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TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04

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Communication

2.1

Reference Model

The application layer comprises a concept to conﬁgure and communicate real-time-data as well as the

mechanisms for synchronization between devices. The functionality which the application layer offers

to an application is logically divided over different service data objects (SDO) in the application layer. A

service object offers a speciﬁc functionality and all the related services.

Applications interact by invoking services of a service object in the application layer. To realize these

services this object exchanges data via the CAN Network with peer service object(s) using a protocol.

The application and the application layer interact with service primitives.

Service Primitives

Primitive

Deﬁnition

Request

Issued by the application to the application layer to request a service.

Indication

Issued by the application layer to the application to report an internal event detected by

the application layer or indicate that a service is requested.

Response

Issued by the application to the application layer to respond to a previous received

indication.

Conﬁrmation

Issued by the application layer to the application to report the result of a previously

issued request.

Table 2: Service Primitives

A service type deﬁnes the primitives that are exchanged between the application layer and the cooperating

applications for a particular service of a service object. Unconﬁrmed and conﬁrmed services are collectively

called remote services.

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Содержание TMCM-1160

Страница 1: ...C CANopen CiA 402 Drive Pro le CoolStep StallGuard2 SensOstep encoder Additional inputs and outputs Applications Laboratory Automation Manufacturing Semiconductor Handling Robotics Factory Automation...

Страница 2: ...2 3 1 12 Object 1015h Inhibit Time EMCY 22 3 1 13 Object 1016h Consumer Heartbeat Time 23 3 1 14 Object 1017h Producer Heartbeat Time 23 3 1 15 Object 1018h Identity Object 24 3 1 16 Object 1023h OS C...

Страница 3: ...Object 2100h Home Offset Display 47 4 2 34 Object 2101h Actual Load Value 47 4 2 35 Object 2102h Driver Error Flags 48 4 2 36 Object 2107h Microstep Resolution Display 49 4 2 37 Object 210Bh Step Coun...

Страница 4: ...tual Value 79 7 1 6 Object 6046h vl Velocity Min Max Amount 79 7 1 7 Object 6048h vl Velocity Acceleration 79 7 1 8 Object 6049h vl Velocity Deceleration 80 7 2 How to move a Motor in vl Mode 80 8 Pro...

Страница 5: ...Object 607Ch Home Offset 99 9 2 5 Object 6098h Homing Method 100 9 2 6 Object 6099h Homing Speeds 100 9 2 7 Object 609Ah Homing Acceleration 100 9 3 How to start a Homing in hm Mode 101 10 Emergency M...

Страница 6: ...eristics Communication according to standard CiA 301 V4 1 CAN bit rate 20 1000kBit s CAN ID 11 bit Node ID 1 127 use vendor speci c objects for changing the node ID NMT services NMT slave SDO Communic...

Страница 7: ...ervice data object TPDO Transmit process data object EMCY Emergency object rw Read and write ro Read only hm Homing mode pp Pro le position mode pv Pro le velocity mode vm Velocity mode Table 1 Abbrev...

Страница 8: ...hed Motor close to stall Motor stalls Figure 1 stallGuard2 Load Measurement as a Function of Load 1 4 2 CoolStep CoolStep is a load adaptive automatic current scaling based on the load measurement via...

Страница 9: ...7 0 8 0 9 0 50 100 150 200 250 300 350 Efficiency Velocity RPM Efficiency with coolStep Efficiency with 50v torque reserve Figure 2 Energy E ciency Example with CoolStep 2019 TRINAMIC Motion Control G...

Страница 10: ...er interact with service primitives Service Primitives Primitive De nition Request Issued by the application to the application layer to request a service Indication Issued by the application layer to...

Страница 11: ...med back Con rmed service Can involve only one peer service object The application issues a request to its local service object This request is transferred to the peer service object that passes it to...

Страница 12: ...Operational state During Operational state the device can use all supported communication objects A device that was switched to the Stopped state only reacts on received NMT commands In addition the...

Страница 13: ...it provides the communication objects and the appropriate function ality to transport data items via the underlying network structure Object dictionary The object dictionary is a collection of all the...

