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M’Ax User Guide

Issue Number: 4

9.4

Menu 4 parameters

Torque control

Software diagram for Menu 4

)

technology

RMS current calculation

4.01

Motor current
magnitude

4.08

Torque
reference

4.09

Torque
reference offset

4.10

Torque reference
offset enable

4.11

Torque mode

selector

Menu 3

SLM

Menu 5

Speed demand

4.03

Torque
demand

Scaling

Torque

compensation

4.26

Torque-

compensation gain

10.17

Motor [I t] overload

alarm indicator

Motor overload

detection

Current
demand

4.04

4.15

Motor

−

rated current

Motor

−

thermal

time-constant

Drive rated
current

11.32

Menu 5

Current
demand

Motor current

5.07

4.23

Current-demand
filter 2 cut-off
frequency

4.12

Current-demand
filter 1 cut-off
frequency

4.27

Current-demand
filter 3 cut-off
frequency

Menu 3

4.07

Symmetrical current
limit Kc1

4.24

Symmetrical current
limit Kc2

4.28

Symmetrical current
limit Kc3

4.57

4.56

4.55

SLM overheat
threshold

'U' phase current loop
offset correction

'V' phase current loop
offset correction

Содержание M'Ax 403

Страница 1: ...www controltechniques com EF User Guide M Ax Compact high performance single axis servo amplifier for brushless AC servo motors Part Number 0453 0015 Issue Number 4...

Страница 2: ...uide may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information storage or retrieval system without permission in writ...

Страница 3: ...4 9 Changing the value of a parameter 23 4 10 Making new values take effect 26 4 11 Saving new parameter values 26 4 12 Flashing and non flashing digits 26 4 13 Negative values 26 4 14 Changing the se...

Страница 4: ...90 C 9 Saving new parameter values 90 C 10 Restoring the Drive to a default state 90 C 11 M Ax Soft 90 C 12 MODBUS RTU protocol 91 Appendix D Optimising the Dynamic Performance 92 D 1 Speed loop param...

Страница 5: ...nt Drive sofware version 8 59 Status line indicator 8 60 Status line output enable 11 65 SLM encoder mode select The following parameters are not available with the current Drive software version 3 56...

Страница 6: ......

Страница 7: ...he model number See Table 1 1 and Table 1 2 Table 1 1 Model sizes model numbers and current ratings For M Ax 412 A line reactor is required when the load duty cycle is 70 duty cycle and the overall cy...

Страница 8: ...temperature of the motor windings If the value of the accumulator reaches a level that indicates the motor windings are at the specified maximum safe working temperature the output current is limited...

Страница 9: ...Interfaces _AN _SL Encoder simulation output producing 1024 2048 4096 or 8192 counts per revolution EIA232 or EIA485 serial communications technology 2 wire EIA485 2 wire serial communications Two an...

Страница 10: ...er in either of the following ways Reading parameter 10 17 via serial communications in this case make the appropriate signal connections shown in Example signal connections on page 7 and see Appendix...

Страница 11: ...con trol of other equipment 24V user supply output generated in the Drive maintained by an SLM and user back up supply when the Drive is powered down STANDALONE 15 way high density male D type Freque...

Страница 12: ...com com SLM Hardware enable Drive status supply com com MC MULTIDROP OUT 0V COMMON 24V loop supply Hardware enable Drive status output MULTIDROP IN PC 0V COMMON 232 TXD 232 RXD EIA232 24V loop input H...

Страница 13: ...re that all external control circuits are separated from human contact by at least one layer of insulation rated for use at the ac supply voltage Incorrect connections Ensure that a plug carrying a 24...

Страница 14: ...or normal use of keypad mode the RUN contact shown in grey should not be connected Product familiarisation The connections for Keypad mode are also used for product familiarisation Chapter 4 Programmi...

Страница 15: ...are optional The RESET contact is required for version _SL but is optional for version _AN which can also be reset by use of the keypad Figure 2 4 Signal connections for high precision analog speed c...

Страница 16: ...ion For connection details see Figure 2 7 Signal connections for remote control and setting up by serial communications PC running a dedicated application program or a PLC on page 12 these connections...

Страница 17: ...nnections are made in addition to those shown below Connections shown in grey are optional The RESET contact is required for version _SL but is optional for version _AN which can also be reset by use...

