Mitsubishi Electric QD77MS - Speed-Position Switching Control

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Chapter 1 Product Outline

(5) Speed-position switching control

This starts positioning under speed control, and switches to position control

according to the input of the Simple Motion module speed-position switching

signal and perform positioning for the specified increment of travel.

Speed control Position control

Specified travel

increment

Dwell time

OFF

Speed-position switching

signal

BUSY signal

Positioning start signal

Speed-position switching

enable flag

(By the sequence

program creation)

Main Page

Default Chapter3
- Safety Precautions3
- Conditions of Use for the Product13
- Introduction14
- Revisions15
- Table of Contents16
- Compliance with the Emc and Low Voltage Directives24
  - CPU Module24
  - For Programmable Controller System24
- Relevant Manuals24
- Manual Page Organization26
- Terms27
- Packing List28
- Section 1 Product Specifications and Handling29
Chapter 1 Product Outline31
- Positioning Control32
- Features of QD77MS32
- Purpose and Applications of Positioning Control36
- Mechanism of Positioning Control38
- Overview of Positioning Control Functions39
- Outline Design of Positioning System49
- Positioning System Using Simple Motion Module49
- Communicating Signals between QD77MS and each Module50
- Flow of System Operation54
- Flow of All Processes54
- Outline of Starting56
  - Flow of Starting56
  - Setting Method57
- Outline of Stopping58
- Outline for Restarting60
- When "[CD.6] Restart Command" Is on60
Chapter 2 System Configuration61
- General Image of System62
- Component List64
  - Specifications of Recommended Manual Pulse Generator65
  - Serial Absolute Synchronous Encoder Specifications66
- Applicable System68
- Restrictions by the SERIAL No. and Version71
Chapter 3 Specifications and Functions73
- Performance Specifications74
- List of Functions76
- QD77MS Control Functions76
- QD77MS Main Functions79
- QD77MS Sub Functions81
- QD77MS Common Functions83
- Combination of QD77MS Main Functions and Sub Functions86
- Specifications of Input/Output Signals with PLC CPU88
- List of Input/Output Signals with PLC CPU88
- Details of Input Signals (QD77MS PLC CPU)91
- Details of Output Signals (PLC CPU QD77MS)93
- Specifications of Interfaces with External Devices95
- Electrical Specifications of Input Signals95
- Manual Pulse Generator/Incremental Synchronous Encoder Input96
- Signal Layout for External Input Connection Connector97
- List of Input Signal Details99
- Interface Internal Circuit102
- External Circuit Design106
Chapter 4 Installation, Wiring and Maintenance of the Product119
- Outline of Installation, Wiring and Maintenance120
- Installation, Wiring and Maintenance Procedures120
- Names of each Part121
- Handling Precautions123
- Precautions for Installation125
- Precautions for Wiring126
- Wiring Example of Shielded Cable129
- Precautions for Wiring129
- Confirming the Installation and Wiring137
- Items to Confirm When Installation and Wiring Are Completed137
- Precautions for Maintenance138
- Disposal Instructions138
Chapter 5 Data Used for Positioning Control139
- Types of Data140
- Parameters and Data Required for Control140
  - Setting Data140
  - Monitor Data143
  - Control Data143
- Setting Items for Positioning Parameters144
- Checking the Positioning Parameters145
- Setting Items for OPR Parameters146
- Checking the OPR Parameters146
- Setting Items for Expansion Parameters147
- Setting Items for Servo Parameters147
- Setting Items for Positioning Data148
- Setting Items for Block Start Data150
- Setting Items for Condition Data151
- Types and Roles of Monitor Data152
  - Monitoring the Positioning System Operation History152
  - Monitoring the Axis Operation State154
  - Monitoring the Position154
  - Monitoring the Speed154
  - Monitoring the Status of Servo Amplifier155
  - Monitoring the State155
- Types and Roles of Control Data157
  - Setting and Resetting the Setting Data157
  - Controlling the Operation158
  - Controlling the Speed159
  - Change Operation Mode159
