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6 Parameter Table

- 71 -

Function

Code

Parameter Name

Setting Range

Unit

Default ET Pro CM

H05-15 Pulse input format

0: Pulse + direction, positive logic

1: Pulse + direction, negative logic

2: Phase A + phase B quadrature pulse,

4-frequency multiplication

3: CW + CCW

H05-16 Clear action

0: Clear position deviation when S-ON is

turned off or a fault occurs

1: Clear position deviation pulses when

S-ON is turned off or a fault occurs
2: Clear position deviation when S-ON is

turned off and the ClrPosErr signal is input

from DI

H05-17 Encoder frequency-

division pulses

35 to 32767

P/r

2500

H05-19 Speed feedforward

control selection

0: No speed feedforward

1: Internal

2: AI1

3: AI2

H05-20

Output condition of

positioning completed/

near signal (COIN)

0: Absolute value of position deviation is

smaller than setting of H05-21/H05-22

1: Absolute value of position deviation is

smaller than setting of H05-21/H05-22 and

position reference after filter is 0

2: Absolute value of position deviation is

smaller than setting of H05-21/H05-22 and

position reference before filter is 0

3: Absolute value of position deviation is

smaller than setting of H05-21/H05-22

and position reference is 0, positioning

completed/near signal holding time

determined by H05-60

Im Ru

H05-21

Position deviation

threshold of positioning

completed

1 to 65535

Enc/

Ref

734

Im Ru

H05-22

Position deviation

threshold of positioning

near

1 to 65535

Enc/

Ref

65535 Im Ru

H05-23

Position change on fly

0: Disabled
1: Enabled

H05-24 Displacement of position

change on fly

0 to 1073741824

Ref

10000

Im Ru

H05-26 Constant speed for

position change on fly

0 to 6000

RPM

200

Im Ru

H05-27

Acceleration/

Deceleration time of

position change on fly

0 to 1000

Im Ru

H05-29

Position change on fly

unlock

0: Disabled

1: Enabled

Im Ru

Содержание IS650P Series

Страница 1: ......

Страница 2: ...Circuit Terminals 16 2 3 2 Control Signal Terminal Connector CN1 17 2 3 3 Communication Signal Terminal Connectors CN3 CN4 19 2 3 4 Analog Monitoring Signal Terminal Connector CN5 20 2 4 Cables and O...

Страница 3: ...8 Gain Parameters 76 Group H09 Automatic Gain Tuning Parameters 77 Group H0A Fault and Protection Parameters 78 Group H0B Monitoring Parameters 79 Group H0C Communication Parameters 81 Group H0D Auxil...

Страница 4: ...ess system integrator System integrator designer must ensure the complete system is safe and designed according to the relevant safety standards Inovance Technology and Authorized Distributors can pro...

Страница 5: ...cation marks on the product nameplate indicate compliance with the corresponding certificates and standards Certification Mark Directives Standard CE EMC directives 2014 30 EU AC servo drive EN 61800...

Страница 6: ...Mark Incremental encoder U Mounting Method Mark I Substrate installation standard Rated output current Mark 32A 032 37A 037 25A 025 IS650 Servo drive Mark Series Product Type Mark P Pulse Mark Voltag...

Страница 7: ...d RPM Mark x 10000 E Example 15C 1500 RPM 20C 2000 RPM Note The standard motor model is U231 and other models need to be booked in advance Table 1 2 Specifications of servo motor Servo Motor Model Rat...

Страница 8: ...hree phase 380 VAC 1500 1800 7 9 G1 ISMG1 95C15CD U FA ISMG1 95C15CD A3 FA Force venti lation 200 IS650PT025IUX B G 20001 14020 2000 2400 10 5 ISMG1 12D20CD U FA ISMG1 12D20CD A3 FA IS650PT032IUX B G...

Страница 9: ...er power and smaller resistance Select the appropriate resistance and power based on actual conditions for details on how to make calculation contact Inovance The resistance and power must not be lowe...

Страница 10: ...hysical appearance and mounting dimensions of servo drive W A B H D W A B H1 D H a Plastic structure b Sheet metal structure Drive Model Mounting Hole mm Physical Dimensions mm Hole Diameter mm Weight...