Страница 18: ...wing ways Closing the RESET contact PC or PLC Setting parameter 10 33 at 1 Version _AN Keypad Via serial communications Setting parameter 10 38 at 100 The Drive can be started and stopped by a RUN con...

Страница 19: ...from device to device The M Ax Drives have an RS485 port that can be configured to operate using the Modbus RTU protocol Modbus is a multi drop protocol so that multiple Drives can be connected on the...

Страница 20: ...ons for high precision speed control by motion controller supplying an analog speed reference Parameter Setting 1 14 0 30 1 Motion controller RUN DIGITAL I O AT ZERO SPEED Speed reference 10V SIM ENC...

Страница 21: ...ication program or a PLC on page 12 Connections shown in grey are optional Figure 2 11 Signal connections for standard precision speed control by motion controller supplying an analog speed reference...

Страница 22: ...al load that the signal circuits will impose on this supply Table 2 1 Currents drawn from the internal 24V supply If the total exceeds 400mA check that the total at any one time does not exceed 400mA...

Страница 23: ...ned Low current requirement 65mA for an SLM and control circuits The SLM and user back up supply can be at ground potential The SLM and user back up supply can supply one or more Drives their SLMs and...

Страница 24: ...es of the alphanumeric display are visible through the tinted window On all versions a column of four leds give additional status information To gain access to the keypad use the finger tab at the top...

Страница 25: ...arameter is selected the upper line of the alphanumeric display states the value as bit 0 or bit 1 Variable parameters analog settings Variable parameters are set at any numeric value within the speci...

Страница 26: ...Chapter 6 Setting Up the Drive for Basic Applications on page 31 Menu 0 parameters are described in Chapter 8 Menu 0 Parameters on page 44 The advanced parameters are listed in Chapter 9 Advanced Par...

Страница 27: ...security See Chapter 7 Security and Accesssing the Advanced Parameters on page 42 and Chapter 9 Advanced Parameters on page 51 for information on the advanced parameters 4 2 Summary of the keypad fun...

Страница 28: ...ware enable is being applied rdY or run appears in this case open the Hardware enable contact or set parameter 6 15 Drive enable at 0 If the lower line shows any of the following trP hot Ibr ouL see A...

Страница 29: ...he parameter number 1 Within eight seconds repeatedly press in order to display parameter number 0 18 4 8 Quick selection of the initially displayed parameter 1 While the display is in Parameter mode...

Страница 30: ...re pressed within eight seconds the display enters Status mode Making large changes in value quickly So far you have changed the value by changing the least significant digit The speed of change can b...

Страница 31: ...w a more significant digit the maximum permissible value flashes Quick selection from most to least significant digit To select the least significant digit when the most significant displayed digit is...

Страница 32: ...ve operation Selecting a parameter to access Changing the value of a parameter These procedures are described earlier in this chapter 2 While the display is in Edit mode execute the save operation by...

Страница 33: ...ion and during use parameters are over written If required these can be returned to their default values by restoring the Drive to the default state Restoring the Drive to the default state also cause...

Страница 34: ...ress at the same time The value of parameter 0 05 Speed feedback the default initially displayed parameter is now displayed on the upper line of the display 6 The display indicates as follows 7 Close...

Страница 35: ...deceleration time is sufficiently long The upper line of the display indicates the value of a parameter parameter 0 05 Speed feedback for indicating actual motor speed and 0 34 Keypad reference for in...

Страница 36: ...as appropriate Version _AN Initiate the save operation by setting parameter XX 00 at 1000 Execute the operation by setting parameter 10 38 at 100 Version _SL Version _AN if required Ensure the Drive i...

Страница 37: ...tine Select speed reference routine Ramps routine Starting routine Setting up requires you to adjust parameters information on these is given in Chapter 8 Menu 0 Parameters on page 44 and Chapter 9 Ad...

Страница 38: ...ansfer selector 10 Perform the procedure in in Appendix D Specifying shaft stiffness and load inertia Optimising the Dynamic Performance 11 Drive to operate in SPEED mode Ensure parameter is set at 0...

Страница 39: ...any value Set parameter at 0 30 11 66 0 Reference selector Host mode enable The motion controller now has full control of the Drive Set parameter at any value 0 30 Reference selector Set parameter at...

