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I-7530A-MR-FD Modbus RTU to CAN

Converter User’s Manual (Version 1.0, 08/2022) ------------- 53

4.1 tIIILDD

…[CHK]<CR>

Description:

Send or receive a standard CAN data frame.



Syntax: tIIILDD

…[CHK]<CR>

Represent a standard (2.0A) data frame.

III

11 bits Identifier (000~7FF)

Data length (general CAN message: 0~8, CAN FD message

is two characters LL:0~64)

…

Input data frame value according to the data length (00~FF)



Response:

Valid command: No response

Invalid command: ?<Error Code><CR>



Note:

It is necessary to enable the

“Error Response” function while using

the UART2CAN Utility in order to receive Syntax and/or communication
error information.



Example:

Command: t03F6112233445566<CR>

Send a CAN message with a standard data frame. ID=03F, DLC=6,

data1=11, data2=22, data3=33, data4=44, data5=55 and data6=66.

4.2 TIIIL[CHK]<CR>

Description:

Send or receive a standard CAN remote frame.



Syntax: TIIIL[CHK]<CR>

Represents a standard (2.0A) remote frame.

III

11 bits Identifier (000~7FF)

Data length (0~8)



Response:

Valid command: No response

Invalid command: ?<Error Code><CR>



Note:

It is necessary to enable the

“Error Response” function while using

the UART2CAN Utility in order to receive Syntax and/or communication
error information.



Example:

Содержание I-7530A-MR-FD

Страница 1: ...of this product ICP DAS reserves the right to change this manual at any time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is a...

Страница 2: ...CAN Utility 22 3 2 Configure the module parameters 25 3 2 1 Connect to the I 7530A MR FD module with UART2CAN Utility 25 3 2 2 Select the communication mode 27 3 2 3 Set the COM port parameters 28 3 2...

Страница 3: ...ing Modbus RTU command to send a CAN message 86 5 2 2 1 Using function Code 10hex to send a CAN message 86 5 2 2 2 Using function Code 06hex to send a CAN message 88 5 2 3 Using Modbus RTU command to...

Страница 4: ...ed to unleash the power of CAN bus via RS 232 485 422 communication method It accurately converts ASCII format messages and CAN messages between RS 232 485 422 and CAN networks This mode let you to co...

Страница 5: ...22 devices via CAN bus The application architecture may be as follows Figure 1 2 The application architecture in the pair connection mode In the Modbus Master mode it allows many Modbus RTU slaves to...

Страница 6: ...minator resistor CAN buffer 128 data frames UART buffer 256 bytes Power data flow and error indicator for CAN and UART status Hardware Watchdog design Allow special ASCII commands to send and receive...

Страница 7: ...Baud Rate bps 10 k 20 k 50 k 100 k 125 k 250 k 500 k 800 k and 1 M allow user defined baud rate CAN FD data Baud Rate bps 100k 10M Isolation voltage 3000 VDC power protection on CAN side 3750Vrms pho...

Страница 8: ...n CAN or CAN FD CAN 2 0A or 2 0B specific selection RS 232 485 422 baud rate and data format configuration Checksum function selection of the RS 232 485 422 communication Communication mode setting Fu...

Страница 9: ...I 7530A MR FD Modbus RTU to CAN Converter User s Manual Version 1 0 08 2022 9 2 Hardware Figure 2 1 Hardware profile of the I 7530A MR FD...

Страница 10: ...0 2 1 Block Diagram Figure 2 2 is a block diagram illustrating the functions of the I 7530A MR FD module It provides the 3000VDC Isolation in the CAN and UART interface And hardware media in RS 232 in...

Страница 11: ...scription 1 Not Connect 2 CAN Low 3 CAN Ground 4 Not Connect 5 6 CAN Ground 7 CAN High 8 Not Connect 9 Figure 2 3 Pin Assignment on the I 7530A MR FD Pin Description 1 RS 485 DATA 2 RS 485 DATA 3 No u...

Страница 12: ...32 485 422 interfaces for serial communication 2 3 1 CAN port connection The pin assignment of the CAN port of the I 7530A MR FD DB9 male is defined in both the CANopen DS102 profile and in appendix C...

Страница 13: ...ion The I 7530A MR FD offers three serial interfaces It is recommended to use only one of them at the same time The following figures describe these port types and the wiring method for a serial devic...

