 x 26) mm
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Features:
* Advanced 1 to 4 Axes PC104 Motion Control Card w/ support for communication via RS232 and/or CAN
* Velocity Range: 32 Bit
* Acceleration Range: 32 Bit
* Deceleration Range: 32 Bit
* Jerk Range (S-Curve): 32 Bit
* Position Error Tracking Window: 32 Bit
* Dual Loop Encoder Input
* Supports brushed servo, brushless servo with 6-step (hall based) and sinusoidal commutation, microstepping motors and high speed (up to 5 M-pulses/sec) pulse & direction output for stepper motors
* Advanced PID filter with velocity and acceleration feedforward
* Programmable dual biquad filters
* x8 10-bit general-purpose analog inputs
* Digital Outputs: uncommitted 8
* Digital Inputs: uncommitted 8
* PLC-style programmable inputs and outputs
* Encoder Signal Resolution: 8 MHz and support for SSI absolute encoders with up to 160 Mhz (other feedback devices on request)
* Axis settled indicator, tracking window and automatic motion error detection
* Advanced Trace capabilities for analyzing system performance, tuning servo filters and performing maintenance and diagnostics
* Two directional limit switches: smooth or abrupt stop programmable
* Index input and Home indicator per axis
* Programmable AxisIn and AxisOut per axis
* Software for Windows and Linux
* Operating temperature: -25° - +85°C
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The POSYS® 604 is a PCI-Bus motion controller board dedicated to high performance motion control applications with extensive interpolation functionality. The POSYS® 604 is designed to control up to 4 axes of servo and stepper motors and provides hardware linear, circular, Bit Pattern and continuous interpolation which allow to perform the most complex motion profiles. Update rates per axis do not exist as each axis runs in absolute real-time mode simultaneously which makes these boards to one of the best performing motion controllers for up to 4 axes in the market.
The POSYS® 604 is a low-cost PCI motion controller offering a wide range of possibilities. The controller is dedicated to pulse & direction output which allows to control any type of motor provided the driver/amplifier is capable to accept pulse & direction signals. Many amplifiers on the market exist for this purpose (we supply versions from AMC) which can even be configured for either brushed or brushless servo motors.
The usage of one controller type throughout the system, but still keeping it open for various motor types, depending on your customer's demands, enhances this controller to be your first choice. Software written for this controller does not need to be re-written again. Time-to-market design is done once. Equip your machine with steppers or servos or combine them to any configuration you desire.
Due to its possibilities there are practically no limitations to where this controller can be used. Robotics, semi-conductor, medical and harsh industrial environments - where ever you need precise control of your motors the POSYS® 604 is ready.
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The POSYS® 900 (Designed & Made in Germany) is a state-of-the-art 1 to 4 axes PCI-Bus motion controller supporting multiple host connection modes and motor types. The POSYS® 900 supports parallel-bus via PCI-Bus and serial communication RS232. Motor types supported are DC brushed servo, brushless servo, microstepping and stepper motors depending on model each axis individually configurable. Other features are the fast servo loop update rates of 100 µs/1 axis to 400 µsec/4 axes, 5 Mcounts/sec quadrature encoder input and on-board trace capabilities.
Motion profiles include S-curve, trapezoidal (with smoothing factor), velocity contouring, and electronic gearing, linear interpolation for 4 axes. In addition they also support external profile mode which allows the user to download complex motion profiles directly in to the controllers memory reliefing the host from extensive calculation tasks.
With up to 164 commands, depending on model, the POSYS® instruction set offers flexibility and versatility to software application programmers. Instructions are used to initialize and control the motion processor. User selectable profiling modes supported by the motion processor include S-curve, trapezoidal, velocity contouring and electronic gearing. The POSYS® 8xx-B accepts input parameters such as position, velocity, and acceleration from the host and generates a corresponding trajectory. The POSYS® 8xx-B accepts input parameters such as position, velocity, and acceleration from the host and generates a corresponding trajectory within 12.5 µs.
