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102

Description

Relative move command.

Syntax

Remarks

This command is used to move an axis by a desired relative distance. If this command is issued

when an axis’ motion is in progress, the controller will ignore this command and generate

“MOTION IN PROGRESS” error message.

While operating in closed-loop mode, the Model 8743-CL will respond to motion command

displacements based upon increments of the closed-loop Picomotor positioner’s internal optical

encoder, rather than by actual Picomotor steps. The controller will automatically determine the

appropriate number of Picomotor steps needed to accomplish the target encoder counts based

displacement.

NOTE: If positioning Units are set to ‘Steps’ (SN=0) then displacements will be in terms

of Picomotor steps whereas if Units are set to ‘Counts’ then displacements will

be in terms of closed-loop Picomotor positioner encoder counts. (See SN

command)

Issue a Stop (ST) or Abort (AB) motion command to terminate motion initiated by PR

Argument

Value

Description

1 to 2

Axis number

Integer

Relative distance (steps). Default = 0 steps. Valid values

between

-2147483648

and

+2147483647

Example

1PR-200000

(Move motor 1 relative negative 200000 steps)

See Also

MV, PA, SN

Содержание New Focus Picomotor 8743-CL

Страница 1: ...Picomotor Controller Driver User s Manual Model 8743 CL...

Страница 2: ...induced by Radio Frequency Fields Immunity Test IEC 61000 4 8 2009 EMC Power Frequency Magnetic Field Immunity Test IEC 61000 4 11 2004 AMD 1 2017 EMC Voltage Dips Short Interruptions and Variations...

Страница 3: ...s induced by Radio Frequency Fields Immunity Test IEC 61000 4 8 2009 EMC Power Frequency Magnetic Field Immunity Test IEC 61000 4 11 2004 AMD 1 2017 EMC Voltage Dips Short Interruptions and Variations...

Страница 4: ...do not apply to products which have been repaired or modified without New Focus s written approval or products subjected to unusual physical thermal or electrical stress improper installation misuse a...

Страница 5: ...w Focus Customer shall not at any time disclose New Focus s trade secrets to any other person firm organization or employee that does not need consistent with Customer s right of use hereunder to obta...

Страница 6: ...the product to Newport Corporation freight prepaid clearly marked with the RMA and we will either repair or replace it at our discretion Newport is not responsible for damage occurring in transit and...

Страница 7: ...lternating voltage symbol 14 1 1 6 On 14 1 1 7 Off 14 1 1 8 Ground 15 1 1 9 DC Symbol 15 1 1 10 Waste Electrical and Electronic Equipment WEEE 15 1 1 11 Control of Hazardous Substances 16 1 2 Warnings...

Страница 8: ...icomotor Interfaces 34 3 7 Mounting the unit 34 4 Initial Setup 35 4 1 Introduction 35 4 2 Grounding 35 4 3 Power 35 4 4 Connecting 8743 CL to a Computer via USB 35 4 5 Connecting 8743 CL to a Compute...

Страница 9: ...ion 56 5 6 2 Overview 57 5 6 3 Homing Methods 61 5 6 4 Quasi absolute Encoder Setup 68 5 6 5 Find Absolute Position 69 5 6 6 Embedded Dynamic HTTP Server 71 5 7 LabVIEWTM and C Programming Support 72...

Страница 10: ...x Preface...

Страница 11: ...ack up several Controllers 39 Multiple Units Stacking Interconnection 40 Connecting four units to a computer via a USB hub 41 Connecting three units to a computer via an Ethernet router 42 Connecting...

Страница 12: ...xii Preface Device Address Window 70 Internet Browser View 71 Command Syntax Diagram 73...

Страница 13: ...consulted to determine the nature of a potential hazard and any actions that have to be taken 1 1 2 Electric Shock Electrical Shock Symbol The Electrical Shock Symbol in the figure above appears throu...

Страница 14: ...ingdom Conformity Assessed UKCA Mark on New Focus equipment means that this instrument has been designed tested and certified compliant to all applicable United Kingdom UK regulations and recommendati...

Страница 15: ...tage 1 1 11 Waste Electrical and Electronic Equipment WEEE WEEE Directive Symbol This symbol on the product or on its packaging indicates that this product must not be disposed with regular waste Inst...