Страница 14: ...istors 120 They are shown as following figure Figure 2 8 Terminal Resistor Therefore the I 7530A MR FD module supplies a jumper for activating the terminal resistor If users want to use this terminal...

Страница 15: ...e firmware update mode or module configuration mode The following steps show how to use it 2 5 1 Firmware Update Mode Please set the DIP switch to the Init Initial position as Figure 2 12 and then the...

Страница 16: ...nnection While updating the firmware users need to execute Firmware_Update_Tool exe The following steps show the update procedure 1 Run the Firmware_Update_Tool exe 2 Choose COM interface and COM Port...

Страница 17: ...d from https www icpdas com tw product I 7530A MR FD Download Center Utility Tool I 7530 A MR FD Firmware Update Tool 2 5 2 Firmware Operation Mode Please set the DIP switch to the Normal position as...

Страница 18: ...onfigure the communication parameters and communication modes of the module 2 6 LED Indication There are three LEDs to indicate what the state of the I 7530A MR FD is in The positions of these three L...

Страница 19: ...D will blink whenever a COM message is sending or receiving Figure 2 17 LED position of the I 7530A MR FD Table 2 3 LED indication of the I 7530A MR FD LED Name I 7530A MR Status LED Status ALL LEDs F...

Страница 20: ...How to decide a cable type cable length and terminator depends on the baud rate in the CAN bus network please refer to the following table 2 4 Figure 2 18 Un shielded Twisted Pair UTP Table 2 4 Cable...

Страница 21: ...ns It also can used to transmit or receive a CAN message for simple testing To start the UART2CAN Utility please install the UART2CAN Utility setup file and run the UART2CAN_Utility exe file The scree...

Страница 22: ...rofile component The UART2CAN Utility tool requires the Windows Installer 3 1 and the NET Framework 4 Client Profile components These components can be obtained from the web site Windows Installer 3 1...

Страница 23: ...Utility tool After installing the Net Framework components please run the UART2CAN Utility setup file 1 Click the Next button to continue Figure 3 3 Setup the UART2CAN Utility 2 Select the installatio...

Страница 24: ...rter User s Manual Version 1 0 08 2022 24 3 Confirm the installation Click the Next button to start the installation Figure 3 5 Confirm Installation 4 Installation complete Click the Close button to e...

Страница 25: ...to the I 7530A MR FD module 3 Set the Init Normal switch to the Init Initial position at least three seconds 4 The PWR LED of the I 7530A MR FD module will turned on and the other LEDs will flash app...

Страница 26: ...ed by using 115200 baud rate 7 Then the I 7530A MR FD configuration window will be brought out The UART2CAN Utility will show the communication information of the I 7530A MR FD module as shown in the...

Страница 27: ...nd Modbus Master Mode In the Normal mode it accurately converts ASCII format messages and CAN messages between RS 232 485 422 and CAN interfaces In the Modbus Slave mode it allows a Modbus master to c...

Страница 28: ...ithm please refer to page 51 2 If the Error Response is set to Yes the error code will be responded when the incorrect communication commands are sent to the I 7530A MR FD 3 If the Timestamp Response...

Страница 29: ...s checked the transmitted CAN message packets are in the format of CAN FD If not checked they are in the format of general CAN messages Sample point It is recommended to use the default value If you n...

Страница 30: ...ect the Pair Connection communication mode the functions End of Command Fixed Tx CAN ID and Response with CAN ID are useful In pair connection mode all commands written to I 7530A MR FD COM port will...

Страница 31: ...egister the register range of the Specific CAN ID occupies the section from 0x0800 to 0x0859 and e ach CAN ID will use 9 Modbus input registers for normal CAN Specific CAN ID occupies the section from...

Страница 32: ...e factory default which are Communication Mode Normal RS232 485 422 Baud rate 115200 kbps Data Bit 8 Stop Bit 1 Parity None Add Checksum No Error Response No Timestamp Response No CAN bus CAN Specific...

Страница 33: ...parameter configuration The Open Parameter File function provides users to load parameters from existing configuration file INI And the Save Parameter from Utility function provides users to save the...