  - Making Settings Related to Operation159
- List of Parameters161
- Basic Parameters 1161
  - Unit Setting162
  - Electronic Gear (Movement Amount Per Pulse)162
  - Number of Pulses Per Rotation (AP)164
  - Movement Amount Per Rotation (AL), [Pr.4] Unit Magnification (AM)164
  - Bias Speed at Start165
  - Precautionary Notes166
  - Speed Limit Value167
- Basic Parameters 2167
- Detailed Parameters 1168
  - Backlash Compensation Amount170
  - Software Stroke Limit Upper Limit Value171
  - Software Stroke Limit Lower Limit Value171
  - Software Stroke Limit Selection172
  - Software Stroke Limit Valid/Invalid Setting172
  - Command In-Position Width172
  - Torque Limit Setting Value172
  - M Code on Signal Output Timing173
  - Speed Switching Mode174
  - Interpolation Speed Designation Method174
  - Current Feed Value During Speed Control175
  - Input Signal Logic Selection175
  - External Input Signal Selection176
  - Manual Pulse Generator/Incremental Synchronous Encoder Input Selection177
  - A-Phase/B-Phase Mode177
  - Pls/Sign178
  - Speed-Position Function Selection178
  - Forced Stop Valid/Invalid Selection178
- Detailed Parameters 2179
  - Deceleration Time 1 to [Pr.30] Deceleration Time 3181
  - JOG Speed Limit Value181
  - JOG Operation Acceleration Time Selection181
  - JOG Operation Deceleration Time Selection181
  - Acceleration/Deceleration Process Selection182
  - S-Curve Ratio182
  - Sudden Stop Deceleration Time183
  - Stop Group 3 Sudden Stop Selection183
  - Positioning Complete Signal Output Time184
  - Allowable Circular Interpolation Error Width185
  - External Command Function Selection186
  - Speed Control 10 X Multiplier Setting for Degree Axis186
  - Restart Allowable Range When Servo off to on187
  - Servo Emergency Stop Processing187
  - Processing at Switching the Servo on Signal from off to on187
  - Operation Setting for Speed-Torque Control Mode190
  - Speed Initial Value Selection190
  - Condition Selection at Mode Switching190
  - External Command Signal Selection191
- OPR Basic Parameters191
  - OPR Method192
  - Near-Point Dog Method193
  - Count Method193
  - Data Set Method194
  - Scale Origin Signal Detection Method194
  - OPR Direction195
  - OP Address196
  - OPR Speed196
  - Creep Speed197
  - OPR Retry198
  - Operation for OPR Retry Function198
- OPR Detailed Parameters199
  - Setting for the Movement Amount after Near-Point Dog on200
  - OPR Acceleration Time Selection200
  - OPR Deceleration Time Selection201
  - OP Shift Amount201
  - OPR Torque Limit Value202
  - Operation Setting for Incompletion of OPR202
  - Start/Restart Impossible Control202
  - Speed Designation During OP Shift203
  - Dwell Time During OPR Retry203
- Expansion Parameters204
  - Operation Cycle Setting207
  - SSCNET Setting207
  - External Command Signal Compensation Valid/Invalid Setting208
- Servo Parameters209
  - Servo Series209
  - Parameters of MR-J4(W)-B/MR-JE-B209
  - Basic Setting Parameters210
  - Gain/Filter Setting Parameters211
  - Extension Setting Parameters212
  - I/O Setting Parameters213
  - Extension Setting 2 Parameters214
  - Special Setting Parameters215
  - Extension Setting 3 Parameters215
  - Option Setting Parameters216
  - Linear Servo Motor/DD Motor Setting Parameters216
  - Parameters of MR-J3(W)-B217
  - Gain/Filter Parameters218
  - Expansion Setting Parameters219
  - Input/Output Setting Parameters219
  - Extension Control Parameters220
- List of Positioning Data222
  - Guide to Buffer Memory Address223
  - Operation Pattern226
  - Control Method226
  - Acceleration Time No.226
  - Deceleration Time No.227
  - Axis to be Interpolated227
  - Positioning Address/Movement Amount227
  - Absolute (ABS) System, Current Value Changing227
  - Position-Speed Switching Control228
  - When "[Pr.1] Unit Setting" Is "MM"229
  - When "[Pr.1] Unit Setting" Is "Degree"230
  - When "[Pr.1] Unit Setting" Is "PLS"231
  - When "[Pr.1] Unit Setting" Is "Inch"232
  - Arc Address232
  - Command Speed234
  - Dwell Time/Jump Designation Positioning Data No.235
  - M Code/Condition Data No./Number of LOOP to LEND Repetitions236
- List of Block Start Data238