Страница 16: ...workplace safety regulations Specific attention should be directed to the description of safety grounding concerns described in Section 1 4 below The following are definitions of the Warnings Caution...

Страница 17: ...CL Do not position the external power supply so that its MAINS power cord cannot be easily disconnected Disconnect power before cleaning the equipment Do not use liquid or aerosol cleaners use only a...

Страница 18: ...regulatory requirements are met THIS IS THE USER S RESPONSIBILITY WARNING Do not attempt to operate this equipment if there is evidence of shipping damage or you suspect the unit is damaged Damaged e...

Страница 19: ...his instrument is intended for use by qualified personnel who recognize thermal shock or laser hazards and are familiar with safety precautions required to avoid possible injury Read the instruction m...

Страница 20: ...riate action when operating the Model 8743 CL under these conditions can result in severe injury The Model 8743 CL Picomotor Controller Driver is intended for use in an industrial laboratory environme...

Страница 21: ...3 Location of Labels and Warnings Labels and Warnings CE Mark Power Supply Voltage and Current Serial Number and WEEE Symbol Chassis Ground Identification High Voltage Warning Symbol Model Number App...

Страница 22: ...h ground New Focus recommends doing so because it will simplify system level compliance with most regulatory requirements Once this connection is made the user must ensure that all other system compon...

Страница 23: ...ng etc Key Product Features A number of advanced features make the 8743 CL an excellent choice for many applications Intelligent 2 axis closed loop control Compact integrated controller and driver des...

Страница 24: ...physical damage that might have occurred during shipment Report any such damage to the shipping agent immediately NOTE Retain the original packing materials in case reshipment becomes necessary 2 3 1...

Страница 25: ...on one or more motor channels the case temperature may rise above what is considered safe under various international safety conventions Even after extreme use the unit s case temperature will drop to...

Страница 26: ...umption 12 Volts 2 Watts Idle 11 Watts 2 kHz speed Ambient still air operating temperature 0 C 65 C Storage temperature non operating 40 C 95 C Relative Humidity operating non condensing 10 90 Altitud...

Страница 27: ...27 2 6 2 Weight Dimensions Weight 9 5 oz 270 g Dimensions L x W x H 5 84 in x 3 61 in x 1 02 in 148 3 mm x 91 7 mm x 25 9 mm Dimensional Outline Drawing...

Страница 28: ...emains motionless holding its position Simply reversing the order of the fast and slow signals reverses the direction of rotation 3 2 Stepping the Picomotor with the 8743 CL Controller Driver Although...

Страница 29: ...he target COUNTS displacement Closed loop correction takes affect only during position regulation holding position as opposed to while moving Furthermore the positioning units must be in Counts see SN...

Страница 30: ...d the LED will blink or turn on a color corresponding to the issue found Please refer to the following table and contact New Focus support if this happens CONDITION LED STATE No power applied to unit...

Страница 31: ...2 5 A fuse will then open The TVS will also shunt the power input to ground if an internal fault shorts any high voltage to the power input The input fuse will also open if the input power voltage is...

Страница 32: ...the 8743 CL input and output connections Communication Interfaces USB Ethernet RS 485 2 Power Inputs 12VDC 2 Picomotor Interfaces 4 The following figure shows the position of the inputs and outputs a...

Страница 33: ...S 485 connectors that accept standard 3 5mm stereo plugs The two connectors are connected in parallel inside the Model 8743 CL The wiring convention is TIP D RING D SLEEVE GND These connections are us...

Страница 34: ...s The modular RJ 22 connectors on the 8743 CL provide the drive voltages to both types Closed Loop Picomotors have an additional High Density DB 15 connector that provides the required feedback signal...

Страница 35: ...the external power supply to AC and connect the power barrel plug into one of the 8743 CL power inputs If more than one unit needs to be connected to the same power supply use the power link cable to...

Страница 36: ...puter will also receive a local IP address The IP address normally will be in the range of 192 168 1 1 to 192 168 255 255 Check your router settings to verify the IP address pool As soon as both units...

Страница 37: ...otor Connectors Each Model 8743 CL controller driver can control one of two 4 pin RJ 22 single output ports for use with any single channel Picomotor actuator at any given time RJ 22 motor connector p...