Страница 14: ...in the dictionary is addressed using a 16 bit index The overall layout of the standard object dictionary is shown in table 4 Object Dictionary Index Object 0000h Not used 0001h 001Fh Static data types...

Страница 15: ...manufacturer speci c objects These objects control the special features of the Trinamic TMCM 1160 motion control device The standardized device pro le area at indices 6000h through 9FFFh contains all...

Страница 16: ...Object Description Index Name Object Type Data Type 1000h Device type Variable UNSIGNED32 Table 5 Object Description 1000h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 ro...

Страница 17: ...tion Bit Name De nition 30 Generate 0 Device does not generate SYNC message 1 Device generates SYNC message 29 Frame Not supported always set to 0 28 11 29 bit ID Not supported always set to 0 10 0 11...

Страница 18: ...ect contains the hardware version description Object Description Index Name Object Type Data Type 1009h Manufacturer Hardware Version Variable Visible String Table 15 Object Description 1009h Entry De...

Страница 19: ...x Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED16 0 Table 20 Entry Description 100Ch 3 1 8 Object 100Dh Life Time Factor The life time factor multiplied with the guard time gives the l...

Страница 20: ...ssion initiate download response If the storing failed the device responds with an abort SDO transfer abort code 06060000h If a wrong signature is written the device refuses to store and responds with...

Страница 21: ...load 64616F6Ch see also table 26 Load Signature d a o l 64h 61h 6Fh 6Ch Table 26 Load Signature On reception of the correct signature in the appropriate sub index the device restores the parameter an...

Страница 22: ...COB ID emergency object Variable UNSIGNED32 Table 29 Object Description 1014h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no UNSIGNED32 80h Node ID Table 30 Entry De...

Страница 23: ...beat time Time in 1ms Table 33 Value De nition 1016h Object Description Index Name Object Type Data Type 1016h Consumer heartbeat time Variable UNSIGNED16 Table 34 Object Description 1016h Entry Descr...

Страница 24: ...Identity Table 38 Object Description 1018h Entry Description Sub index Description Access PDO Mapping Value Range Default Value 00h Number of entries ro no 0 3 3 01h Vendor ID ro no UNSIGNED32 0286h 0...

Страница 25: ...ro no 2 01h Communication error rw no UNSIGNED8 0 enter stopped state 02h Application error rw no UNSIGNED8 1 remain in current state Table 43 Entry Description 1029h 3 1 18 Objects 1400h 1403h Receiv...

Страница 26: ...de ID Index 1402h 400h Node ID Index 1403h 500h Node ID 02h Transmission type rw UNSIGNED8 Index 1400h FFh Index 1401h FFh Index 1402h FFh Index 1403h FEh Table 45 Entry Description 1400h 3 1 19 Objec...

Страница 27: ...etting bit 31 of its COB ID see section 3 1 18 Then set its number of mapped PDO entries to zero sub index 0 of the appropriate PDO mapping object Now the mapppings themself can be changed After that...

Страница 28: ...scription Index Name Object Type Data Type 1800h 1803h Transmit PDO communication parameter RECORD TPDO CommPar 1800h TPDO 1 RECORD TPDO CommPar 1801h TPDO 2 RECORD TPDO CommPar 1802h TPDO 3 RECORD TP...

Страница 29: ...cription 1A00h Entry Description Sub index Description Access Value Range Default Value 00h Number of mapped aapli cation objects in PDO rw 0 3 Index 1A00h 1 Index 1A01h 2 Index 1A02h 2 Index 1A03h 2...

Страница 30: ...ure is sometimes also called SmartEnergy The following adjustments have to be made Thresholds for current and velocity have to be identi ed and set The StallGuard2 feature has to be adjusted and enabl...

Страница 31: ...ed of current decrement when the Stall Guard2 reading is above the upper threshold 0 slow decrement 3 fast decrement 209Bh SmartEnergy current up step Sets the current increment step when the StallGua...