Страница 11: ...etween BR and when bus capacitance is insufficient Servo motor main circuit cable prepared by user Servo motor encoder cable Servo drive control signal cable prepared by user Servo drive to PC communi...

Страница 12: ...ching the contactor on and off less than twice per 10 minutes nor use it to directly start the servo drive 2 2 Wiring in Different Modes The following are the notices for the wiring diagrams in three...

Страница 13: ...UT GND 44 29 Encoder phase Z open collector output GND COIN DO2 5 4 COIN DO2 S RDY DO1 7 6 S RDY DO1 ZERO DO3 3 2 ZERO DO3 ALM DO4 1 26 ALM DO4 HomeAttain DO5 28 27 HomeAttain DO5 State output 29 15 G...

Страница 14: ...meAttain DO5 State output 29 15 GND 5V GND 5V P OT DI1 24V COM 9 11 17 24 V power supply N OT DI2 10 INHIBIT DI3 34 ALM RST DI4 8 S ON DI5 33 ZCLAMP DI6 32 GAIN SEL DI7 31 HomeSwitch DI8 30 Not define...

Страница 15: ...11 17 24V power supply N OT DI2 10 INHIBIT DI3 34 ALM RST DI4 8 S ON DI5 33 ZCLAMP DI6 32 GAIN SEL DI7 31 HomeSwitch DI8 30 Not defined DI9 12 COM 14 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k 4...

Страница 16: ...ND DI8 DI7 DI6 DI5 DI3 PULLHI HPULSE SIGN HPULSE SIGN HSIGN PULSE HSIGN PULSE PZ OUT PZO DO5 24V 1 16 31 15 30 44 CN1 6 5V GND 9 PGA PGA PGB PGB 5 1 PS PS PGZ PGZ CN2 R S T U V W BR 6 7 8 COSLO EXC1 E...

Страница 17: ...er input BR Terminals for connecting external regenerative resistor Connect to external regenerative resistor Common DC bus terminal They are used for common DC bus connection when multiple servo driv...

Страница 18: ...2 23 24 25 26 27 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 13 28 17 CN1 AI1 AI2 GND PTC AI3 GND AO PTC CN6 CN7 CN8 Table 2 2 Pulse position reference input signals Signal Pin No Function Descrip...

Страница 19: ...General DO4 ALM 1 Fault output DO4 ALM 26 DO5 HomeAttain 28 Homing completed DO5 HomeAttain 27 AI AO Signals Signal Default Function Pin No Function Description CN6 PTC 1 Moto temperature protection P...

Страница 20: ...r in the closed loop position control system A differential or optocoupler circuit shall be used in the host controller to receive feedback signals The maximum output current is 20 mA 2 3 3 Communicat...

Страница 21: ...01 10 0 S6 C5 CN1 connector S6 C4 battery battery box size G H S6 C9 battery battery box size I CN2 connector 20 29 military spec elbow ISMG1 G2 A3 S6 L P21 3 0 S6 L P21 5 0 S6 L P21 10 0 S6 C6 CN5 co...

Страница 22: ...ole mounting bracket for SIZE G servo drive MD500 AZJ T6 Through hole mounting bracket for SIZE H servo drive MD500 AZJ T7 Through hole mounting bracket for SIZE I servo drive 2 4 2 Cable Connectors C...

Страница 23: ...on relation of IS650P series 20 bit encoder cables DB9 on Servo Drive Side Function Description Motor Side 9 pin 20 29 Military Spec Signal Pin No Pin No Pin No PS 1 Serial communication signal 3 A PS...

Страница 24: ...cable sizes Cable Size km Allowed Cable Length m 26AWG 0 13 mm2 143 10 0 25AWG 0 15 mm2 89 4 16 0 24AWG 0 21 mm2 79 6 18 0 23AWG 0 26 mm2 68 5 20 9 22AWG 0 32 mm2 54 3 26 4 Note If the cables of above...

Страница 25: ...ng and general functions operations When the keypad is used for parameter setting the functions of the keys are described as follows Table 3 1 Functions of keys on the keypad Key Name Function Descrip...

Страница 26: ...E MODE SET Motor static After you set H02 32 the keypad switches over the display automatically after motor rotation After the power is on the keypad enters the status display mode Press key MODE to s...