Страница 38: ...ve or hold the position to which it was last commanded DB 15HD Feedback connector pinouts are as follows Pin 1 5V Power Pin 2 Positive Forward Limit Pin 3 Negative Reverse Limit Pin 4 Encoder Phase A...

Страница 39: ...ing Multiple Units to a Computer The L bracket Figure 19 is an optional accessory to stack up several 8743 CL or 8742 units The stack is shown in Figure 20 L bracket Using L brackets to stack up sever...

Страница 40: ...40 Multiple Units Stacking Interconnection Multiple Units Stacking Interconnection 8742 controllers shown...

Страница 41: ...nected to a USB hub Connect the hub to a computer and launch the Picomotor Application provided on the USB Flash Drive The application will automatically discover and display the 8743 CL units and mak...

Страница 42: ...AN Local Area Network ports The router will assign an IP address to each 8743 CL Controller Driver Connect a computer to the same router at one LAN port Use the Picomotor Application provided on the U...

Страница 43: ...ain configuration of devices a STAR configuration is not supported A nominally 100 ohm resistance is applied between the D and D wires at each end of the bus but not at the units in the middle of the...

Страница 44: ...ectivity However the Picomotor Windows application and software support will not detect the controller s presence in this configuration and therefore user developed software will be required to make i...

Страница 45: ...does not require a separate power supply IMPORTANT 8743 CL controller must run firmware version 2 2 or later to be compatible with the 8758 Hand control pad NOTE Read the 8758 User s Manual completel...

Страница 46: ...ontrollers on behalf of the 8758 hand control pad or PC To avoid RS 485 LAN message conflicts only one 1 network Master is allowed Therefore only the 8758 designated LAN Master Controller is permitted...

Страница 47: ...Computer Interface Terminology Key abbreviations and concepts used in the command reference section of this manual are listed below CR Carriage Return The ASCII decimal 13 byte LF Line Feed An ASCII d...

Страница 48: ...ller to your Ethernet router install and run the Picomotor application software that came with the product After a few seconds mostly depending on network TCP IP negotiation with router and or compute...

Страница 49: ...ervers There should be exactly one DHCP server on the network The non DHCP server devices will ignore the message the only DHCP server on the network will respond to the 8743 CL with a use IP address...

Страница 50: ...he future 2 Set the picomotor controller to use static IP addressing by sending the IPMODE 0 command 3 Set the 8743 CL controller s static IP address to the reserved value by sending IPADDR xx xx xx x...

Страница 51: ...1 123 5 Send NETMASK 255 255 255 0 This will allow for 256 IP addresses 6 Set the static IP address by sending IPADDR 192 168 1 150 where the first two octets match those of the IPv4 Address or the h...

Страница 52: ...unicating Using a Hostname The hostname HOSTNAME command is used to set the controller s hostname A hostname is a label or nickname assigned to a device connected to a computer network and is used to...

Страница 53: ...addressed to it or if the command is addressed to one of the slave controllers If the command is addressed to it it processes the command and sends any responses back to the host PC On the other hand...

Страница 54: ...t address of a controller is 1 users must change the addresses of the controllers to unique values There are two 2 ways manual and automatic in which unique addresses can be assigned to all the contro...

Страница 55: ...dress prefix added to the command For example to query the motion status of motor 2 on a slave controller with address 3 the host PC must send 3 2MD command to the master controller via Ethernet or US...

Страница 56: ...tware and drivers then it is recommended that you uninstall it first before installing new software Before connecting the instrument to a host PC using a standard Micro B to USB A cable the user shoul...

Страница 57: ...pplication and controller generated messages are shown e g error messages status Additionally at the very bottom of the application is a connection status indicator which lets the user know when the a...

Страница 58: ...ory The OK buttons does the same action as Apply plus it then closes the Setup window Jog Tab NOTE The Closed Loop button will toggle between Enable Closed Loop and Disable Closed Loop functions depen...

Страница 59: ...59 Cycle Tab Cycle Motion...

Страница 60: ...60 Terminal Tab Command Line Terminal...

Страница 61: ...d Travel Limit Which methods can be used depends primarily on what compatible signals are made available on your Picomotor positioners i e Home signal Index signal and or Limit signal In general the H...

Страница 62: ...o be repeatable to within 4 encoder counts e g 8410 rotary stage The Index signal is a momentary pulse captured during motion Unlike with Find Home the Find Index function requires that the user tell...