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Interface to connect to POSYS® 800-B/1800/900/1900 motion controller series to read positions from absolute encoders with SSI interface.
Plugs directly to the controller board. Additional cable to connect to the encoders is provided with this module.
Dimensions: 69 x 59 x 15 mm (lxwxh). A list of compatible absolute encoders with SSI interface is available from our Download Center. This list is not complete, but provides a pretty good overview of possibilities.
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The POSYS® 3104 (Designed & Made in Germany) is a PC/104 form factor board dedicated to high performance motion control applications with extensive interpolation functionality. The POSYS® 3104 is designed to control up to 4 axes of servo and stepper motors and provides hardware linear, circular, Bit Pattern and continuous interpolation which allow to perform the most complex motion profiles. Update rates per axis do not exist as each axis runs in absolute real-time mode simultaneously which makes these boards to one of the best performing motion controllers for up to 4 axes in the market.
The POSYS® 3104 is a low-cost PC104 motion controller offering a wide range of possibilities. The controller is dedicated to pulse & direction output which allows to control any type of motor provided the driver/amplifier is capable to accept pulse & direction signals. Many amplifiers on the market exist for this purpose (we supply versions from AMC) which can even be configured for either brushed or brushless servo motors.
The usage of one controller type throughout the system, but still keeping it open for various motor types, depending on your customer's demands, enhances this controller to be your first choice. Software written for this controller does not need to be re-written again. Time-to-market design is done once. Equip your machine with steppers or servos or combine them to any configuration you desire.
Due to its possibilities there are practically no limitations to where this controller can be used. Robotics, semi-conductor, medical and harsh industrial environments - where ever you need precise control of your motors the POSYS® 3104 is ready.
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Features:
* Advanced 1 to 4 Axes PCI-Bus Motion Control Card (half-size to fit in standard computer housings), w/ support for communication via RS232 and/or CAN
* Velocity Range: 32 Bit
* Acceleration Range: 32 Bit
* Deceleration Range: 32 Bit
* Jerk Range (S-Curve): 32 Bit
* Position Error Tracking Window: 32 Bit
* Dual Loop Encoder Input
* Supports brushed servo, brushless servo with 6-step (hall based) and sinusoidal commutation, microstepping motors and high speed (up to 5 M-pulses/sec) pulse & direction output for stepper motors
* Advanced PID filter with velocity and acceleration feedforward
* Programmable dual biquad filters
* x8 10-bit general-purpose analog inputs
* Digital Outputs: uncommitted 8
* Digital Inputs: uncommitted 8
* PLC-style programmable inputs and outputs
* Encoder Signal Resolution: 8 MHz and support for SSI absolute encoders with up to 160 Mhz (other feedback devices on request)
* Axis settled indicator, tracking window and automatic motion error detection
* Advanced Trace capabilities for analyzing system performance, tuning servo filters and performing maintenance and diagnostics
* Two directional limit switches: smooth or abrupt stop programmable
* Index input and Home indicator per axis
* Programmable AxisIn and AxisOut per axis
* Software for Windows and Linux
* Operating temperature: -25° - +85°C
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The POSYS® 800-B (Designed & Made in Germany) is a state-of-the-art 1 to 4 axes PC/104-Bus motion controller supporting multiple host connection modes and motor types. The POSYS® 800-B supports parallel-bus via PC/104-Bus and serial communication RS232. Motor types supported are DC brushed servo, brushless servo, microstepping and stepper motors depending on model each axis individually configurable. Other features are the fast servo loop update rates of 100 µs/1 axis to 400 µsec/4 axes, 5 Mcounts/sec quadrature encoder input and on-board trace capabilities.
Motion profiles include S-curve, trapezoidal (with smoothing factor), velocity contouring, and electronic gearing, linear interpolation for 4 axes. In addition they also support external profile mode which allows the user to download complex motion profiles directly in to the controllers memory reliefing the host from extensive calculation tasks.