Страница 27: ...MODE UP DOWN MODE MODE SET SET SET MODE MODE Switch the display mode and return to the upper level menu UP DOWN Increase or decrease the value of the current blinking digit SHIFT Shifting the blinking...

Страница 28: ...display Start SET SET Note 1 If the last digit does not blink password protection is enabled If the last digit blinks password protection is disabled or the correct password has been entered When mod...

Страница 29: ...e 0 0 Pulse input 1 Step setting 2 Multi position reference H05 01 Pulse input terminal selection 0 0 Low speed terminals 1 High speed terminals H05 15 Pulse input format 0 0 Pulse direction positive...

Страница 30: ...mit in torque control 3000 H07 20 Negative speed limit 2nd speed limit in torque control 3000 Set DI if DI used H03 02 DI1 function selection 14 14 P OT Forward limit switch H03 03 DI1 logic selection...

Страница 31: ...18 DI9 function selection 0 0 No function H03 19 DI9 logic selection 0 Set AI1 if used as speed reference H03 80 Speed corresponding to 10 V 3000 0 to 6000 RPM H03 54 AI1 zero drift 0 H03 53 AI1 dead...

Страница 32: ...1 0 to 8 0 times of rated torque H03 59 AI2 zero drift 0 H03 58 AI2 dead zone 10 H03 56 AI2 filter time constant 10 Set DO if DO used H04 01 DO1 function selection 1 1 S RDY Servo ready H04 02 DO1 log...

Страница 33: ...ction 1 1 Speed reference H04 54 AO2 offset voltage 5000 H04 55 AO2 multiplying factor 1 Set pulse output if used H05 38 Servo pulse output source 0 0 or 1 0 Encoder frequency division output 1 Pulse...

Страница 34: ...fter the preceding causes are removed the operation panel should display rdy Set the S ON signal to ON The operation panel displays Er xxx Remove the fault Shaft of the servo motor is in free running...

Страница 35: ...valid When H05 00 2 multi position reference is main position reference source check whether parameters in group H11 are set correctly If yes check whether FunIN 28 PosInSen internal multi position en...

Страница 36: ...Startup Fault Symptom Cause Confirming Methods Connect control power L1C L2C and main power L1 L2 and R S T The LED display is not on or does not display rdy 1 Control power voltage is abnormal After...

Страница 37: ...ON If not allocate the function and set the corresponding DI to ON See group H03 in Chapter 7 for details on setting of input terminal parameters If a parameter in group H03 has been set for FunIN1 S...

Страница 38: ...AI sampling voltage in H0B 21 or H0B 22 2 When digital setting is used to set speed reference check whether H06 03 keypad setting value of speed reference is set correctly 3 When multi speed is used...

Страница 39: ...cation is smaller than 0 When jog speed reference is used to set speed reference check value of H06 04 jog speed setting value Then check whether effective logic of DI functions FunIN 18 JOGCMD forwar...

Страница 40: ...e is faulty The operation panel displays Er xxx Remove the fault After the preceding causes are removed the operation panel should display rdy Set the S ON to ON The operation panel displays Er xxx Re...

Страница 41: ...is set correctly Servo motor rotates in reverse direction Internal torque reference H0B 02 is negative 1 When AI is selected to input torque reference check whether polarity of external voltage input...

Страница 42: ...e the parameters again 3 The times of parameter writing within a certain period exceeds the limit Check whether parameter update is performed frequently from the host controller Change parameter writi...

Страница 43: ...ive SN does not exist View servo drive and servo motor nameplates to check that the equipment you are using is IS650P series servo drive and 20 bit servo motor U2 of Inovance Meanwhile check whether H...

Страница 44: ...novance Replace matched servo drive and servo motor and power on the system again If you use IS650P series servo drive and 20 bit servo motor U2 of Inovance ensure that H00 00 14000 2 A parameter chec...

Страница 45: ...ure insulation resistance between UVW of servo drive and ground cable PE and check whether insulation resistance is M level Replace motor if insulation is poor 5 Motor UVW cables are short circuited D...

Страница 46: ...4 High accuracy AD conversion times out Internal fault code H0B 45 4208 Interference exists in high accuracy AI channel Check AI wiring according to correct wiring diagram Use shielded twisted pair c...