Страница 63: ...standard open loop Picomotor positioner 1 set Units option to Steps and 2 disable uncheck Enable Travel Limit Checking NOTE The Travel Limit Checking feature should be disabled when controlling the 8...

Страница 64: ...64 Options Window Connection Options Setup...

Страница 65: ...65 Properties Window USB and Ethernet Properties...

Страница 66: ...66 Controller Scan Scan RS 485 LAN...

Страница 67: ...67 Address Conflict Resolution Window Address Conflict Resolution...

Страница 68: ...e controller for use with a positioner that has Quasi absolute Encoder select Quasi absolute Encoder under Setup menu The application will open a dialog box as shown in picture below Make desired chan...

Страница 69: ...etects that a positioner with Quasi absolute encoder is present the Home tab will be modified as shown in picture below The move to travel limit and index buttons are disabled Users can click on the F...

Страница 70: ...70 Device Address Window...

Страница 71: ...n be gotten from the Ethernet Properties view in the Windows Application see previous page Enter the IP address in the browser s address bar and this will take you to the controller s HTTP server page...

Страница 72: ...Files New Focus Picomotor Application Docs Additionally sample code is found in the Samples folder Typically installed in the following folder C Program Files New Focus Picomotor Application Samples 5...

Страница 73: ...example 3PA10 is a valid command If a command does not require parameter xx and or parameter nn that field may be skipped by leaving a blank character space For example 1DH and VE are valid commands...

Страница 74: ...ends a response back to host PC it too will have a slave controller address prefix This is used to inform the host that the response came from a slave controller with that address For example the resp...

Страница 75: ...equivalent 2 PA 1000 2PA1000 COMMAND LINE Commands are executed line by line A line can consist of one or a number of commands The controller will interpret the commands in the order they are receive...

Страница 76: ...acceleration AC Get acceleration AD Set absolute position search mode AD Get absolute position search mode AE Set absolute encoder parameters AE Get absolute encoder parameters AF Start absolute posit...

Страница 77: ...Reset the controller SA Set controller address SA Get controller address SC Scan RS 485 network SC Get RS 485 network controller addresses SD Get scan status SM Save to non volatile memory SL Set neg...

Страница 78: ...tname query IPADDR IP address IPADDR IP address query IPMODE IP mode IPMODE IP mode query MACADDR MAC address query NETMASK Network mask address NETMASK Network mask address query CLOSED LOOP RELATED...

Страница 79: ...configuration HOMING RELATED COMMANDS Command Description Command executed when motion is in progress MT Find travel limit position MZ Find index position OR Find home position PH Get hardware status...

Страница 80: ...es more information In response to this command the controller replies with company name product model name firmware version number firmware build date and controller serial number No two controllers...

Страница 81: ...IPADDRESS command 4 Subnet mask address see NETMASK command 5 Gateway address see GATEWAY command 6 Configuration register see ZZ command 7 Motor type see QM command 8 Desired Velocity see VA command...

Страница 82: ...izes Ethernet communication may be significantly delayed 30 seconds in reconnecting depending on connection mode Peer to peer static or dynamic IP mode as the PC and controller are negotiating TCP IP...

Страница 83: ...r subsequent moves only Argument Value Description xx 1 to 2 Axis number nn 1 to 200000 Acceleration steps sec2 Default 100000 steps sec2 Example 2AC150000 set acceleration to 150 000 steps sec2 See A...

Страница 84: ...bsolute zero position Example 1ZH12 Tells controller that a stage positioner with quasi absolute encoder is present on axis 1 and software travel limit checking should be enabled 1SN1 Sets the displac...

Страница 85: ...aximum number of index marks Example 1ZH12 Tells controller that a stage positioner with quasi absolute encoder is present on axis 1 and software travel limit checking should be enabled 1SN1 Sets the...

Страница 86: ...le 1ZH12 Tells controller that a stage positioner with quasi absolute encoder is connected on axis 1 and software travel limit checking should be enabled 1SN1 Sets the displacement units to encoder co...

Страница 87: ...unts see SN command and closed loop mode enabled see MM command for CL command setting to take effect Argument Value Description xx 1 to 2 Axis number nn 0 1 to 100000 Update interval sec Default 0 1...