Страница 40: ...he user defined rate YES Go to routine Starting 3 Set parameter Fast ramp select at 0 27 1 Set parameter at the required acceleration rate in s 1000RPM 0 25 Set parameter at the required deceleration...

Страница 41: ...in Edit mode press at the same time and 5 To use the saved values after the next power up ensure parameter is set at 0 50 no After changing the setting and while the display is in Edit mode press at t...

Страница 42: ...ndicator Ensure parameter is set at After changing the setting set parameter at 100 0 50 4 boot2 10 38 Parameter transfer selector 7 8 Perform the procedure in in Appendix D Specifying shaft stiffness...

Страница 43: ...rameter at any value Set parameter at 0 30 11 66 0 Reference selector Host mode enable The motion controller now has full control of the Drive external host mode Set parameter at any value 0 30 Refere...

Страница 44: ...he user defined rate YES Go to routine Starting 3 Set parameter Fast ramp select at 0 27 1 Set parameter at the required acceleration rate in s 1000RPM 0 25 Set parameter at the required deceleration...

Страница 45: ...S 3 4 Execute storing by setting parameter at 10 38 100 5 To use the stored values after the next power up ensure parameter is set at 0 50 4 boot2 After changing the setting set parameter at 10 38 100...

Страница 46: ...1 is 0 4 Apply the required speed reference voltage not exceeding 10V for maximum speed as follows Version _AN STANDALONE connector pins 13 and 12 Version _SL SIM EMC connector pins 4 and 3 5 Set para...

Страница 47: ...e following table 3 Use 11 21 to define the required scaling factor as follows 11 21 0 46 XX XX x M Where XX XX is the value of the parameter that is assigned to parameter 0 46 by parameter 11 20 4 Pe...

Страница 48: ...edited except for parameter XX 00 in any menu Unlock User Security as follows 1 Select parameter XX 00 in any menu 2 Set the value at the User Security code number 3 Press Menu 0 read write parameter...

Страница 49: ...Press 7 7 Selecting an advanced menu 1 Follow the instructions in Unlocking security earlier in this chapter 2 Within eight seconds of unlocking security press as many times as required in order to s...

Страница 50: ...ally copied to the EEPROM saved or copied to the flash memory stored at power down see parameter 0 50 Parameter transfer selector P Protected The parameter cannot be controlled by an external signal c...

Страница 51: ...d cause the Drive to deliver a torque producing current equivalent to the value of FLC without field weakening Enter a suitable value in 0 09 in order to define the dynamic performance of the system S...

Страница 52: ...Maximum reference clamp the Drive will trip allowing the motor to coast See trip OU SPd in Appendix B Diagnostics ILIM Value of the current limit that is obtained from the setting of 0 18 Symmetrical...

Страница 53: ...its position at the time the Drive was powered up After the first Z marker pulse has been received from the CT Coder 0 29 indicates the angular position of the motor shaft relative to the Z marker pul...

Страница 54: ...will trip the lower line of the alphanumeric display version _AN then indicates O ht1 0 42 indicates the value of the of an I2t accumulator that monitors the power dissipated in the internal braking r...

Страница 55: ...Indicates 0 Standard security is unlocked 1 Standard security is locked Digit 3 Value Indicates 0 User security is not set up 1 A User security number has been entered into 0 35 0 50 Parameter transfe...

Страница 56: ...at 0 no 0 50 Parameter preset at save 1000 XX 00 Parameter values are immediately copied in the indicated direction Parameter values are copied in the indicated direction at the next power up Paramet...

Страница 57: ...enu 0 parameter Value of a parameter Uni Unipolar variable parameter Positive values only Bi Bipolar variable parameter Positive and negative values Txt Text variable parameter Alphanumeric code is di...

Страница 58: ...1 04 Menu 7 1 44 1 43 1 42 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Reference selected Analog Preset Keypad Keypad Pulse Pulse Pulse Pulse 1 17 1 44 Pulse reference selected indicator Pulse re...

Страница 59: ...ue Number 4 1 13 Jog selected indicator 1 12 Reverse selected indicator 1 11 Reference enabled indicator x 1 Jog reference 1 05 Maximum reference clamp 1 06 1 03 Pre ramp reference Menu 2 Sequencer Me...