Страница 34: ...Filter Configuration To use the CAN filter function please check Enable CAN Filter and click Create CAN Filter File to enter the interface for setting CAN filter Figure 3 16 CAN filter setting 3 3 1 C...

Страница 35: ...I 7530A MR FD Modbus RTU to CAN Converter User s Manual Version 1 0 08 2022 35 Figure 3 17 CAN filter setting interface...

Страница 36: ...et Standard ID 11bit ID or Extended ID 29bit ID 2 Enter the range for the ID filter and press Add 3 After pressing Add the table below will display the entered ID 4 Finally click Set to transfer the s...

Страница 37: ...the table in the red box as an ini file Load File Read the form of the ini file to the red box Delete Row Clear a row of selected CAN ID ranges Clear Table Clear all tables Get CAN Standard IDs Read b...

Страница 38: ...er I 7530A MR FD The following section will show each condition for different pair connection configuration Application 1 This application may be used in two general RS 232 devices which need to conne...

Страница 39: ...is 0x001 If there are 9 bytes data 123456789 transmitted from Device1 the Device2 will also receive 123456789 from the COM port of the I 7530A MR FD 2 Note1 If users use 115200bps for RS 232 port of I...

Страница 40: ...7530A MR FD 2 Configuration Communication Descriptions The communication of this condition is similar with the communication of condition 1 The difference is that the I 7530A MR FD 2 of the applicatio...

Страница 41: ...ia CAN bus The architecture is shown below Figure 3 24 The diagram of Application 3 Configurations In order to apply this application users need to configure the I 7530A MR FD 1 I 7530A MR FD 2 and I...

Страница 42: ...he Device1 is set to dynamic Tx CAN ID Fixed Tx CAN ID is not checked The first three bytes of 0021234567 is 002 it means that the CAN ID is 0x002 while the I 7530A MR 1 receives the RS 232 commands f...

Страница 43: ...A MR FD 3 Due to the response CAN ID of the I 7530A MR FD 1 I 7530A MR FD 2 the Device1 will receive the RS 232 commands 002456789 or 003456789 Therefore Device1 can decide the target device which RS...

Страница 44: ...ce on the network 3 Supply the 10 30 VDC power into the I 7530A MR FD module through the power terminal 4 The PWR LED on the I 7530A MR FD module will be turned on and the other LEDs will be turned of...

Страница 45: ...AN messages via the I 7530A MR FD module In this Utility tool it supports three communication modes to transmit receive CAN messages to from other devices PCs by using the I 7530A MR FD There are the...

Страница 46: ...derstand what message they want to send Users need to key in each part data of a CAN message The second method uncheck Use CAN Message allows the use of the command string found in table 4 1 to transm...

Страница 47: ...ll automatically be received and displayed in the Receive text box Besides users can click the Clear button to remove the messages in the text box In addition users can click the Save button to save t...

Страница 48: ...on to transmit the information to the CAN network When checking the Timer ms the Utility will transmit the message periodically If the Receive is checked the message sent from the I 7530A MR FD will a...

Страница 49: ...low Figure 3 36 The active area of the Utility in the Modbus Slave mode Through the first method check Use Modbus RTU Command users can use the function code 0x03 0x04 0x06 0x10 of Modbus RTU commands...

Страница 50: ...d the messages sent from the I 7530A MR FD will automatically be received and displayed in the Receive text box Besides users can click the Clear button to remove the messages on the text box In addit...

Страница 51: ...e ended with the character CR The ASCII value is 13 The 9 command formats are given in the following table More detailed information related to the each command will be described in the following sub...

Страница 52: ...checksum CHK is 2 characters of the sum of the command message from the first character to the character before CR For example Command Reboot the I 7530A MR FD module RA CHK CR 1 Sum of the string R A...

Страница 53: ...r Response function while using the UART2CAN Utility in order to receive Syntax and or communication error information Example Command t03F6112233445566 CR Send a CAN message with a standard data fram...

Страница 54: ...ording to the data length 00 FF Response Valid command No response Invalid command Error Code CR Note It is necessary to enable the Error Response function while using the UART2CAN Utility in order to...

Страница 55: ...R Invalid command Error Code CHK CR Delimiter for valid command C current baud rate setting of CAN FF CAN status register TT CAN transmit error counter RR CAN receive error counter O CAN or RS 232 485...