Страница 32: ...tep resolution of the motor connected to the drive Its default value is 200 because most motors are 1 8 motors Object Description Index Name Object Type Data Type 2001h Motor full step resolution Vari...

Страница 33: ...535 0 2 Time between releasing brake switching the state machine to operational rw no 0 65535 0 Table 58 Entry Description 2002h 4 2 4 Object 2003h Maximum Current This object de nes the current used...

Страница 34: ...be set to the value 3 if limit switches are not connected The object can only be written when the drive is in the SWITCHED_ON_DISABLED state but is always readable The limit switches can also be inve...

Страница 35: ...e also object 4 2 3 Object Description Index Name Object Type Data Type 200Ah Enable drive delay time Variable UNSIGNED16 Table 66 Object Description 200Ah Entry Description Sub index Access PDO Mappi...

Страница 36: ...D_ON_DISABLED state Object Description Index Name Object Type Data Type 200Ch Brake current feed Array UNSIGNED8 Table 70 Object Description 200Ch Entry Description Sub index Description Access PDO Ma...

Страница 37: ...ub index Access PDO Mapping Value Range Default Value 0 rw no 0 13 0 Table 75 Entry Description 2086h 4 2 12 Object 2087h Maximum Velocity The functionality of this object depends on the unit selectio...

Страница 38: ...uracy of the unit conversion This value can only be changed when the drive is in SWITCHED_ON_DISABLED state Object Description Index Name Object Type Data Type 2088h Ramp Divisor Variable UNSIGNED32 T...

Страница 39: ...ity Dimension Index Variable UNSIGNED8 Table 82 Object Description 208Ch Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 0 164 181 0 Table 83 Entry Description 208Ch 4...

Страница 40: ...n Index Name Object Type Data Type 2092h Chopper Blank Time Variable UNSIGNED8 Table 86 Object Description 2092h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 0 3 2...

Страница 41: ...e 91 Entry Description 2094h 4 2 20 Object 2095h Chopper Hysteresis End This object provides the setting of the hysteresis end value after a number of decrements The decrement interval time is control...

Страница 42: ...s used Off time setting for constant tOFF chopper NCLK 12 32 tOF F Minimum is 64 clocks Setting this parameter to zero completely disables all driver transistors and so lets the motor free wheel Objec...

Страница 43: ...1 8 measurements 2 2 measurements 3 1 measurements fastest decrement Object Description Index Name Object Type Data Type 2099h Smart Energy Current Down Step Variable UNSIGNED8 Table 100 Object Descri...

Страница 44: ...is start object 209Ch section 4 2 27 Possible values are 0 1 step slowest increment 1 2 steps 2 4 steps 3 8 steps fastest increment Object Description Index Name Object Type Data Type 209Bh Smart Ener...

Страница 45: ...tep Use the standard mode for step loss detection Possible values are 0 standard mode 1 ltered mode Object Description Index Name Object Type Data Type 209Dh Smart Energy Filter Enable Variable UNSIGN...

Страница 46: ...D protection enabled 1 Short to GND protection disabled Object Description Index Name Object Type Data Type 20A1h Short Protection Disable Variable UNSIGNED8 Table 112 Object Description 20A1h Entry D...

Страница 47: ...ntry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 0 2147483647 0 Table 117 Entry Description 20A5h 4 2 33 Object 2100h Home Offset Display This object shows the home offs...

Страница 48: ...ows the error ags of the motor driver IC Error Flags Bit Name Meaning 7 OT Overtemperature 6 OTPW Temperature pre warning 5 UV Undervoltage 4 OCHS Overcurrent high side 3 OLB Open load on bridge B 2 O...

Страница 49: ...no 0 8 8 Table 126 Entry Description 2107h 4 2 37 Object 210Bh Step Counter This object shows the overall number of microsteps done by this motor so far The value can be read as a 64 bit value sub ind...

Страница 50: ...Mode Writing the make signature to this object turns on the manufacturer speci c mode The manufacturer speci c mode can be turned off again by writing the kill signature to this object The manufacture...

Страница 51: ...Value Range Default Value 0 ro yes 0 Table 135 Entry Description 2702 h 4 2 41 Object 2703h Device Digital Outputs With this object the digital outputs general purpose outputs can be set Bits 23 16 of...

