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10 Program Instructions

© Copyright Reserved Autonics Co., Ltd.

Program Instructions

There are 14 program instructions as below table.

Type

Instruction

Description

Drive

ABS

Absolute position move

INC

Relative position move

HOM

Home search

Input/Output

ICJ

Input condition jump

IRD

Input wait

OPC

Output port ON/OFF

OPT

Output port ON pulse

CMP

Compare output

Program control

JMP

Jump

REP

Repeat start

RPE

Repeat end

END

Program end

POS

Position set

TIM

Ready

Содержание AiC-D-20LA

Страница 1: ...em AiC D Series MMD AiCU1 V1 5 2009US Thank you for purchasing an Autonics product This user manual contains information about the product and its proper use and should be kept in a place where it wil...

Страница 2: ......

Страница 3: ...g Autonics product Please familiarize yourself with the information contained in the Safety Considerations section before using this product This user manual contains information about the product and...

Страница 4: ...or reproduced in either part or whole without permission A user manual is not provided as part of the product package Visit our website www autonics com to download a copy The manual s content may va...

Страница 5: ...Symbol Description Supplementary information for a particular feature Failure to follow instructions can result in serious injury or death Failure to follow instructions can lead to a minor injury or...

Страница 6: ...ive corrosive gas high humidity direct sunlight radiant heat vibration impact or salinity may be present Failure to follow this instruction may result in explosion or fire Do not connect repair or ins...

Страница 7: ...struction may result in personal injury or product damage by releasing holding torque of the motor Use the unit within the rated specifications Failure to follow this instruction may result in fire or...

Страница 8: ...connector AWG28 Keep the distance between power cable and signal cable more than 10cm Motor vibration and noise can occur in specific frequency period Change motor installation method or attach the da...

Страница 9: ...2 Built in Brake Type 18 2 Specifications 20 2 1 Driver 20 2 1 1 Factory Default 21 2 2 Motor 22 2 2 1 Frame Size 20mm 22 2 2 2 Frame Size 28mm 22 2 2 3 Frame Size 35mm 22 2 2 4 Frame Size 42mm 23 2 2...

Страница 10: ...t Descriptions 46 7 1 Connectors 47 7 1 1 CN1 Power Connector 47 7 1 2 CN2 Motor Encoder Connector 47 7 1 3 CN3 I O Connector 48 7 1 4 CN4 RS485 Communication Cable Connector 49 7 2 Connector Specific...

Страница 11: ...2 2 IRD input wait 95 10 2 3 OPC output port ON OFF 95 10 2 4 OPT output port ON pulse 96 10 2 5 CMP compare output 96 10 3 Program Control Instruction 97 10 3 1 JMP jump 97 10 3 2 REP repeat start 97...

Страница 12: ...e rates for better continuous drive operation Brakes are applied during sudden power outages allowing safe control of vertical loads built in brake type Control up to 31 axes with RS485 communication...

Страница 13: ...wer cable are sold separately For more information refer to the 7 5 Sold Separately 1 2 2 Components 1 2 2 1 Driver AiC D Series Instruction manual 1 2 2 2 Motor Ai M Series Instruction manual Make su...

Страница 14: ...Category C Controller Item D Driver Motor frame size 20 20 20mm 28 28 28mm 35 35 35mm Motor length S Short Frame size 28mm 46mm Frame size 35mm 41 5mm M Middle Frame size 20mm 41 2mm Frame size 28mm...

Страница 15: ...0mm 81 9mm M Middle Frame size 42mm 73 5mm Frame size 56mm 90 3mm Frame size 60mm 102 8mm L Long Frame size 42mm 81 5mm Frame size 56mm 111 3mm Frame size 60mm 119 8mm Built in Brake type S Short Fram...

Страница 16: ...tem M Motor Motor frame size 20 20 20mm 28 28 28mm 35 35 35mm Motor length S Short Frame size 28mm 46mm Frame size 35mm 41 5mm M Middle Frame size 20mm 41 2mm Frame size 28mm 59mm Frame size 35mm 52mm...

Страница 17: ...Middle Frame size 42mm 73 5mm Frame size 56mm 90 3mm Frame size 60mm 102 8mm L Long Frame size 42mm 81 5mm Frame size 56mm 111 3mm Frame size 60mm 119 8mm Built in Brake type S Short Frame size 42mm 1...