Страница 88: ...ts must be in Counts see SN command and closed loop positioning must be enabled see MM command for DB command to take effect NOTE An error will be generated if the controller makes more than 100 conse...

Страница 89: ...emarks This command is used to query the deadband value for an axis Argument Value Description xx 1 to 2 Axis number Response Value Description Value Integer Deadband units Example 2DB get deadband se...

Страница 90: ...oint for moves Argument Value Description xx 1 to 2 Axis number nn Integer Home position steps Default 0 steps Valid values between 2147483648 and 2147483647 Example 1DH set motor 1 counter to 0 2DH10...

Страница 91: ...and the controller will automatically disable closed loop positioning see MM command Also the positioning units must be set to Counts in order for following error tracking and closed loop correction t...

Страница 92: ...utomatically reduced to 1750 if previously set above 1750 To accomplish this task the controller commands each axis to make a one step move in the negative direction followed by a similar step in the...

Страница 93: ...and to that motor That is because for example although motor 1 move is done 1MD 0 it still would not be available for a new move command if say motor 2 is moving 2MD 1 The MD command can be used to mo...

Страница 94: ...FE command Argument Value Description xx 1 to 2 Axis number nn 0 Disable closed loop positioning Default 0 1 Enable closed loop positioning Example 2SN1 set units to Counts encoder monitoring 2FE1000...

Страница 95: ...negative to find so the controller can move in that direction The MT motion status can be monitored using the Motion Done MD command NOTE The controller will NOT stop motion until it finds the travel...

Страница 96: ...axis to its nearest Index in positive or negative direction The controller will automatically stop the axis after crossing the index If this command is issued when an axis motion is in progress the c...

Страница 97: ...direction 2MD monitor move done status 2DH when move done zero the counter at index position OF Description Query absolute position found following a reset Syntax xxOF Remarks This command is used to...

Страница 98: ...hold final position It is not unusual for a Find Home function to be repeatable to within 20 encoder counts e g 8410 V positioner Issue the Define Home DH command after OR completed to make Home posit...

Страница 99: ...tion command displacements based upon increments of the closed loop Picomotor positioner s internal optical encoder rather than by actual Picomotor steps The controller will automatically determine th...

Страница 100: ...mand is used to query the target position of an axis Argument Value Description xx 1 to 2 Axis number Response Value Description nn Integer Target position steps Example 2PA Get motor 2 target positio...

Страница 101: ...o the positive travel limit and a logical Low from the negative travel limit to the positioner middle The controller treats the signal differently as either Home or Index type depending on whether the...

Страница 102: ...ps The controller will automatically determine the appropriate number of Picomotor steps needed to accomplish the target encoder counts based displacement NOTE If positioning Units are set to Steps SN...

Страница 103: ...termine what motors if any are connected Note that for motor type Tiny velocity should not exceed 1750 step sec To save the setting to non volatile memory issue the Save SM command Note that the contr...

Страница 104: ...2 Axis number Response Value Description nn Integer Motor type Example 1QM Get motor 1 motor type setting 0 Return 0 no motor connected See Also QM CM ZZ RS Description Reset command Syntax RS Remark...

Страница 105: ...troller address is 1 Argument Value Description nn Integer Controller address Default 1 Valid values between 1 and 31 Example SA5 set controller address to 5 SM save new address in controller s memory...

Страница 106: ...e are unique controllers at addresses 1 2 and 7 and more than one controller at address 23 this option will reassign only the controllers with address conflict at 23 the controllers with addresses 1 2...

Страница 107: ...etwork 31 1 There is a controller with address 31 on the network Bits 1 31 are one to one mapped to controller addresses 1 31 The bit value is set to 1 only when there are no conflicts with that addre...

Страница 108: ...itive software travel limit This value can be saved in controller s non volatile memory by issuing SM command If define home DH command is issued after this command is issued the controller will adjus...

Страница 109: ...ntax SM Remarks This command saves the controller settings in its non volatile memory The controller restores or reloads these settings to working registers automatically after controller reset or it...

Страница 110: ...Picomotor positioner and those signals are brought to the controller s feedback connector then it is possible to monitor real position using encoder Counts The use of Counts as positioning units makes...

Страница 111: ...the negative software travel limit This value can be saved in controller s non volatile memory by issuing SM command If define home DH command is issued after this command is issued the controller wi...