  - Shape242
  - Special Start Instruction242
  - Parameter242
- List of Condition Data243
  - Condition Target248
  - Condition Operator248
  - Address248
- List of Monitor Data252
- Axis Monitor Data266
- List of Control Data296
- Axis Control Data304
Chapter 6 Sequence Program Used for Positioning Control341
- Precautions for Creating Program342
- List of Devices Used346
- Inputs/Outputs, External Inputs/External Outputs, and Internal Relays346
- Creating a Program356
- General Configuration of Program356
- Positioning Control Operation Program357
- Positioning Program Examples361
- Program Details393
- Initialization Program393
- Start Details Setting Program394
- Start Program396
- Continuous Operation Interrupt Program408
  - Operation During Continuous Operation Interruption408
  - Control Data Requiring Settings409
- Restart Program410
- Stop Program413
- Configuration and Roles of QD77MS Memory418
- Details of Areas419
- Buffer Memory Area Configuration421
- Data Transmission Process423
Chapter 8 Two Types of OPR Control440
- Machine OPR440
- Outline of the Machine OPR Operation444
- Machine OPR Operation444
- Machine OPR Method445
- OPR Method (1): Near-Point Dog Method446
  - Precautions During Operation447
  - Operation Chart448
- OPR Method (2): Count Method 1)448
- OPR Method (3): Count Method 2)450
- OPR Method (4): Data Set Method452
- OPR Method (5): Scale Origin Signal Detection Method453
- Fast OPR456
- Outline of the Fast OPR Operation456
- Selection of the OPR Setting Condition458
- Outline of the OPR Setting Condition458
- Data Setting458
Chapter 9 Major Positioning Control459
- Outline of Major Positioning Controls460
- Data Required for Major Positioning Control462
  - Major Positioning Control Sub Functions462
  - Major Positioning Control from GX Works2462
- Operation Patterns of Major Positioning Controls463
  - Independent Positioning Control (Positioning Complete)464
  - Operation During Continuous Positioning Control465
  - Deceleration Stop Conditions During Continuous Path Control467
  - Speed Handling469
  - Speed Switching470
  - Standard Speed Switching Mode470
  - Speed Switching Condition471
  - Front-Loading Speed Switching Mode471
  - Operation for the Front-Loading Speed Switching Mode472
- Designating the Positioning Address473
  - Absolute System473
  - Incremental System473
- Confirming the Current Value474
  - Values Showing the Current Value474
  - Current Feed Value and Machine Feed Value474
  - Monitoring the Current Value475
- Control Unit "Degree" Handling476
  - Current Feed Value and Machine Feed Value Addresses476
  - Setting to Validate Software Stroke Limit476
  - Positioning Control Method When the Control Unit Is Set to "Degree"477
  - When the Software Stroke Limit Is Valid478
- Interpolation Control479
  - Meaning of Interpolation Control479
  - Setting the Positioning Data During Interpolation Control480
  - Starting the Interpolation Control481
  - Interpolation Control Continuous Positioning481
  - Speed During Interpolation Control481
  - Cautions in Interpolation Control481
  - Limits to Interpolation Control482
  - Axis Operation Status During Interpolation Control482
- Setting the Positioning Data484
- Relation between each Control and Positioning Data484
- 1-Axis Linear Control486
  - Positioning Data Setting Example487
  - 1-Axis Linear Control (INC Linear 1)488
- 2-Axis Linear Interpolation Control490
- 2-Axis Linear Interpolation Control (INC Linear 2)493
- 3-Axis Linear Interpolation Control496
- 3-Axis Linear Interpolation Control (INC Linear 3)499
- 4-Axis Linear Interpolation Control502
- 1-Axis Fixed-Feed Control507
- 2-Axis Fixed-Feed Control (Interpolation)510
- 3-Axis Fixed-Feed Control (Interpolation)512
- 4-Axis Fixed-Feed Control (Interpolation)517
- 2-Axis Circular Interpolation Control with Sub Point Designation520
- 2-Axis Circular Interpolation Control with Center Point Designation526
- Circular Interpolation Error Compensation527
- 1-Axis Speed Control534
- 2-Axis Speed Control537
- 3-Axis Speed Control541
- 4-Axis Speed Control545
- Speed-Position Switching Control (INC Mode)550