Страница 56: ...r 3 Transmitter Bit 2 Bit 1 Bit 0 Last error code 0 No error 1 Stuff error 2 Form error 3 Ack error 4 Bit1 error 5 Bit0 error 6 CRC error 7 No Change Table 4 4 CAN and RS 232 485 422 FIFO overflow fla...

Страница 57: ...ved 01 Reserved 02 300 bps baud rate of RS 232 485 422 03 600 bps baud rate of RS 232 485 422 04 1200 bps baud rate of RS 232 485 422 05 2400 bps baud rate of RS 232 485 422 06 4800 bps baud rate of R...

Страница 58: ...lid command Error Code CR Note It is necessary to enable the Error Response function while using the UART2CAN Utility in order to receive Syntax and or communication error information Example Command...

Страница 59: ...kbps baud rate of CAN 5 250 kbps baud rate of CAN 6 500 kbps baud rate of CAN 7 800 kbps baud rate of CAN 8 1000 kbps baud rate of CAN 9 A B C D E Reserved F User defined baud rate of CAN Response A...

Страница 60: ...then reboot the I 7530A MR FD module Invalid command Error Code CR Note It is necessary to enable the Error Response function while using the UART2CAN Utility in order to receive Syntax and or commun...

Страница 61: ...this command to reboot the module to work it again Syntax RA CHK CR RA Command character Response Valid command will reboot the I 7530A MR FD module Invalid command Error Code CR Note It is necessary...

Страница 62: ...r code table Error code Description Possible causes solutions 1 Invalid header The header of the RS 232 485 422 command string is not t T e E S P0 P1 P2 nor RA 2 Invalid length The numbers of data of...

Страница 63: ...buffer with the start address of this field This field can store maximum 200 CAN messages Therefore if the unread CAN messages exceed 200 records the data is lost If the Specific CAN Message filed is...

Страница 64: ...I 7530A MR FD Modbus RTU to CAN Converter User s Manual Version 1 0 08 2022 64 Figure 5 1 Architecture diagram for the Modbus mode...

Страница 65: ...unction Codes Function Code Function Name Description 3 03 Hex Reading Output Register Read multiple registers for a sent CAN messages 4 04 Hex Reading Input Register Read multiple input registers for...

Страница 66: ...ng to the different purposes these register are divided into three fields Normal CAN Message Field Specific CAN Message Field and Module Status Field The diagram of Input Register are shown below Figu...

Страница 67: ...address range of Normal CAN Message is 00000 01799 protocol addresses It is used to store the CAN message received from the CAN network One CAN message will occupy 9 byte address space in the Normal C...

Страница 68: ...le 00000 00036 00001 00037 37 RX CAN Message 001 00037 00049 00038 00074 37 RX CAN Message 002 07326 07362 07327 07363 37 RX CAN Message 199 07363 07399 07364 07400 37 RX CAN Message 200 The format of...

Страница 69: ...tes of CAN identifier Big endian 4 The data 1 and data 2 of CAN data field 5 The data 3 and data 4 of CAN data field 6 The data 5 and data 6 of CAN data field 7 The data 7 and data 8 of CAN data field...

Страница 70: ...AN baud rate configuration 01922 01923 01923 01924 2 Read user defined CAN baud rate configuration 01924 01925 1 CAN state register 01925 01926 1 CAN error counter 01926 01927 1 CAN UART overflow flag...

Страница 71: ...ration The current user defined baud rate setting of CAN bus Please refer to Table 4 8 for more information CAN state register Most significant byte Reserved Least significant byte register status Ple...

Страница 72: ...es and the range of this field is listed in following table Table5 4 1 Modbus address of Specific CAN Message field general CAN Protocol Address Base 0 PLC Address 3x Base 1 Word Count Description Dec...

Страница 73: ...970 08006 07971 08007 37 Specific RX CAN Message 011 Note1 11226 11262 11227 11263 37 Specific RX CAN Message 099 Note1 11263 11299 11264 11300 37 Specific RX CAN Message 100 Note1 Note1 1 After savin...

Страница 74: ...dress CAN FD Protocol Address Base 0 PLC Address 4x Base 1 Description Decimal rule 00000 00034 00001 00035 TX CAN Message 00256 00511 00257 00512 Configuration command 1 TX CAN Message Field The TX C...