With up to 164 commands, depending on model, the POSYS® instruction set offers flexibility and versatility to software application programmers. Instructions are used to initialize and control the motion processor. User selectable profiling modes supported by the motion processor include S-curve, trapezoidal, velocity contouring and electronic gearing. The POSYS® 8xx-B accepts input parameters such as position, velocity, and acceleration from the host and generates a corresponding trajectory. The POSYS® 8xx-B accepts input parameters such as position, velocity, and acceleration from the host and generates a corresponding trajectory within 12.5 µs.
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ISCM4805 / ISCM8005 Intelligent Control Plug-in Modules
ISCM4805 / ISCM8005 DIN Intelligent Servo Control Modules
ISCM4805 / ISCM8005 intelligent drives combine motion controller, drive and PLC functionality in a single compact unit. Configurations include two mounting styles: the ISCMxx05 plug-ins for direct mounting on printed circuit boards (PCB), and ISCMxx05 DIN for attaching to a standard DIN-rail using incorporated DIN-rail clips. The credit card format of the ISCM plug-ins makes them ideal for mounting in narrow-space applications. The use of slot connectors instead of screw type contacts will help machine developers to save time, design a clean PCB that houses all the components, and get rid of all the cabling. Thanks to their embedded motion controller, the ISCMs can easily be programmed to independently execute complex TML motion functions in stand-alone or multi-axis configurations.
Key Features:
- Suitable for brushless, DC brush and step motors
- Motion controller, drive and PLC functionalities in one unit
- 12-48 V logic
- 48 V - ISCM4805 or 80 V - ISCM8005 motor power supply
- High current capability 5 A continuous, 16 A peak
- Programmable digital inputs / outputs and analog inputs
- Quadrature encoders, Hall sensors or linear Halls
- RS-232 and CAN / CANopen
- Plug-in design for ISCM4805 / ISCM8005 (80 x 50 x 17 mm)
- Open-frame design for ISCM4805 / ISCM8005 DIN (112 x 70 x 25 mm)
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We offer a wide range of control units for standard to high-end applications that are customized for your implementation. Integrated motion and logic, extensive technical functionality, certified safety technology and standardized interfaces leave nothing to be desired.
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IBL3605 Intelligent Servo Drive
PIM3605 Intelligent Control Plug-in Module
IBL3605 is a remarkably compact intelligent servo drive measuring only 65 x 58 x 19 mm, that reaches up to 600 W peak power. Although extremely compact, the IBL3605 embeds motion controller, drive and PLC functionality in one unit, and has the flexibility to control brushless, step, DC or linear motors up to 180 W (36 V, 5 A). It can be mounted right beside the motor, all cables and maintenance thus being significantly reduced. PIM3605 is the plug-in version of IBL3605.
Key Features:
- Suitable for brushless, DC brush and step motors
- Motion controller, drive and PLC functionalities in one unit
- 12-36 V logic and motor power supply
- 5 A continuous, 16 A peak current
- Programmable digital inputs / outputs and analog inputs
- Quadrature encoder, Hall sensors or linear Halls
- RS-232 and CAN / CANopen
- Compact design (65 x 58 x 19 mm) for IBL3605
- Plug-in design (67 x 43 x 20 mm) for PIM3605
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The PCI 208 is based on a 120Mhz 32-bit floating point DSP supported by 8Mbits of SRAM, 32 Mbits of Flash memory and 128kbits of dual port RAM for PCI communications. A large FPGA provides for up to 8 stepper axes, or 8 axes with encoder feedback, or mixtures of the two, or up to 4 stepper axes with encoder verification. For +/-10v input servo drives an optional mezzanine board provides 16 bit resolution voltage outputs and analogue inputs. A DIN rail mounting break-out board eases the wiring interconnections for low-volume applications.