Страница 47: ...er H0B 10 electric angle changes as motor rotates Re weld fasten or replace encoder cable 5 When controlling a vertical shaft gravity load is too large Check whether load of vertical shaft is too larg...

Страница 48: ...t Measure resistance of the external regenerative resistor between P and C Compare the measured value with the recommended value Connect a new external regenerative resistor of recommended resistance...

Страница 49: ...s within the following specification 220V drive H0B 26 200 V 380 V drive H0B 26 380 V The fault persists after main circuit is powered on several times Replace the servo drive Er 420 Power cable phase...

Страница 50: ...speed level is smaller actual maximum motor speed Overspeed level 1 2 times of maximum motor speed H0A 08 0 Overspeed level H0A 08 H0A 08 0 and H0A 08 1 2 times of maximum motor speed Reset overspeed...

Страница 51: ...In this case if you do not modify electronic gear ratio motor speed will slow down If input pulse frequency is very high but is still within frequency upper limit allowed by hardware take anti interf...

Страница 52: ...high rigidity Observe whether motor vibrates and generates noise during running Adjust the gain 5 The servo drive or motor model is set incorrectly For IS650P series products view serial encoder moto...

Страница 53: ...ed is 0 Eliminate mechanical factors Er 650 Heatsink overheat Cause Confirming Methods Corrective Action 1 Ambient temperature is too high Measure ambient temperature Improve cooling conditions to red...

Страница 54: ...corresponds to five 0 360 for Z series motor For X series motor turning one circle corresponds to four 0 360 If H0B 10 changes abnormally during rotation it indicates that a fault occurs on encoder I...

Страница 55: ...l Cause Confirming Methods Corrective Action 1 Servo drive model and servo motor model do not match View servo drive and servo motor nameplates to check that the equipment you are using is IS650P seri...

Страница 56: ...1st gain H08 00 to H08 02 2nd gain H08 03 to H08 05 Adjust gain manually or perform automatic gain auto tuning according to Chapter 6 in the IS650P User Manual 5 Input pulse frequency is high Check wh...

Страница 57: ...drive reliably Finally according to selected hardware input terminal increase pin filter time of pulse input terminal in H0A 24 or H0A 30 Er B02 Position deviation being too large in full closed loop...

Страница 58: ...io setting exceeding limit Cause Confirming Methods Corrective Action Electronic gear ratio setting exceeds preceding limit If H05 02 0 check the ratios of H05 07 H05 09 and H05 11 H05 13 If H05 02 0...

Страница 59: ...roubleshooting of Warnings Er 110 Setting error of frequency division pulse output Cause Confirming Methods Corrective Action The number of frequency division pulses of encoder does not conform to the...

Страница 60: ...EmergencyStop is triggered Check whether logic of DI set for FunIN 34 EmergencyStop is valid Check the running mode and clear DI braking valid signal on the prerequisite of ensuring safety Er 909 Moto...

Страница 61: ...or is Measure whether resistance between P and C is Replace a new external regenerative resistor and measure its resistance If the resistance is consistent with nominal value connect it between P and...

Страница 62: ...celeration status for a long period 9 Capacity of servo drive or regenerative resistor is insufficient View single cycle speed curve of motor and calculate whether maximum braking energy can be absorb...

Страница 63: ...r rotate motor on the prerequisite of ensuring safety to make logic of the forward overshoot switch terminal invalid Er 952 Reverse limit switch warning Cause Confirming Methods Corrective Action Logi...

Страница 64: ...ess is allocated repeatedly Allocate servo shaft address of salves and ensure that allocation of H0C 00 is not repeated 5 2 3 Internal Faults When any of the following fault occurs contact Inovance fo...

Страница 65: ...it absolute encoder motor 14000 Po St ALL H00 02 Customized firmware version Dp H00 04 Encoder version Dp H00 05 Serial encoder motor SN Dp H00 09 Rated voltage 0 220 1 380 V Po St H00 10 Rated power...

Страница 66: ...ontrol mode selection 0 Speed mode 1 Position mode 2 Torque mode 3 Torque mode Speed mode 4 Speed mode Position mode 5 Torque mode Position mode 6 Torque mode Speed mode Position mode 1 Im St H02 01 A...