Страница 75: ...significant two bytes of CAN Identifier Big endian 4 The data 1 and data 2 of CAN data field 5 The data 3 and data 4 of CAN data field 6 The data 5 and data 6 of CAN data field 7 The data 7 and data...

Страница 76: ...sfully setting the module will response a successful setting message and then reboots Request command Field Name Size Value Range Example Hexadecimal rule Node ID 1 byte 0x01 0xF7 0x01 Function Code 1...

Страница 77: ...te 0x01 0xF7 0x01 Function Code 1 byte 0x10 0x10 Start Address 2 bytes 0x0100 0x0100 Word Count 2 bytes 0x0002 0x0002 Byte Count 1 byte 0x04 0x04 Data 1 2 bytes 0x0002 Note1 0x0002 Data 2 2 bytes 0x00...

Страница 78: ...es 0x0002 0x000C Note2 0x000B 115200 bps Data 3 2 bytes 0x0000 0x0003 Note3 0x0000 8 Data 4 2 bytes 0x0000 0x0001 Note4 0x0001 1 Data 5 2 bytes 0x0000 0x0002 Note5 0x000 N Note1 This value is command...

Страница 79: ...rmation 0x0002 7 bits Data formation 0x0003 8 bits Data formation Note4 This value is Stop bit of RS 232 RS 422 RS 485 Stop bit Description Hexadecimal rule 0x0000 1 Stop bit 0x0001 2 Stop bits Note5...

Страница 80: ...tes 0x0100 0x0100 Word Count 2 bytes 0x0002 0x0002 Byte Count 1 byte 0x04 0x04 Data 1 2 bytes 0x0004 Note1 0x0004 Data 2 2 bytes 0x0000 0x0008 0x000F Note2 0x0008 1000kbps Note1 This value is command...

Страница 81: ...er s Manual Version 1 0 08 2022 81 Response command Field Name Size Value Range Response Example Hexadecimal rule Node ID 1 byte 0x01 0xF7 0x01 Function Code 1 byte 0x10 0x10 Start Address 2 bytes 0x0...

Страница 82: ...003 Byte Count 1 byte 0x06 0x06 Data 1 2 bytes 0x0005 Note1 0x0005 Data 2 2 bytes Note2 0x0001 Data 3 2 bytes Note2 0x4585 Note1 This value is command field Note2 This value is user defined CAN baud r...

Страница 83: ...verter User s Manual Version 1 0 08 2022 83 Field Name Size Value Range Response Example Hexadecimal rule Node ID 1 byte 0x01 0xF7 0x01 Function Code 1 byte 0x10 0x10 Start Address 2 bytes 0x0100 0x01...

Страница 84: ...the Normal CAN Message field refer to table 5 2 The start address of each command must be set to 0000hex and the data length field must be a multiple of 9 because one CAN message uses 9 address space...

Страница 85: ...MR FD Modbus RTU to CAN Converter User s Manual Version 1 0 08 2022 85 Example2 Use Modbus RTU command function code 04 hex to read two CAN messages Figure 5 4 Use the Modbus command to read two CAN...

Страница 86: ...ssage automatically which the CAN bus is idle There are two method for transmitting a CAN message via Modbus RTU command and this manual will illustrate them at next section 5 2 2 1 Using function Cod...

Страница 87: ...e transmitted CAN message The start address of the command is always 0000hex and the data length field must be set to 0007hex Example Use the Modbus RTU command function code 03 hex to read the transm...

Страница 88: ...address of the Modbus command is always 0000 hex Using function code 06hex to transmit a CAN message is divided into 8 steps Following this manual will use an example to illustrate how to transmit a C...

Страница 89: ...I 7530A MR FD Modbus RTU to CAN Converter User s Manual Version 1 0 08 2022 89...

Страница 90: ...7530A MR FD Modbus RTU to CAN Converter User s Manual Version 1 0 08 2022 90 Note Using function code 03hex to read a output CAN message is not allowed when you use this method to transmit a CAN messa...

Страница 91: ...is CAN message to the Specific CAN Message field Users can use the Modbus RTU command function code 04hex to directly read the CAN message from this field It is usually used to get the important CAN m...

Страница 92: ...five Modbus RTU commands function code 10hex of configuring module including reboot module reset CAN bus change RS 232 RS 422 RS 485 setting change CAN bus baud rate and change CAN bus user defined b...