- Speed-Position Switching Control (ABS Mode)561
- Position-Speed Switching Control570
- Current Value Changing580
- NOP Instruction585
- JUMP Instruction586
- Loop588
- Lend590
- High-Level Positioning Control 10- 1 to593
- Outline of High-Level Positioning Control594
  - High-Level Positioning Control Sub Functions594
  - High-Level Positioning Control from GX Works2594
- Data Required for High-Level Positioning Control595
- Block Start Data" and "Condition Data" Configuration596
- High-Level Positioning Control Execution Procedure598
- Setting the Block Start Data599
- Relation between Various Controls and Block Start Data599
- Block Start (Normal Start)600
  - Block Start Data Setting Example600
  - Control Examples601
- Condition Start602
- Wait Start603
- Simultaneous Start604
- Repeated Start (for Loop)605
- Repeated Start (for Condition)606
- Restrictions When Using the NEXT Start607
- Setting the Condition Data608
- Relation between Various Controls and the Condition Data608
- Condition Data Setting Examples611
- Multiple Axes Simultaneous Start Control613
  - Control Details613
  - Multiple Axes Simultaneous Start Control Procedure614
  - Multiple Axes Simultaneous Start Control Function Setting Method615
  - Setting Examples616
- Start Program for High-Level Positioning Control618
- Example of a Start Program for High-Level Positioning Control619
  - Control Data that Require Setting619
  - Start Conditions619
  - Start Time Chart620
  - Creating the Program621
  - Manual Control623
- Outline of Manual Control624
- Three Manual Control Methods624
  - JOG Operation624
  - Inching Operation624
  - Manual Pulse Generator Operation625
  - Manual Control Sub Functions625
  - Carrying out Manual Control from GX Works2625
  - Monitoring Manual Control625
- Outline of JOG Operation626
- JOG Operation Timing and Processing Time628
- JOG Operation Execution Procedure629
- Setting the Required Parameters for JOG Operation630
- Creating Start Programs for JOG Operation632
- Required Control Data Setting632
- JOG Operation Example634
- Outline of Inching Operation637
  - Operations When Stroke Limit Error Occurs638
  - Inching Operation Timing and Processing Times639
- Inching Operation Execution Procedure640
- Setting the Required Parameters for Inching Operation641
- Creating a Program to Enable/Disable the Inching Operation642
- Inching Operation Example644
- Outline of Manual Pulse Generator Operation646
- Manual Pulse Generator Operation Execution Procedure650
- Setting the Required Parameters for Manual Pulse Generator Operation651
- Creating a Program to Enable/Disable the Manual Pulse Generator Operation652
- Outline of Speed-Torque Control656
- Setting the Required Parameters for Speed-Torque Control658
- Setting the Required Data for Speed-Torque Control659
- Required Control Data Setting for the Torque Control Mode660
- Operation of Speed-Torque Control661
  - Switching Method of Control Mode661
  - Precautions at Control Mode Switching662
  - Operation for "Position Control Mode Speed Control Mode Switching"662
  - Operation for Speed Control Mode676
  - Current Feed Value During Speed Control Mode676
  - Stop Cause During Speed Control Mode677
  - Operation for Torque Control Mode678
  - Speed During Torque Control Mode680
  - Current Feed Value During Torque Control Mode680
  - Stop Cause During Torque Control Mode681
  - Continuous Operation to Torque Control Mode682
  - Operation for Continuous Operation to Torque Control Mode682
  - Torque Command Setting Method683
  - Speed Limit Value Setting Method684
  - Precautions at Continuous Operation to Torque Control Mode684
  - Speed During Continuous Operation to Torque Control Mode685
  - Current Feed Value During Continuous Operation to Torque Control Mode685
  - Stop Cause During Continuous Operation to Torque Control Mode686
- Synchronous Control687
- Control Sub Functions 13- 1 to689
- Outline of Sub Functions690
- Sub Functions Specifically for Machine OPR692
- OPR Retry Function692
  - Setting the Dwell Time During an OPR Retry694
  - Setting the OPR Retry Function695
- OP Shift Function696