Страница 67: ...utput warning information 0 Im St PST H02 18 Filter time of S ON signal 0 to 64 ms 0 Im St PST H02 21 Permissible minimum resistance of regenerative resistor Dp PST H02 22 Power of built in regenerati...

Страница 68: ...unction selection 0 to 37 15 St Ru H03 05 DI2 logic selection Input polarity 0 to 4 0 Low level valid 1 High level valid 2 Rising edge valid 3 Falling edge valid 4 Rising edge and falling edge both va...

Страница 69: ...u H03 19 DI9 logic selection Input polarity 0 to 4 0 Low level valid 1 High level valid 2 Rising edge valid 3 Falling edge valid 4 Rising edge and falling edge both valid 0 St Ru H03 34 DI function ac...

Страница 70: ...o 22 11 St Ru H04 07 DO4 logic selection 0 Output low level when valid optocoupler ON 1 Output high level when valid optocoupler OFF 0 St Ru H04 08 DO5 function selection 0 to 22 16 St Ru H04 09 DO5 l...

Страница 71: ...n Control Parameters Function Code Parameter Name Setting Range Unit Default ET Pro CM H05 00 Position reference source 0 Pulse input 1 Step setting 2 Multi position reference 0 Im St P H05 01 Pulse i...

Страница 72: ...than setting of H05 21 H05 22 1 Absolute value of position deviation is smaller than setting of H05 21 H05 22 and position reference after filter is 0 2 Absolute value of position deviation is smalle...

Страница 73: ...nd home being forward limit switch signal 7 Reverse direction deceleration point and home being reverse limit switch signal 8 Forward direction deceleration point being forward limit switch signal and...

Страница 74: ...olarity of Z pulse 0 Positive high level when pulse Z is valid 1 Negative low level when pulse Z is valid 1 Po St P H05 46 Position offset in absolute position linear mode low 32 bits 2147483648 to 21...

Страница 75: ...celeration ramp time constant of speed reference 0 to 65535 ms 0 Im Ru S H06 07 Maximum speed limit 0 to 6000 RPM 6000 Im Ru S H06 08 Positive speed limit 0 to 6000 RPM 6000 Im Ru S H06 09 Reverse spe...

Страница 76: ...ernal positive negative torque limit and T LMT torque limit via P CL N CL 0 Im St PST H07 08 T LMT selection 1 AI1 2 AI2 2 Im St PST H07 09 Internal positive torque limit 0 0 to 300 0 300 0 Im Ru PST...

Страница 77: ...peed reference change rate being large PS 5 Speed reference high speed low speed thresholds PS 6 Position deviation being large P 7 Position reference available P 8 Positioning completed P 9 Motor spe...

Страница 78: ...time 2 Both notches 3rd and 4th notches valid parameters updated in real time 3 Only detect resonance frequency displayed in H09 24 4 Clear 3rd and 4th notches restore parameters to default setting 0...

Страница 79: ...0 0 0 0 Im Ru PS H09 31 Time constant of torque disturbance observer filter 0 00 to 25 00 ms 0 50 Im Ru PS H09 38 Frequency of low frequency resonance 1 0 to 100 0 Hz 100 0 Im Ru P H09 39 Filter setti...

Страница 80: ...Po St P H0A 32 Time threshold for locked rotor over temperature protection 10 to 65535 ms 200 Im Ru H0A 33 Locked rotor over temperature protection 0 Shield detection Er 630 1 Enable detection Er 630...

Страница 81: ...upon displayed fault s Dp PST H0B 37 Motor speed upon displayed fault RPM Dp PST H0B 38 Motor phase U current upon displayed fault A Dp PST H0B 39 Motor phase V current upon displayed fault A Dp PST...

Страница 82: ...VDO 0 Disabled 1 Enabled 0 Im St PST H0C 12 Default level of VDO allocated with function 0 Bit0 VDO1 default value Bit15 VDO16 default value 0 Im St PST H0C 13 Update function code values written via...

Страница 83: ...forced DI disabled 3 Forced DI and DO enabled 0 Im Ru H0D 18 Forced DI level 0 to 0x01FF 0x01 FF Im Ru H0D 19 Forced DO setting 0 to 0x001F 0 Im Ru H0D 20 Absolute encoder reset function 0 Disabled 1...