Страница 60: ...P 1 15 Preset reference selector 0 4 0 RW Uni P 1 17 0 34 Keypad reference 1 06 RPM RO Bi S P 1 21 0 33 Preset reference 1 1 06 RPM 1 RW Bi 1 22 Preset reference 2 1 06 RPM 10 RW Bi 1 23 Preset refer...

Страница 61: ...M Ax User Guide 55 Issue Number 4 Use this page for notes...

Страница 62: ...14 2 19 Acceleration rate selector 1 50 Preset reference selected indicator 2 10 0 1 0 1 0 0 1 1 1 2 3 4 Acceleration rate 2 21 Deceleration rate 1 2 22 Jog deceleration rate Jog selected indicator De...

Страница 63: ...5 05 Internal braking resistor overload alarm 10 12 Internal braking resistor overload accumulator 10 39 Sequencer Menu 6 1 03 Pre ramp speed reference 2 01 Post ramp reference Ramp enable 2 02 Menu 1...

Страница 64: ...e 0 32 000 s 1000RPM 0 200 RW Uni 2 20 Deceleration rate selector 0 5 0 RW Uni 2 21 0 26 Deceleration rate 1 0 32 000 s 1000RPM 0 200 RW Uni 2 22 Deceleration rate 2 0 32 000 s 1000RPM 0 200 RW Uni 2...

Страница 65: ...d 3 08 Absolute at speed detect mode select 3 09 10 03 At zero speed indicator 10 05 Below set speed indicator 10 06 At speed indicator 10 07 Above set speed indicator Speed detection and limits 1 2 6...

Страница 66: ...selector 0 3 1 RW Uni 3 18 Total inertia 0 1 6000 0 kgcm2 or 0 00001 0 6 kgm2 Jt RO Uni 3 19 0 09 Stiffness angle 0 0 30 0 6 0 RW Uni 3 20 0 10 Load inertia 0 1 6000 0 kgcm2 or 0 00001 0 6 kgm2 JL RW...

Страница 67: ...ain 10 17 Motor I t overload alarm indicator Motor overload detection Current demand 4 04 4 15 Motor rated current Motor thermal time constant Drive rated current 11 32 Menu 5 Current demand Motor cur...

Страница 68: ...26 Torque compensation gain 0 5000 rads s RW Uni 4 27 Current demand filter 3 cut off frequency 0 1200 Hz 500 RW Uni 4 28 Symmetrical current limit Kc3 0 300 0 IM 200 0 RW Uni 4 52 Motor thermal overl...

Страница 69: ...s voltage Current measurement Offset adjustment Motor rated speed Motor number of poles Motor rated current Menu 4 Motor parameters 5 07 5 08 5 11 Menu 4 Sine wave modulator Position information SLM I...

Страница 70: ...or rated current 0 FLC A SLM RO Uni 5 08 Motor rated speed 0 7500RPM SLM RO Uni 5 09 Motor rated voltage 0 VS SLM RO Uni 5 11 Motor number of poles 0 255 SLM RO Uni 5 12 Flux alignment test enable 0 1...

Страница 71: ...M Ax User Guide 65 Issue Number 4 9 6 Menu 6 parameters Sequencer functions AC supply loss modes Software diagram for Menu 6...

Страница 72: ...y d RO Uni S P 6 21 Powered up time hours minutes 00 00 23 59 h m RO Uni S P 6 31 Sequencing bit JOG FORWARD 0 1 0 RW Bit 6 32 Sequencing bit JOG REVERSE 0 1 0 RW Bit 6 33 Sequencing bit FORWARD REVER...

Страница 73: ...M Ax User Guide 67 Issue Number 4 Use this page for notes...

Страница 74: ...68 M Ax User Guide Issue Number 4 9 7 Menu 7 parameters Analog I O settings Temperature monitoring Software diagram for Menu 7...

Страница 75: ...M Ax User Guide 69 Issue Number 4...

Страница 76: ...ard speed reference Analog output scaling When parameter 3 64 is selected and parameter 7 20 is set at 1 10V at Analog output 1 represents 7500RPM When parameter 4 04 is selected and parameter 7 23 is...