  - Setting Range for the OP Shift Amount697
  - Movement Speed During OP Shift697
  - Precautions During Control698
  - Setting the OP Shift Function698
- Functions for Compensating the Control699
- Backlash Compensation Function699
- Setting the Backlash Compensation Function700
- Electronic Gear Function701
  - Basic Concept of the Electronic Gear702
  - For "Ball Screw" + "Reduction Gear"702
- Near Pass Function708
- Functions to Limit the Control710
- Speed Limit Function710
- Setting the Speed Limit Function711
- Torque Limit Function712
  - Torque Limit Function Operation713
  - Setting the Torque Limit Function714
- Software Stroke Limit Function716
  - Current Value Changing717
  - Software Stroke Limit Check Details718
  - Precautions During Software Stroke Limit Check720
  - Setting the Software Stroke Limit Function721
  - Invalidating the Software Stroke Limit721
  - Setting When the Control Unit Is "Degree"722
  - Current Value Address722
  - Setting the Software Stroke Limit722
- Hardware Stroke Limit Function723
  - Wiring the Hardware Stroke Limit725
  - When the Hardware Stroke Limit Function Is Not Used726
- Forced Stop Function727
  - Wiring the Forced Stop728
  - Operation for the Forced Stop Function728
  - Wiring When Using the Forced Stop728
  - Setting the Forced Stop729
  - How to Check the Forced Stop729
- Functions to Change the Control Details730
- Speed Change Function730
  - Speed Change Operation731
  - Speed Change During Continuous Path Control731
  - Restarting Speed after Speed Change Made During Position Control732
  - Speed Change at New Speed Value "0"732
  - Setting the Speed Change Function from the PLC CPU733
  - Time Chart for Changing the Speed from the PLC CPU734
  - Time Chart for Changing the Speed Using an External Command Signal735
- Override Function737
  - Precaution During Control738
  - Setting the Override Function738
  - Time Chart for Changing the Speed Using the Override Function739
- Acceleration/Deceleration Time Change Function740
  - Operation During an Acceleration/Deceleration Time Change741
  - Setting the Acceleration/Deceleration Time Change Function744
- Torque Change Function745
- Setting the Torque Change Function Start Signal748
- Target Position Change Function749
- Method of Setting Target Position Change Function from PLC CPU751
- Absolute Position System753
- Opr754
- Other Functions755
- Step Function755
  - Step Mode756
  - Step Start Information756
  - Using the Step Operation757
  - Operation During Step Execution by Deceleration Unit Step758
  - Operation During Step Execution Positioning Data No. Unit Step758
  - Step Function Settings759
- Skip Function760
  - Relation between the Skip Function and Various Controls760
  - Operation When a Skip Signal Is Input During Positioning Control761
  - Setting the Skip Function from the PLC CPU762
  - Setting the Skip Function Using an External Command Signal763
- M Code Output Function764
  - AFTER Mode765
  - M Code on Signal off Request765
- Teaching Function768
  - Teaching Timing768
  - Data Used in Teaching769
  - Teaching Procedure770
- Command In-Position Function774
  - Command In-Position Width Check775
  - Setting the Command In-Position Function776
  - Confirming the Command In-Position Flag776
- Acceleration/Deceleration Processing Function777
  - "Acceleration/Deceleration Time 0 to 3" Control Details and Setting777
  - Speed Change During S-Curve Acceleration/Deceleration Processing779
- Pre-Reading Start Function780
  - Controls780
  - Program Examples782
- Deceleration Start Flag Function783
  - Operation of Deceleration Start Flag at Block Start784
  - Deceleration Start Flag Function Setting Method785
  - Checking of Deceleration Start Flag785
- Stop Command Processing for Deceleration Stop Function786
  - Deceleration Curve Re-Processing786
  - Deceleration Curve Continuation786
- Speed Control 10 X Multiplier Setting for Degree Axis Function789
- Operation Setting for Incompletion of OPR Function792
- Servo ON/OFF794
- Servo off (Servo Operation Disabled)795
- Follow up Function796
- Outline of Common Functions798