Страница 84: ...distance 1 Start running again from 1st position 0 Im St P H11 03 Time unit 0 ms 1 s 0 Im St P H11 04 Displacement reference type 0 Relative displacement reference 1 Absolute displacement reference 0...

Страница 85: ...aximum running speed of 6th displacement 1 to 6000 RPM 200 Im Ru P H11 40 Acceleration Deceleration time of 6th displacement 0 to 65535 ms s 10 Im Ru P H11 41 Waiting time after 6th displacement 0 to...

Страница 86: ...P H11 71 Waiting time after 12th displacement 0 to 10000 ms s 10 Im Ru P H11 72 13th displacement 1073741824 to 1073741824 Ref 10000 Im Ru P H11 74 Maximum running speed of 13th displacement 1 to 6000...

Страница 87: ...H12 20 1st speed reference 6000 to 6000 RPM 0 Im St S H12 21 Running time of 1st speed reference 0 to 6553 5 s min 5 0 Im St S H12 22 Acceleration deceleration time of 1st speed reference 0 No acceler...

Страница 88: ...ime 3 4 Acceleration Deceleration time 4 0 Im St S H12 38 7th speed reference 6000 to 6000 RPM 600 Im St S H12 39 Running time of 7th speed reference 0 to 6553 5 s min 5 0 Im St S H12 40 Acceleration...

Страница 89: ...e 4 0 Im St S H12 56 13th speed reference 6000 to 6000 RPM 700 Im St S H12 57 Running time of 13th speed reference 0 to 6553 5 s min 5 0 Im St S H12 58 Acceleration deceleration time of 13th speed ref...

Страница 90: ...0 Valid when logic is 1 1 Valid when logic changes from 0 to 1 0 St Ru H17 08 VDI5 function selection 0 to 37 0 St Ru H17 09 VDI5 logic selection 0 Valid when logic is 1 1 Valid when logic changes fro...

Страница 91: ...Output 1 when function valid 1 Output 0 when function valid 0 St Ru H17 37 VDO3 function selection 0 to 22 0 St Ru H17 38 VDO3 logic selection 0 Output 1 when function valid 1 Output 0 when function v...

Страница 92: ...d 1 Output 0 when function valid 0 St Ru H17 63 VDO16 function selection 0 to 22 0 St Ru H17 64 VDO16 logic selection 0 Output 1 when function valid 1 Output 0 when function valid 0 St Ru Group H30 Se...

Страница 93: ...e fault reset function becomes invalid Do not allocate this function to high speed DI Otherwise fault warning reset will be invalid FunIN 3 GAIN SEL Gain switchover H08 09 1 Invalid Speed control loop...

Страница 94: ...ontrol based on the selected control mode H02 00 6 It is recommended that the logic of the corresponding terminal be set to level valid FunIN 12 ZCLAMP Zero speed clamp Valid Zero speed clamp enabled...

Страница 95: ...abled Invalid Internal negative torque limit enabled H07 07 3 and AI limit larger than external negative limit Valid External negative torque limit enabled Invalid AI torque limit enabled H07 07 4 Val...

Страница 96: ...d FunIN 26 SPDDirSel Speed reference direction selection Valid Forward direction Invalid Reverse direction It is recommended that the logic of the corresponding terminal be set to level valid FunIN 27...

Страница 97: ...lid Position change on fly permitted The logic of the corresponding terminal needs to be set to level valid If the logic is set to 2 rising edge valid the servo drive forcibly changes it to 1 high lev...

Страница 98: ...bsolute value after filter equal to or larger than H06 16 FunOUT 3 ZERO Zero speed signal Invalid The absolute deviation between the motor speed feedback and the speed reference is larger than the set...

Страница 99: ...utput FunOUT 13 ALMO2 3 digit fault code output A 3 digit fault code is output FunOUT 14 ALMO3 3 digit fault code output A 3 digit fault code is output FunOUT 15 Xintcoin Position change on fly comple...

Страница 100: ...tuning output Valid Angle auto tuning com pleted Invalid Angle auto tuning not completed FunOUT 21 DB DB braking output Valid Dynamic braking relay open Invalid Dynamic braking relay close FunOUT 22 C...

Страница 101: ...100 Revision History Date Version Change Description March 2017 A00 First issue...

Страница 102: ......

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