Страница 18: ...D 42SA Ai M 42SA AiC 42MA AiC D 42MA Ai M 42MA AiC 42LA AiC D 42LA Ai M 42LA AiC 56SA AiC D 56SA Ai M 56SA AiC 56MA AiC D 56MA Ai M 56MA AiC 56LA AiC D 56LA Ai M 56LA AiC 60SA AiC D 60SA Ai M 60SA AiC...

Страница 19: ...1 Product Overview Copyright Reserved Autonics Co Ltd 19...

Страница 20: ...3 3 3 4 3 5 3 user setting Positioning range 2 147 483 648 to 2 147 483 647 In Position Fast Response 0 to 7 or Accurate Response setting range among 0 to 7 Motor rotation direction 5 CW CCW Status i...

Страница 21: ...tion structure IP20 IEC standard Weight 7 Approx 460g approx 300g 1 The model name indicates driver type none standard type B built in brake type E g AiC D 60MA B built in brake type stepping motor dr...

Страница 22: ...Phase 10 10 1 Phase 10 Inductance 3 2mH Phase 20 6 0mH Phase 20 6 2mH Phase 20 Weight 2 Approx 0 260kg approx 0 162kg Approx 0 318kg approx 0 222kg Approx 0 342kg approx 0 248kg 2 2 3 Frame Size 35mm...

Страница 23: ...0 57 Phase 10 0 93 Phase 10 Inductance 1 05mH Phase 20 1 8mH Phase 20 3 7mH Phase 20 Weight 2 Standard Type Approx 0 76kg approx 0 62kg Approx 0 99kg approx 0 85kg Approx 1 36kg approx 1 22kg Built in...

Страница 24: ...I R Radial movement 3 Frame size 20 28 35mm Max 0 025mm load 450g Frame size 42 56 60mm Max 0 025mm load 25N Axial movement 4 Frame size 20 28 35mm Max 0 005mm load 920g Frame size 42 56 60mm Max 0 0...

Страница 25: ...tic friction torque Min 1 8kgf cm Min 8 0kgf cm Rotation part inertia 6 g cm2 19 g cm2 Insulation class B type 130 C B type brake Power on brake is released power off brake is operating Operating time...

Страница 26: ...nk 20mA Frame size 28 35mm Max 1 s cable length 2m I sink 20mA Max response frequency Frame size 20mm 200kHz Frame size 28 35mm 1 000kHz Power supply 5VDC 5 ripple P P max 5 Current consumption Max 50...

Страница 27: ...3 Dimensions Copyright Reserved Autonics Co Ltd 27 3 Dimensions 3 1 Driver unit mm Be sure that these figures may differ from the actual units...

Страница 28: ...3 Dimensions 28 Copyright Reserved Autonics Co Ltd 3 2 Motor 3 2 1 Standard Type 3 2 1 1 Frame Size 20mm 3 2 1 2 Frame Size 28mm 3 2 1 3 Frame Size 35mm...

Страница 29: ...3 Dimensions Copyright Reserved Autonics Co Ltd 29 Model L Model L Model L Ai M 28SB 46 Ai M 35SB 41 5 Ai M 20MA 41 2 Ai M 28MB 59 Ai M 35MB 52 Ai M 20LA 53 1 Ai M 28LB 65 Ai M 35LB 68 5...

Страница 30: ...3 Dimensions 30 Copyright Reserved Autonics Co Ltd 3 2 1 4 Frame Size 42mm 3 2 1 5 Frame Size 56mm 3 2 1 6 Frame Size 60mm...

Страница 31: ...imensions Copyright Reserved Autonics Co Ltd 31 Model L Model L Model L Ai M 42SA 34 1 Ai M 56SA 43 5 Ai M 60SA 48 1 Ai M 42MA 40 1 Ai M 56MA 56 5 Ai M 60MA 69 Ai M 42LA 48 1 Ai M 56LA 77 5 Ai M 60LA...

Страница 32: ...3 Dimensions 32 Copyright Reserved Autonics Co Ltd 3 2 2 Built in Brake Type 3 2 2 1 Frame Size 42mm 3 2 2 2 Frame Size 56mm 3 2 2 3 Frame Size 60mm...