Страница 77: ...T BIT 0 PRESET SELECT BIT 1 Default destination parameter 6 34 6 33 6 31 6 35 6 36 10 33 1 45 1 46 Pin 10 9 8 7 1 6 13 12 Y 1 2 3 4 Default function M AX RUNNING AT ZERO SPEED ALARM AT SPEED Default s...

Страница 78: ...0 menu parameter 6 35 RW Uni P 8 25 Digital input 5 destination selector REVERSE LIMIT 00 00 20 50 menu parameter 6 36 RW Uni P 8 26 Digital input 6 destination selector RESET 00 00 20 50 menu paramet...

Страница 79: ...st trip RO Txt S P 10 33 Drive reset 0 1 RO Bit 10 38 User defined trips 0 255 0 RW Uni 10 39 0 42 Internal braking resistor overload accumulator 0 100 0 RO Uni P 10 40 Status word 0 32767 RO Uni P 10...

Страница 80: ...3 Drive voltage rating 200 400 V RO Uni P 11 34 0 47 Drive software build number 00 99 RO Uni P 11 39 SLM software version 00 99 99 99 RO Uni P 11 51 Hardware revision 0 15 4 RO Uni 11 52 SLM update e...

Страница 81: ...erence selector 0 2 0 F D 1 Quad 2 Pulse Pulse 1 RW Uni 13 21 Reference encoder pulses per revolution 0 32767 4096 RW Uni 13 22 Reference position most significant word 0 65536 RO Uni 13 23 Reference...

Страница 82: ...Stewart Connectors 36 series Connect the pins in pairs as shown Comb out the braided shield fold the strands back and trap them under the cable clamp to ensure good electrical contact with the clamp...

Страница 83: ...ctors on the Drive SIM ENC MC EIA485 DIGITAL I O STANDALONE use the following Cables Multi core cables having tinned copper stranded conductors overall braided shield and braided outer sheath Maximum...

Страница 84: ...4 5 6 7 8 9 10 11 12 VIN V IIN mA ON region Transition region OFF region NOTE Name Pin I O Function Specification Digital input 1 10 I RUN See Digital inputs earlier in this Appendix Digital input 2 9...

Страница 85: ...3 5 Line termination resistor see below Line bias resistors 12 Direction input Quadrature B input Reverse Frequency 9 Frequency input Quadrature A input Forward Frequency 10 I Tri function input used...

Страница 86: ...puts Connecting cable Three shielded twisted pairs inside an overall shield Simulated encoder quadrature A output Frequency output 2 Simulated encoder quadrature B output Direction output 6 Dual funct...

Страница 87: ...SLM and user back up supply EIA485 ports 24V user supply 0V COMMON must not be interchanged with 0V SLM and user back up supply 5 I 24V input See 24V user supply on page 77 4 0V 0V COMMON must not be...

Страница 88: ...st not be interchanged with 0V No connections 7 8 Do not use Cable shield Shell Connect the cable shield to the connector shell Name Pin I O Function Specification com 1 I O technology port for commun...

Страница 89: ...the I O on this connector 0V COMMON must not be interchanged with 0V No connections 7 8 Do not use Cable shield Shell Connect the cable shield to the connector shell CAUTION Name Pin I O Function Spe...

Страница 90: ...rm indications appear on the lower line of the display Version _SL The number given in brackets under each alarm indication in the following list is the number of the parameter that is correspondingly...

Страница 91: ...rrent has not been sufficiently reduced within the specified time after a motor thermal overload alarm OuL has been produced by the thermal overload accumulator in the SLM see Adjusting the threshold...

Страница 92: ...ng the Drive C 3 EIA232 interface An EIA232 serial communications link allows a single Drive to be controlled and monitored by a host PC and can be used only for setting up purposes Serial communicati...

Страница 93: ...meter 0 37 at the required address for the Drive The value entered in this parameter must take the form G U where G is the group number 1 to 9 and U is the unit number 1 to 9 in the specified group Th...

Страница 94: ...u ASCII code 08 Keys Ctrl H Addressing the devices Addressing device s is performed by specifying an address number immediately after the start bit in a message This address number is the same as the...

Страница 95: ...RPM in a Drive whose address is 1 2 The message to be calculated is as follows The first character of the BCC calculation is 0 The ASCII code for this character 48 is 0011 0000 in binary format This b...