Страница 52: ...x Name Object Type Data Type 2704h CAN Bit Rate Variable UNSIGNED16 Table 139 Object Description 2704h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 20 50 100 125 25...

Страница 53: ...Reset the module 4 2 44 Object 2706h Store Writing the save signature to this object permanently saves changes made to objects 2704h and 2705h The save signature is 65766173h Object Description Index...

Страница 54: ...cription Index Name Object Type Data Type 2708h Node ID Load Variable UNSIGNED8 Table 147 Object Description 2708h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 ro no 1 12...

Страница 55: ...0 All pull up resistors off 1 Pull up resistor on for STOP_L only Pull up resistors off for STOP_R and HOME 2 Pull up resistor on for STOP_R only Pull up resistors off for STOP_L and HOME 3 Pull up r...

Страница 56: ...04 56 110 Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no 0 7 0 Table 153 Entry Description 2710h 2019 TRINAMIC Motion Control GmbH Co KG Hamburg Germany Terms of del...

Страница 57: ...vl Pro le velocity mode pv Homing mode hm 5 1 Detailed Object Speci cations 5 1 1 Object 605Ah Quick Stop Option Code This object indicates what action is performed when the quick stop function is ex...

Страница 58: ...ex Access PDO Mapping Value Range Default Value 0 rw no 0 0 Table 159 Entry Description 605Bh 5 1 3 Object 605Ch Disable Operation Option Code This object indicates what action is performed if there i...

Страница 59: ...5Dh Object Description Index Name Object Type Data Type 605Dh Halt option code Variable UNSIGNED16 Table 164 Object Description 605Dh Entry Description Sub index Access PDO Mapping Value Range Default...

Страница 60: ...ion mode pp 2 Velocity mode vl 3 Pro le velocity mode pv 6 Homing mode hm Table 169 Value Description 6060h The motor will not run when the operating mode is set to 0 It will be stopped when the motor...

Страница 61: ...l not run when the operating mode is set to 0 It will be stopped when the motor is running in one of the supported operating modes and the operating mode is then switched to 0 Object Description Index...

Страница 62: ...it re ects the state of one digital input The number of valid bits depends on the number of digital inputs on the module used Object Description Index Name Object Type Data Type 60FDh Digital inputs V...

Страница 63: ...velocity mode csv 9 Cyclic synchronous torque mode cst Table 180 Value De nition 6502h Object Description Index Name Object Type Data Type 6502h Supported drive modes Variable UNSIGNED32 Table 181 Obj...

Страница 64: ...omatically 15 14 automatically automatically Start Not ready to switch on Switch on disable Ready to switch on Switched on Operation enable Quick stop active Fault reaction active Fault Figure 8 DS402...

Страница 65: ...pp Mode Operation Mode speci c Bits in pp Mode Bit Name De nition 4 New set point 0 to 1 the next positioning will be started 5 Change immediately Not supported 6 Absolute relative 0 New position is...

Страница 66: ...as de ned below For more information about the coding please refer to the CANopen Drives and motion control device pro le part 2 Structure of the Status Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 dir...

Страница 67: ...x x00x 0111h Quick stop active xxxx xxxx x0xx 1111h Fault reaction active xxxx xxxx x0xx 1000h Fault Table 191 State Coding Object Description Index Name Object Type Data Type 6041h Controlword Variab...

Страница 68: ...Object Description Index Name Object Type Data Type 6063h Position Actual Internal Value Variable SIGNED32 Table 196 Object Description 6063h Entry Description Sub index Access PDO Mapping Value Range...

Страница 69: ...ect Description Index Name Object Type Data Type 6065h Following Error Window Variable UNSIGNED32 Table 200 Object Description 6065h Entry Description Sub index Access PDO Mapping Value Range Default...

Страница 70: ...t be signaled until the actual position 6064h is at least as many milliseconds within the position window as de ned by this object Object Description Index Name Object Type Data Type 6068h Position Wi...