Страница 33: ...opyright Reserved Autonics Co Ltd 33 Model L Model L Model L Ai M 42SA B 33 9 Ai M 56SA B 43 3 Ai M 60SA B 47 9 Ai M 42MA B 39 9 Ai M 56MA B 56 3 Ai M 60MA B 68 8 Ai M 42LA B 47 9 Ai M 56LA B 77 3 Ai...

Страница 34: ...3 Dimensions 34 Copyright Reserved Autonics Co Ltd...

Страница 35: ...ft overhung load thrust load Motor size The distance from the shaft in front mm Allowable overhung load kgf N Allowable thrust load D 0 D 5 D 10 D 15 Frame size 42mm 2 20 2 6 25 3 5 34 5 3 52 Below mo...

Страница 36: ...4 Installation of Motor 36 Copyright Reserved Autonics Co Ltd 4 2 Mounting of Motor 4 2 1 Frame Size 20mm 4 2 2 Frame Size 28mm 4 2 3 Frame Size 35mm...

Страница 37: ...With considering heat radiation and vibration isolation mount the motor as tight as possible against a metal panel having high thermal conductivity such as iron or aluminum When mounting motors use h...

Страница 38: ...of the device or the shaft for connecting with a load 4 3 1 Direct Load Connection with Coupling When connecting a load such as Ball screw or Tm screw directly to the shaft of the motor use flexible...

Страница 39: ...at non dew status of ambient humidity The place without explosive flammable and corrosive gas The place without direct ray of light The place where dust or metal scrap does not enter into the unit Th...

Страница 40: ...5 Connection 40 Copyright Reserved Autonics Co Ltd 5 Connection 5 1 Standard Type...

Страница 41: ...5 Connection Copyright Reserved Autonics Co Ltd 41 5 2 Built in Brake Type...

Страница 42: ...6 Characteristics 42 Copyright Reserved Autonics Co Ltd 6 Characteristics 6 1 Standard Type 6 1 1 Frame Size 20mm 6 1 2 Frame Size 28mm 6 1 3 Frame Size 35mm...

Страница 43: ...6 Characteristics Copyright Reserved Autonics Co Ltd 43 6 1 4 Frame Size 42mm 6 1 5 Frame Size 56mm 6 1 6 Frame Size 60mm...

Страница 44: ...6 Characteristics 44 Copyright Reserved Autonics Co Ltd 6 2 Built in Brake Type 6 2 1 Frame Size 42mm 6 2 2 Frame Size 56mm 6 2 3 Frame Size 60mm...

Страница 45: ...6 Characteristics Copyright Reserved Autonics Co Ltd 45...

Страница 46: ...2 Motor Encoder 3 I O connector CN3 Signal I O 4 Servo On Off indicator Servo Orange 5 In Position indicator INP Yellow 6 Power Alarm indicator PWR AL Green Red 7 Communication ID setting rotary switc...

Страница 47: ...tion When polarity direction is reversed power is not turned on Pin arrangement Pin Function 2 GND 1 24VDC 7 1 2 CN2 Motor Encoder Connector Connects the motor and the encoder to the driver Pin arrang...

Страница 48: ...search mode designate 1 15 Input Pause 1 5 10ms L H Pause 16 Input Servo On Off 1 5 10ms L H Servo On Off 17 Input Home 1 5 10ms L H Home search 18 Input Alarm Reset 1 5 10ms L H Alarm reset 19 Input...

Страница 49: ...t filter to set 10ms or 1 5ms of parameter Input Filter The filter of Limit ORG SD IN7 to 9 is fixed as 1 5ms When input turns ON over the set time it recognizes as normal signal input 2 It is voltage...

Страница 50: ...on the frame size of the motor 5556T2 20 28 35mm 5556T 42 56 60mm Above connectors are suitable for AiC D Series You can use equivalent or substitute connectors 7 3 Switches 7 3 1 SW1 ID Setting Switc...

Страница 51: ...erates normally after supplying power warning indicator Flashes when limit signal is input or overload status is maintained AL Red Alarm indicator When alarm occurs it flashes in various ways dependin...

Страница 52: ...5 35 IN8 BrakeON OFF Black 3 11 STEP4 MSP0 Yellow Black 1 36 VEX Red 3 12 STEP5 MSP1 Red 1 37 GEX Black 4 13 MD0 HMD0 Black 2 38 ALARM Red 4 14 MD1 HMD1 Red 2 39 COMPARE1 Black 5 15 PAUSE Black 3 40 C...