Страница 112: ...Example 1SR get positive software travel limit 8190 reply 8190 encoder counts See Also AD AE AE AF AF ZH ZH ST Description Stop motion command Syntax xxST Remarks This command is used to stop the mot...

Страница 113: ...on of the error associated with it All arguments are separated by commas Note Errors are maintained in a FIFO buffer ten 10 elements deep When an error is read using TB or TE the controller returns th...

Страница 114: ...199 Axis 2 errors range from 200 299 and so on Note Errors are maintained in a FIFO buffer ten 10 elements deep When an error is read using TB or TE the controller returns the last error that occurred...

Страница 115: ...mmand was received Note that the real or physical position of the actuator motor may differ as a function of mechanical precision and inherent positioning inaccuracies NOTE TP response value could eit...

Страница 116: ...Standard Picomotor is 2000 steps sec while the same for a Tiny Picomotor is 1750 steps sec Argument Value Description xx 1 to 2 Axis number nn 1 to 2000 Velocity steps sec Default 2000 steps sec Examp...

Страница 117: ...s This command is used to purge all user settings in the controller non volatile memory and restore them to factory default settings The following parameters are affected by this command 1 Hostname se...

Страница 118: ...t Checking feature should be disabled when controlling the 8410 rotary positioner Argument Value Description xx 1 to 2 Axis number nn see table below Bit Value Definition 0 0 1 Enable hardware travel...

Страница 119: ...ute encoder not present Stage positioner with quasi absolute encoder present 3 0 1 Disable software travel limit checking for stage positioner with quasi absolute encoder Enable software travel limit...

Страница 120: ...et or reboot 1 Scan for motors connected to controller upon power up or reset 2 0 Do not initiate absolute position search following controller reset 1 Initiate absolute position search following cont...

Страница 121: ...mands Go to Terminal tab Argument Value Description address nn1 nn2 nn3 nn4 Gateway address Example 192 168 10 101 nn1 nn2 nn3 nn4 can be numbers between 0 and 255 Example IPMODE 0 Set to static IP mo...

Страница 122: ...ted via USB use the Picomotor application software to send commands Go to Terminal tab The default hostname for the controller is 8743 CL serialnum where serialnum is the controller s serial number Th...

Страница 123: ...connected via USB use the Picomotor application software to send commands Go to Terminal tab Argument Value Description address nn1 nn2 nn3 nn4 IP address Example 192 168 1 101 nn1 nn2 nn3 nn4 can be...

Страница 124: ...er means an IP address will be assigned to your server controller only once and that IP address will belong to your dedicated server forever A static IP address will be given out to your dedicated ser...

Страница 125: ...address is a unique identifier assigned to network interfaces for communications on the physical network segment MAC addresses are used for numerous network technologies and most IEEE 802 network tech...

Страница 126: ...communication may become unstable during Ethernet settings configuration While connected via USB use the Picomotor application software to send commands Go to Terminal tab Argument Value Description...

Страница 127: ...s state 6 COMMAND DOES NOT EXIST The command sent to the controller is invalid Please check the command syntax 7 PARAMETER OUT OF RANGE The parameter sent along with a command is out of range 9 AXIS N...

Страница 128: ...e this cyclical redundancy check CRC error message if a checksum verification of the response received by it does not match the checksum computed by slave controller NOTE Check for a improper RS 485 c...

Страница 129: ...2 disable Travel Limit Checking NOTE The Travel Limit Checking feature should be disabled when controlling the 8410 rotary positioner x06 POSITIVE SOFTWARE LIMIT DETECTED The motion in progress has b...

Страница 130: ...it checking was disabled Travel limit checking must be enabled see ZH command in order to perform Move to Limit MT command x36 QUASI ABSOLUTE ENCODER NOT CONNECTED The controller received AF command b...

Страница 131: ...soapy water solution applied to a damp lint free cloth Do not use an acetone or alcohol solution this will damage the finish of the enclosure 8 2 Technical Support Information and advice about the ope...

Страница 132: ...ion available 1 Instrument model number on the rear panel 2 Instrument serial number on rear panel or bottom of enclosure 3 Description of the problem If the instrument is to be returned to New Focus...

Страница 133: ...o return of item Address ________________________________ ____________________Date _________________ Country _______________________ Phone Number ______________________________________ P O Number ____...

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