Страница 71: ...PDO Mapping Value Range Default Value 0 rw Refer to CiA402 3 SIGNED32 0 Table 209 Entry Description 607Ah in pp Mode 6 1 11 Object 607Dh Software Position Limit This object indicates the con gured ma...

Страница 72: ...le Velocity Variable SIGNED32 Table 212 Object Description 6081h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw no SIGNED32 0 Table 213 Entry Description 6081h 6 1 13 Ob...

Страница 73: ...red deceleration On the TMCM 1160 module the deceleration ramp is always the same as the acceleration ramp For this reason this object is a read only object and always reads the same value as object 6...

Страница 74: ...mands before Please note that the values are decimal If you do not have any limit switches connected rst disable the limit switch inputs by writing 3 to object 2005h Select pp mode by writing 1 to obj...

Страница 75: ...only supported for compatibility reasons 7 1 Detailed Object Speci cations 7 1 1 Object 6040h Control Word This object indicates the received command controlling the power drive system nite state auto...

Страница 76: ...3 See command coding above Table 225 Entry Description 6040h in vl Mode 7 1 2 Object 6041h Status Word This object provides the status of the PDS FSA It re ects the status of the CiA 402 state machin...

Страница 77: ...ation Mode speci c Bits in vl Mode State Coding Status word FSA state xxxx xxxx x0xx 0000h Not ready to switch on xxxx xxxx x1xx 0000h Switch on disabled xxxx xxxx x01x 0001h Ready to switch on xxxx x...

Страница 78: ...on Index Name Object Type Data Type 6042h vl Target Velocity Variable SIGNED16 Table 232 Object Description 6042h Entry Description Sub index Access PDO Mapping Value Range Default Value 0 rw yes 2047...

Страница 79: ...of objects 2085h 2086h 2087h and 2088h The units used by this object depend on object 208Ch Object Description Index Name Object Type Data Type 6046h vl Velocity Min Max Amount Array UNSIGNED32 Table...

Страница 80: ...bject is a read only object and always reads the same values as object 6048h Object Description Index Name Object Type Data Type 6049h vl Velocity Deceleration Record vl acceleration deceleration Tabl...

Страница 81: ...witch to OPERATION_ENABLED state Write the desired target speed e g 500 to object 6042h The motor now accelerates to that speed Stop the motor by writing 0 to object 6042h 2019 TRINAMIC Motion Control...

Страница 82: ...e deceleration Emergency stop Motion pro le type 8 1 Detailed Object Speci cations 8 1 1 Object 6040h Control Word This object indicates the received command controlling the power drive system nite st...

Страница 83: ...3 See command coding above Table 247 Entry Description 6040h in pv Mode 8 1 2 Object 6041h Status Word This object provides the status of the PDS FSA It re ects the status of the CiA 402 state machin...

Страница 84: ...ation Mode speci c Bits in pv Mode State Coding Status word FSA state xxxx xxxx x0xx 0000h Not ready to switch on xxxx xxxx x1xx 0000h Switch on disabled xxxx xxxx x01x 0001h Ready to switch on xxxx x...

Страница 85: ...DO Mapping Value Range Default Value 0 ro Refer to CiA402 3 SIGNED32 no Table 255 Entry Description 6062h 8 1 4 Object 6063h Position Actual Internal Value This object provides the demanded position v...

Страница 86: ...steps When the difference between motor position object 6062h and encoder position object 6063h or 6064h is greater than the value set here the motor will be stopped and an emergency message will be s...

Страница 87: ...position they are corrected internally by the home offset as follows Corrected_min_position_limit min_position_limit home_offset Corrected_max_position_limit max_position_limit home_offset Object Des...

Страница 88: ...Object Description Index Name Object Type Data Type 6085h Quick stop deceleration Variable UNSIGNED32 Table 268 Object Description 6085h Entry Description Sub index Access PDO Mapping Value Range Def...

Страница 89: ...l by NMT commands before If you do not have any limit switches connected rst disable the limit switch inputs by writing 3 to object 2005h Select pv mode by writing 3 to object 6060h Write 6 to object...