Страница 53: ...length 010 020 E g CJ PW 010 1m power cable It is recommended to use ferrite core at Power cable 7 5 3 Motor Encoder Cable normal C1D14M moving C1DF14M of model name indicates cable length 1 2 3 5 7 1...

Страница 54: ...Step designate1 Continuous Jog 8 Step2 SSP0 Step designate2 Start speed designate 0 9 Step3 SSP1 Step designate3 Start speed designate 1 10 Step4 MSP0 Step designate4 Max speed designate 0 11 Step5 MS...

Страница 55: ...program mode supplying start input it starts drive from the next step of the paused one 8 1 1 3 Stop During continuous driving it decelerates and stops the motor according to Deceleration Time 1 para...

Страница 56: ...meter it drives to CW Jog CCW Jog direction during ON jog signal If Jog signal and Jog signal are supplied at the same time the motor stops 8 1 1 6 Step2 3 SSP0 1 start speed 1 Step2 3 It is available...

Страница 57: ...F Max speed 2 OFF ON Max speed 3 ON OFF Max speed 4 ON ON Max speed 5 is not available If MSP0 MSP1 is changed during continuous drive or jog drive Max speed is changed immediately during operation 8...

Страница 58: ...current of motor is blocked and torque is released Servo On indicator In Position Output and the indicator turn OFF Servo On Off signal is L over 1ms It recognizes as servo on signal and the phase cu...

Страница 59: ...mode it is used as home sensor input When suppling ORG signal over 1 5ms it recognizes as home sensor 8 1 1 15 SD slow down When supplying SD signal over 1 5ms the set the start drive speed decelerate...

Страница 60: ...to IN5 When supplying over 10ms or 1 5ms set at Input Filter parameter it recognizes as input IN6 to IN8 When supplying over 1 5ms it recognizes as input 8 1 3 Example of Input Circuit Connection All...

Страница 61: ...ition is under in position setting value after position command pulse has finished in position output turns to H and the in position indicator turns ON In reverse when the gap is over in position sett...

Страница 62: ...value is lower than or same as the set position value Compare 1 Position or Compare 2 Position it outputs H 3 Trigger pulse outputs as the set period Compare 1 Period or Compare 2 Period and width Co...

Страница 63: ...t is available from 5VDC to 80VDC with the open collector method Select RL value that IC collector current of secondary LED of photocoupler to be around 10mA RL VEX 0 7V 0 01A 8 2 4 Brake Output In or...

Страница 64: ...during communication between the driver and the PC atMotion only monitoring is available It may cause malfuncation due to double input 9 1 I O Signal Control Drive 9 1 1 Index Drive At index mode it o...

Страница 65: ...o Ltd 65 When it stops by stop signal input Index drive error occurs When driving the step which does not have ABS or INC instruction Index drive error occurs The specified step operates repeatly if t...

Страница 66: ...e 1st Dive mode MD0 1 MD1 0 2nd Select start drive speed It is available to set the start drive speed combining with SSP0 SSP1 3rd Select max drive speed It is available to set the max drive speed com...

Страница 67: ...9 Drive Copyright Reserved Autonics Co Ltd 67 For jog mode drive by I O control MD0 HMD0 turns ON MD1 HMD1 turns OFF and it selects jog drive It cannot stop by Stop signal input...

Страница 68: ...ode drive 1st Drive mode MD0 0 MD1 1 2nd Select start drive speed It is available to set the start drive speed combining with SSP0 SSP1 3rd Select max drive speed It is available to set the max drive...

Страница 69: ...9 Drive Copyright Reserved Autonics Co Ltd 69 For continuous mode drive by I O control MD0 HMD0 turns OFF MD1 HMD1 turns ON and it selects continuous drive...

Страница 70: ...STOP signal inputs program mode will return to ready status 5th When EMG signal inputs it stops emergently 6th Program end When END signal inputs program mode drive is end When Power On Program Start...

Страница 71: ...with the set start drive speed at Home Search Start Speed and operates acceleration drive with the set acceleration time at Home Search Acceleration Time 3rd When acceleration drive is completed it op...

