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The Client that comes with the Axim doesn't support IPSec tunnels.
It only supports PPTP or Microsofts implimentation of IPSec over a L2TP Tunnel.
Unfortunatly unless you can find a Cisco client or a 3rd party clint for the PPC that supports Cisco IPSec tunnels you are not going to be able to connect.
Sorry I don't have any better news
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