Страница 90: ...e home offset object 607Ch allows displacing the zero in point the coordinate system for the home position Homing method Controlword 6040h Homing method 6098h Homing speeds 6099h Homing acceleration 6...

Страница 91: ...he negative edge of the home switch 33 Search next index pulse in negative direction 34 Search next index pulse in positive direction 35 The actual position is used as home position All position value...

Страница 92: ...int where the home switch changes state If the initial position is situated so that the direction of movement shall reverse during homing the point at which the reversal takes place is anywhere after...

Страница 93: ...e negative limit switch becomes inactive 17 Negative limit switch 17 Figure 14 Homing Method 17 9 1 6 Homing Method 18 Homing on positive Limit Switch Using this method the initial direction of moveme...

Страница 94: ...tive Home Switch Using this method the initial direction of movement shall be dependent on the state of the home switch The home position shall be at the point where the home switch changes state If t...

Страница 95: ...oming Method 35 Current Position as Home Position In this method the current position shall be taken to be the home position This method does not require the drive device to be in operation enabled st...

Страница 96: ...k stop ev enable voltage so switch on Table 273 Structure of the Control Word in hm Mode Operation Mode speci c Bits in hm Mode Bit Name De nition 4 Homing operation start 1 start homing 0 stop homing...

Страница 97: ...as de ned below For more information about the coding please refer to the CANopen Drives and motion control device pro le part 2 Structure of the Status Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 dir...

Страница 98: ...0111h Operation enabled xxxx xxxx x00x 0111h Quick stop active xxxx xxxx x0xx 1111h Fault reaction active xxxx xxxx x0xx 1000h Fault Table 281 State Coding Object Description Index Name Object Type D...

Страница 99: ...is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position The effect of setting the home position to a non zero value...

Страница 100: ...eed can be set In most homing modes the home switch is searched with the fast speed rst When the home switch has been found the motor will be decelerated to the slow speed using the homing acceleratio...

Страница 101: ...commands before The home switch must be connected to the home switch input It can be operated manually Select hm mode by writing 6 to object 6060h Write 6 to object 6040h to switch to READY_TO_SWITCH_...

Страница 102: ...This can be caused by a short circuit in the driver stage 2311h 0 0 0 0 0 Overcurrent bridge B The motor driver indicates that there is overcurrent on bridge B This can be caused by a short circuit in...

Страница 103: ...f state The drive has been stopped and disabled This message is sent after the CAN controller has recovered from bus off state and is bus on again 8611h 0 0 0 0 0 Following error The deviation between...

Страница 104: ...ustment Points and Thresholds 30 7 Brake Output Timing 33 8 DS402 Finite State Machine 64 9 Homing Mode Function 90 10 Homing Method 1 91 11 Homing Method 2 92 12 Homing Method 3 92 13 Homing Method 5...

Страница 105: ...Description 1A00h 29 52 CoolStep related Objects 31 53 Object Description 2000h 32 54 Entry Description 2000h 32 55 Object Description 2001h 32 56 Entry Description 2001h 32 57 Object Description 200...

Страница 106: ...5Bh 58 158 Object Description 605Bh 58 159 Entry Description 605Bh 58 160 Value Description 605Ch 58 161 Object Description 605Ch 58 162 Entry Description 605Ch 59 163 Value Description 605Dh 59 164 O...

Страница 107: ...bject Description 6041h in pv Mode 84 253 Entry Description 6041h in pv Mode 85 254 Object Description 6062h 85 255 Entry Description 6062h 85 256 Object Description 6063h 85 257 Entry Description 606...

Страница 108: ...rs for the rst time in the document All trademarks and brand names used are property of their respective owners 13 4 Target User The documentation provided here is for programmers and engineers only w...

Страница 109: ...TRINAMIC s speci c written consent TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ ments or in automotive applications unless speci cally desig...

Страница 110: ...s Save restore parameters Sensor selection code pv mode Boost current Standby delay CoolStep V3 20 2017 SEP 06 OK Save restore parameters xed Table 295 Firmware Revision 14 2 Document Revision Version...

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