Страница 72: ...me sensor signal inputs with the set max drive speed at Home Search Max speed 4th If Limit direction limit sensor signal inputs before ORG home sensor signal inputs it decelerates and stops drive to t...

Страница 73: ...with the set max drive speed at Home Search Max speed 4th If Limit direction limit sensor signal inputs or it arrives to Software Limit software limit it decelerates with the set deceleration time at...

Страница 74: ...t Home Search Start Speed and it operates acceleration drive with the set acceleration time at Home Search Acceleration Time 4th After acceleration drive is complete it operates constant speed drive w...

Страница 75: ...cceleration time at Home Search Acceleration Time 3rd When acceleration drive is completed it operates constant speed drive until contacting the specific equipment with the set max drive speed at Home...

Страница 76: ...9 2 atMotion Control Drive atMotion run and setting 1st Visit our website www autonics com to download and install newest version of atMotion 2nd Run atMotion which is installed on PC 3rd On the left...

Страница 77: ...cation method as RS 232 at New DAQ interface 5th Right click the newly added device on My System then click Add When Add Unit window displays double click the device list or click the arrow placed in...

Страница 78: ...Reserved Autonics Co Ltd 6th Select RS 232 on the right side of the window set the communication port and baud rate for the connected device 7th Click Connect on the upper side of the window to conne...

Страница 79: ...9 Drive Copyright Reserved Autonics Co Ltd 79 8th To make sure the communication is connected properly check the My System items on the right side of the window to figure out the device node setting...

Страница 80: ...t Select Jog on Motion Control mode selection box 2nd Set the Start Speed Max Speed Accel Rate Decel Rate value for jog mode 3rd Motor begins to operate to designated directon by clicking or button 4t...

Страница 81: ...n the initial operation speed or in all cases except for reset or emergency stop Continuous mode operates the motor continuously in CW or CCW direction by clicking or button Continuous mode operation...

Страница 82: ...Max Speed Accel Rate Decel Rate value for position mode 3rd Select the position control method between Relative Position and Absolute Position 4th After entering designated position value select and t...

Страница 83: ...ion Control mode selection box 2nd Set the Start Speed Max Speed Accel Rate Decel Rate value for position mode 3rd Select the position control method between Relative Position and Absolute Position 4t...

Страница 84: ...o start from a step other than step 0 select the step number from and click the button 4th Click the button to finish the active step and pause the motor Click button to start the next step While Prog...

Страница 85: ...ime when the power is applied and motor alignment is completed However Home search mode error alarm occurs when it is executed by zero point home search mode operation Home search mode operation 1st C...

Страница 86: ...he opposite direction to find the origin 7th When a signal is input to the origin sensor ORG the motor decelerates and stops according to the deceleration time set in the parameter Home Search Deceler...

Страница 87: ...sor Limit or reaches to Software Limit the motor decelerates and stops according to the deceleration time set in the parameter Home Search Deceleration Time 7th After stop it moves to the opposite dir...

Страница 88: ...set in the parameter Home Search Start Speed and acceleration starts according to the acceleration time set in the parameter Home Search Acceleration Time 5th The constant speed operation is performed...

Страница 89: ...h Operation starts according to the start speed set in the parameter Home Search Start Speed and acceleration starts according to the acceleration time set in the parameter Home Search Acceleration Ti...

Страница 90: ...able Type Instruction Description Drive ABS Absolute position move INC Relative position move HOM Home search Input Output ICJ Input condition jump IRD Input wait OPC Output port ON OFF OPT Output por...

Страница 91: ...eed from 1 to 5 When selecting max speed as 6 it is available to set as the desired value Acceleration Set the acceleration time of drive Set the acceleration time from 1 to 5 When selecting accelerat...

Страница 92: ...e continuation Enable Use continuation Disable Not use continuation Step Acceleration time ms Deceleration time ms Start drive speed pps Max drive speed pps 1 1 000 0 500 5 000 2 1 000 0 5 000 10 000...

Страница 93: ...rive speed during drive Set the max drive speed from 1 to 5 When selecting max speed as 6 it is available to set as the desired value Acceleration Set the acceleration time of drive Set the accelerati...

Страница 94: ...eleration time ms Start drive speed pps Max drive speed pps 1 1 000 0 500 5 000 2 1 000 0 5 000 10 000 3 1 000 0 10 000 20 000 4 0 1 000 7 000 20 000 5 0 1 000 0 7 000 For the step with acceleration s...