Страница 96: ...If any continue to be required ensure that you have a note of them before following this procedure 1 Open the Hardware enable contact or set parameter 6 15 at 0 to disable the Drive 2 Send a write com...

Страница 97: ...e write command subsequent parameter s will also remain unchanged but the value s of the preceding parameter s will have been changed The Drive does not send an exception code in reply only confirmati...

Страница 98: ...rs held in the Drive eg 3 10 0 13 3 11 0 14 3 12 0 15 and updating the SLM either concurrently or subsequently In addition to the set of PID gains already described and which are duplicated in Menu 0...

Страница 99: ...the following as appropriate Version _AN Initiate the save operation by setting parameter XX 00 at 1000 Execute the operation by performing either of the following While the display is in Edit mode p...

Страница 100: ...y setting parameter XX 00 at 1000 Execute the operation by performing either of the following While the display is in Edit mode press at the same time Set parameter 10 38 at 100 via serial communicati...

Страница 101: ...l gain Kp3 3 60 Speed loop integral gain Ki3 3 61 Speed loop derivative gain Kd3 3 62 PID gains 3 Current demand filter 1 cut off frequency Current demand filter 2 cut off frequency 4 23 Current deman...

Страница 102: ...take effect only after the motor shaft has passed through the zero position of the feedback encoder When the motor is running or stopped a PID buffer in the SLM and the related PID gains set in the Dr...

Страница 103: ...While the display is in Edit mode press at the same time Set parameter 10 38 at 100 via serial communications Version _SL Version _AN if required Ensure the Drive is disabled by checking that the Har...

Страница 104: ...be connected Failure to observe any of these requirements will result in damage to the Drive s and auxiliary back up supply supplies E 1 Functions Maintains the DC supply to the control circuits of th...

Страница 105: ...is also to power the motor the diode to be current rated according to the model of Drive being used 13 Fuse required when the auxiliary back up supply is also to power the motor the fuse to be rated...

Страница 106: ...in step 5 8 If the auxiliary back up supply is to supply power to the motor for low speed positioning for commissioning connect a 1000V blocking diode and a fuse between the positive output of the bac...

Страница 107: ...next power up ensure parameter 0 50 is set at no 0 If you have to change the setting immediately afterwards execute the operation as described in step 9 11 To use the stored values after the next powe...

Страница 108: ...51 3 The motor will be decelerated to rest and the display version _AN will show trip UU under voltage trip 4 The control circuits remain active 5 While the Drive is tripped it will not be possible t...

Страница 109: ...t the related selection parameter at 10 17 4 By default the output state will become logic 1 24V when the alarm occurs If this needs inverting set the related invert parameter at 1 5 Perform the follo...

Страница 110: ...thermal overload alarm has been produced by the Drive Enter the value of time in seconds in 4 54 Thermal overload time to trip Note the value that is entered 3 Read and note the value of 4 15 Motor th...

Страница 111: ...ess at the same time Set parameter 10 38 at 100 via serial communications Version _SL Version _AN if required Ensure the Drive is disabled by checking that the Hardware enable contact is open or that...

Страница 112: ...he AC supply or auxiliary back up supply to the Drive 5 Ensure parameter 6 08 Hold zero speed select is set at 0 6 Close the Hardware enable contact 7 Check that the display shows rdY or that paramete...

Страница 113: ...t 4 0 50 boot2 Parameter preset at 0 no 0 50 Parameter preset at 0 no 0 50 Parameter preset at save 1000 XX 00 Parameter values are immediately copied in the indicated direction Parameter values are c...

Страница 114: ...rring parameter values 7 Power up the Drive 8 Set parameter XX 00 at 1000 in order to initiate a save operation copy the main parameter values in the RAM to the EEPROM 9 Execute the operation by perfo...

Страница 115: ...e and returning to Status mode 22 F Features of the M Ax 2 Fieldbus 13 Flashing and non flashing digits 26 Flux Alignment 106 Functions of the signal connectors 5 Functions of the terminals 78 Fundame...

Страница 116: ...in Keypad mode 8 Signal connections for remote control by a system controller or PLC supplying quadrature AB F D signals or directional pulse inputs 11 Signal connections for remote control by motion...

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