- Parameter Initialization Function800
- Execution Data Backup Function802
- External Signal Selection Function805
- Program Example809
- External I/O Signal Logic Switching Function811
- History Monitor Function813
  - Start History813
  - Error History, Warning History813
  - Current Value History814
  - Latest Backup Data815
  - Backup Data at the Power Disconnection815
  - Backup Data at the Power on815
  - Home Position Return Data816
- Amplifier-Less Operation Function817
- Buffer Memory List821
- Virtual Servo Amplifier Function824
- Driver Communication Function828
  - I/O Signals of Slave Axis832
  - Data Used for Positioning Control of Slave Axis832
  - Servo Parameter834
- Mark Detection Function836
  - Operation for Mark Detection Function838
  - Continuous Detection Mode838
  - Specified Number of Detection Mode838
  - How to Use Mark Detection Function839
  - List of Buffer Memory841
  - Mark Detection Setting Parameters842
  - Mark Detection Signal Setting843
  - Mark Detection Signal Compensation Time843
  - Mark Detection Data Type843
  - Mark Detection Data Axis No.844
  - Latch Data Range Lower Limit Value845
  - Mark Detection Mode Setting845
  - Number of Mark Detection Clear Request846
  - Mark Detection Invalid Flag846
  - Latch Data Range Change Request846
  - Mark Detection Monitor Data847
  - Number of Mark Detection847
  - Mark Detection Data Storage Area 1 to 32847
- Optional Data Monitor Function848
- Module Error Collection Function852
- Connect/Disconnect Function of SSCNET Communication853
- Procedure to Connect/Disconnect855
- QD75MH Initial Value Setting Function859
- QD75MH Initial Value Setting Method860
- Hot Line Forced Stop Function861
- Dedicated Instructions863
- List of Dedicated Instructions864
- Interlock During Dedicated Instruction Is Executed864
- Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4865
- Positioning Start Program868
- Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4869
- Zp.pfwrt873
- Zp.pinit877
- Troubleshooting881
- Checking Errors Using GX Works2882
  - Checking Errors on the "Module's Detailed Information" Screen882
  - Checking Errors on the "Error History" Screen882
  - Error and Solution, Intelligent Module Information883
  - Troubleshooting Using the Leds885
  - Troubleshooting When a Motor Does Not Rotate886
  - Troubleshooting When a Motor Does Not Rotate as Intended887
- Error and Warning Details889
  - Servo Amplifier Detection Errors890
  - Types of Error Codes890
  - Error Storage890
  - Types of Warnings892
  - Simple Motion Module Detection System Warnings892
  - Simple Motion Module Detection Axis Warnings892
  - Servo Amplifier Detection Warnings892
  - Warning Storage893
  - Resetting Errors and Warnings894
  - How to Clear Errors or Warnings894
  - Confirming the Error and Warning Definitions894
  - Confirming the Error Definitions894
- List of Errors896
- QD77MS Detection Error896
- Servo Amplifier Detection Error932
- List of Warnings934
- QD77MS Detection Warning934
- Servo Amplifier Detection Warning946
Appendix 1 List of Buffer Memory Addresses948
Appendix 2 Connection with Servo Amplifiers974
Appendix 2.1 SSCNET Cables975
Appendix 2.2 Serial Absolute Synchronous Encoder Cable979
Appendix 2.3 SSCNET Cable (SC-J3BUS_M-C) Manufactured by982
Appendix 3 Connection with External Device983
Appendix 3.1 Connector983
Appendix 3.2 External Input Signal Cable985
Appendix 3.3 Manual Pulse Generator (MR-HDP01)991
Appendix 4 Comparisons with Positioning Modules/Ld77Mh Models992
Appendix 4.1 Differences with QD75MH Models992
Appendix 4.2 Differences with LD77MH Models1006
Appendix 5 When Using GX Works21011
Appendix 6 Compatible Devices with SSCNET (/H)1012
Appendix 6.1 Servo Driver VCII Series/Vph Series Manufactured by Nikki Denso Co., Ltd1012
Appendix 6.2 Inverter FR-A700 Series1019
- ORIENTAL MOTOR Co., Ltd1028
Appendix 6.4 IAI Electric Actuator Controller Manufactured by IAI Corporation1037
Appendix 6.5 Connection with MR-JE-B1045
Appendix 7 External Dimension Drawing1046

Mitsubishi Electric QD77MS - Speed-Position Switching Control

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