Страница 95: ...struction do not use ICJ Input condition jump 10 2 2 IRD input wait It is for moving the next step when the selected input port is activated When the input port is deactivated it waits at the current...

Страница 96: ...peration OFF It turns the set output port ON during the set ON time After the time it moves to the next step 10 2 5 CMP compare output It outputs trigger pulse for the set period Instruction DATA CMP...

Страница 97: ...sure to the position of END instruction At the loop between REP RPE instruction do not use JMP jump 10 3 2 REP repeat start It operates repeatedly for the set times from the next step of this instruc...

Страница 98: ...program You must enter this instruction at the end of program Instruction DATA END Instruction 10 3 5 POS position set It sets the position value Instruction DATA POS Instruction Position Position Se...

Страница 99: ...d to move something a fixed amount It operates fixed speed or acceleration deceleration drive for a specified number of output pulses Acceleration Deceleration fixed pulse drive starts to reduce speed...

Страница 100: ...Position Move Relative position movement sets a distance to drive from present coordinates This is INC of program mode Relative Position Move is as the diagram below For example if the command moving...

Страница 101: ...deceleration drive accelerates from initial speed to drive speed trapezoidally with an inclination of the designated acceleration Set acceleration deceleration time as msec at Acceleration Time 1 to...

Страница 102: ...eceleration speed For moving the object to the vertical direction such as stacking device of semi conductor wafer the gravity acceleration speed is added to the object and acceleration speed and decel...

Страница 103: ...es S curve without b e trapezoidal zone Precautions for S curve acceleration deceleration drive In a fixed pulse S curve acceleration deceleration drive you cannot change speed while driving At S curv...

Страница 104: ...e acceleration During 0 2 sec it drives trapezoidal acceleration up to 20 000pps 3rd At the left 0 2 sec it drives trapezoidal deceleration up to 40 000pps For each setting value of parameters and des...

Страница 105: ...Acceleration Time acceleration time 6000 msec For S curve drive acceleration deceleration time should be same Deceleration Time deceleration time 6000 msec S Curve Time S curve acceleration decelerat...

Страница 106: ...r this limit function is set using internal position data To operate software limit set software limit software limit as Enable High and low limit values can be set the each axis separately at softwar...

Страница 107: ...vibration in acceleration deceleration zone The set gain value applies when motor stops Parameter Setting Value ratio P I GAIN 0 factory default 1 1 1 2 1 2 3 1 3 4 1 4 5 1 5 1 2 6 2 2 7 3 2 8 4 2 9 5...

Страница 108: ...e factory default Enable Fixed stop current It maintains stop current as the set value at the parameter Disable Setting stop current It adjusts by stop current load and it is able to reduce over heat...

Страница 109: ...value in position output turns OFF and the in position indicator turns OFF Fast response When gab between the target position and the current position is lower than the setting value it outputs in po...

Страница 110: ...tes in the direction set in the parameter Motor Dir DIR setting Jog Run Jog Run Forward Rotates to CW direction Rotates to CCW direction Backward Rotates to CCW direction Rotates to CW direction 11 2...

Страница 111: ...n does not occur 2 Check that less than the recommended SMPS capacity is used 3 Check driver break 2 Over speed error When motor speed is over 4 000rpm 1 When overload is applied and released at a mom...

Страница 112: ...misalignment 1 Motor connector and cable connector error 2 Burnout of line driver IC in driver 3 Burnout of line driver IC in encoder 4 Burnout of the inverter in the driver 1 Check motor connector a...

Страница 113: ...completed due to the stop command 1 When running a step with commands other than INC and ABS 2 When entering the stop command during driving on index mode 1 Check whether the command of the step is IN...

Страница 114: ...nt position reaches the S W Limit value 1 Check S W Limit parameter value 2 S W Limit When reverse direction CCW software limit is ON 1 When the current position reaches the S W Limit value 3 H W Limi...

Страница 115: ...hen motor does not excite Servo is not ON Check that servo On Off input signal is L In case of H servo is off and excitation of motor is released Alarm occurs Check the alarm type and remove the cause...

Страница 116: ...Dimensions or specifications on this manual are subject to change and some models may be discontinued without notice...

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