The PCI 208 is designed for motion control applications centred around a PC. Application programs written on the PC can access its facilities easily using an OCX component. It is also possible to run application programs on the PCI 208 in multi-tasking BASIC language or to use both programming techniques. Trio's Motion Perfect development software can be used to monitor the execution of programs, IO and motion. Complex motion such as cams, gears, linked axes, and interpolation is made easy with the comprehensive command set. The PCI208 has 20 opto-isolated digital 24v inputs and 10 opto-isolated outputs. The inputs can be used as high-speed hardware registration inputs for highly accurate control of print and packaging lines.
The I/O count can be expanded using Trio CANbus digital and analog modules. The PCI208 has 2 built-in CAN channels for I/O and axis control.
The basic PCI 208 has 2 stepper axes. The axis count can be increased in single axis steps up to 8. A P184 or P185 DAC board is required for analog output servo operation.
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MMC for PC
A Complete Solution to PC Machine and Motion Control
If PC control is the right solution for your application, MMC for PC is the control you need. MMC for PC offers the benefits of PC control without losing the reliability and robustness your industrial motion application needs.
Up to 32-axes of high performance motion control using SERCOS or analog interfaced servo amplifiers.
Simple application development and maintenance using IEC1131 ladder logic and function block programming.
Easy integration with host PC applications using industry standard OPC (OLE for Process Control) Server software.
Access via plant intranet and internet using Ethernet TCP/IP interface tools.
Dedicated 32-bit RISC processor, eliminating the need for special "real-time kernel" software
Independent operation insuring PC crash survival.
Simple and robust field wiring: fiber optic SERCOS interface to servo amplifiers, simple 4-wire connection to I/O. No failure prone, noise susceptible ribbon cables.
Compact 1/2 slot PCI-bus form factor ideal for integration into PC operator interfaces.
Optional DeviceNet™ and Profibus interfaces for access to smart devices.
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Positioning, Arch Motion, Linear Interpolation, Circular Interpolation, Continuous Interpolation.
The most suitable for small size, low cost Embedded system.
The most suitable to control the semiconductor & LCD manufacture equipments, robots, inspection equipments, dispenser, cutting machine & processing facilities
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The PIC-SERVO SC Motion Control Board is maybe the fastest and lowest-cost way of getting your DC servo motor up and running. The clear, explicit documentation and the Windows test utility program take the mystery out of servo motor control. The board is designed for easily adding additional axes of control without flipping dip switches or setting jumpers. By mounting these compact, modular boards near your motors, you can greatly simplify the rat's nest of wiring which plagues most multi-axis control systems.
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LCR specializes in design, development and manufacturing of standard and custom Motor Controls for various types of motors used in diverse applications. We design motor controls for customers serving both domestic and international markets.
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MultiFlex PCI 1440:
The MultiFlex PCI 1440 is a high-performance 4 to 8 axis servo and stepper PCI-bus motion control card that is half the size and cost of comparable PCI controllers. This exceptional motion controller is designed to provide machine builders with more flexibility and better overall value than any comparably priced PCI motion controller on the market today.
MultiFlex PCI 1040:
The MultiFlex PCI 1040 is a high-performance 4 axis PCI-bus stepper and pulse-controlled servo motion control card. Like all MultiFlex PCI Series controllers, the PCI 1040 is designed to offer machine builders unprecedented power and flexibility in an exceptionally compact and cost-effective package.
DCX-PCI 300:
The DCX-PCI 300 is a high-performance 1 to 16 axis PCI-bus motion controller which combines advanced RISC/DSP hardware with the popular and proven modular "DCX" multi-processor architecture which was first pioneered by PMC over a decade ago.
DCX-PCI 100:
The DCX-PCI 100 is a 1 to 8 axis PCI-bus motion controller which can control and drive as many as eight small DC servo motors directly - without the need for external amplifiers. (Up to 6 Watts per axis.) It is also the perfect choice for users of our popular DCX-PC100 ISA-bus controller who want to move to the PCI-bus.
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