Страница 93: ...Modbus RTU to CAN Converter User s Manual Version 1 0 08 2022 93 Example Using Modbus RTU command to change user defined CAN bus baud rate Figure 5 9 Using Modbus RTU command to change user defined C...

Страница 94: ...s 1 Illegal function The function code is not an allowable action for the I 7530A MR FD 2 Illegal Data Address The data address is not allowed for the I 7530A MR FD 3 Illegal Data Value The number of...

Страница 95: ...will describe in detail Table 6 1 Supported Modbus Function Codes Modbus command Function Code Function Name Description Modbus Read command 1 01 Hex Read Coil Status Read Coil Status from slave devi...

Страница 96: ...from CAN device One is called Read Memory Space and the other is called Write Memory Space Both of these two input output data spaces are maximum 2048 bytes 6 3 Configuration and Operation The utilit...

Страница 97: ...interface of the I 7530A MR FD Modbus Master configuration The operating interface is divided into three parts Modbus Read Configuration Modbus Write Configuration and Common Configuration 6 3 1 Modbu...

Страница 98: ...o configure and operate the Modbus Read Command Memory Usage This field indicates the usage of Read Memory Space As section 6 2 description the total memory size is 2048 The meaning of this field is c...

Страница 99: ...to access Function Code In this setting interface it supports the Modbus function code 0x01 0x02 0x03 and 0x04 Start Address High This field indicates the high byte of Modbus reference IO data address...

Страница 100: ...word count setting of the Modbus Read Command Delete When you want to delete a Modbus Read Command please click one of the Modbus Read Command from command list Then the Delete button will be enabled...

Страница 101: ...ed to CAN Bus by I 7530A MR FD Passively Response When you disable Passively Response all the Response CAN Messages will be actively replied to the CAN Bus with fixed time interval The fixed time can...

Страница 102: ...sed for setting response interval of CAN messages and its unit is millisecond When not using Passively Response CAN message method this function will be enabled CAN Configuration This field is used fo...

Страница 103: ...Memory Start Address This field indicates a start position of the Read Memory Space By using IO Data Byte Count and this field you can get a memory sector from the Read Memory Space which stores the I...

Страница 104: ...s button to delete a CAN configuration Clear Clear all CAN Configuration from the CAN Configuration List 6 3 2 Modbus Write Configuration This page is used for configuring the Modbus Write Command Aft...

Страница 105: ...age As section 6 2 description the total memory size is 2048 The meaning of this field is current usage total size which unit is byte CAN Configuration CAN Specification This field indicates this CAN...

Страница 106: ...ss Start Address Bit Word Count Bit Word Count CRC CRC Modbus write multiple Coil Registers format Node ID Function Code Start Address Start Address Bit Word Count Bit Word Count Byte Count IO Data CR...

Страница 107: ...lly be calculated by utility FD This field indicates whether to use FD format If FD is checked the maximum value of Word Count is 64 bytes Add Click this button to add a Modbus write command into Writ...

Страница 108: ...er User s Manual Version 1 0 08 2022 108 will be deleted Afterward the memory usage will be recalculated Clear Click this button will clear all Modbus write commands in Write Command List Afterward th...

Страница 109: ...maximum value of CAN ID is 0x1FFFFFFF Error Response CAN ID This field indicates the error message with this CAN ID will be transmitted when I 7530A MR FD detects an error The CAN response message fo...

Страница 110: ...erwise these data value are 0x00 Modbus Exception Modbus Exception Byte4 Byte5 Byte6 Byte7 Slave Node ID Exception Function Code Exception Code Reserved Function Code and Exception Function Code relat...

Страница 111: ...and will be sent Save Configuration This button is used to save Modbus Read Configuration Modbus Write Configuration and Common Configuration settings into the I 7530A MR FD After complete setup pleas...

Страница 112: ...se by the following errors CAN media connection problem terminal resistor problem different baud rate configuration with CAN network and so forth 2 How to set the user defined CAN baud rate If users w...

Страница 113: ...value is as small as possible 1 is the best 2 The Tseg2 value is as small as possible 1 is the best 3 The Tseg1 value is as large as possible According to the above four rules users can choose the pr...

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