[etherlab-users] Distributed Clocks
Thomas Bitsky Jr
tbj at automateddesign.com
Sat Feb 20 19:14:42 CET 2016
[snip]
I’ve never been able to get the EL7041 stepper modules to work in dc mode.
[/snip]
Is it all or nothing? I need the servo drives, the LVDT and the EL3356 tied to a distributed clock. The EL7041 is optional for me.
[snip]
I don’t see in your code calls to ecrt_slave_config_dc().
For the yaskawa drive, during the config stage, I use the following calls…
[/snip]
Forgot to put that part; my bad. This is what I had for the Yaskawa/AKD, although I was only doing it to one of the drives. I thought I was supposed to set up one distributed clock, and it became the master and handled the rest. Am I supposed to do this for all the cards, or do I select?
Yaskawa (AKD drive code is pretty much the same):
if (!(sc = ecrt_master_slave_config(
master,
slavePosDomain,
slavePosIndex,
vendorId, productCode)))
{
return FALSE;
}
ecrt_slave_config_sdo8( sc, 0x1C12, 0, 0 ); /* clear sm pdo 0x1c12 */
ecrt_slave_config_sdo8( sc, 0x1C13, 0, 0 ); /* clear sm pdo 0x1c12 */
ecrt_slave_config_sdo8( sc, 0x1A00, 0, 0 ); /* clear TxPDO0 */
ecrt_slave_config_sdo8( sc, 0x1A01, 0, 0 ); /* clear TxPDO1 */
ecrt_slave_config_sdo8( sc, 0x1A02, 0, 0 ); /* clear TxPDO2 */
ecrt_slave_config_sdo8( sc, 0x1A03, 0, 0 ); /* clear TxPDO3 */
ecrt_slave_config_sdo8( sc, 0x1600, 0, 0 ); /* number of var in this PDO */
ecrt_slave_config_sdo8( sc, 0x1601, 0, 0 ); /* clear RxPdo 0x1601 */
ecrt_slave_config_sdo8( sc, 0x1602, 0, 0 ); /* clear RxPdo 0x1602 */
ecrt_slave_config_sdo8( sc, 0x1603, 0, 0 ); /* clear RxPdo 0x1603 */
ecrt_slave_config_sdo8( sc, 0x1A00, 0, 0 ); /* clear TxPDO0 */
ecrt_slave_config_sdo32( sc, 0x1A00, 1, 0x60410010 ); // Status word
ecrt_slave_config_sdo32( sc, 0x1A00, 2,0x60640020 );// Position actual value, per encoder
ecrt_slave_config_sdo32( sc, 0x1A00, 3,0x60770010 );// Torque, actual value
ecrt_slave_config_sdo32( sc, 0x1A00, 4,0x60F40020 );// Following error, actual value
ecrt_slave_config_sdo32( sc, 0x1A00, 5,0x60610008 );// Modes of operation display
ecrt_slave_config_sdo32( sc, 0x1A00, 6,0x00000008 );// GAP
ecrt_slave_config_sdo32( sc, 0x1A00, 7,0x60B90010 );// Touch probe status
ecrt_slave_config_sdo32( sc, 0x1A00, 8, 0x60BA0020 ); // Touch probe 1 position
ecrt_slave_config_sdo8( sc, 0x1A00, 0, 8 ); /* pdo entries */
ecrt_slave_config_sdo8( sc, 0x1A01, 0, 0 ); /* clear TxPDO1 */
ecrt_slave_config_sdo32( sc, 0x1A01,1,0x60410010 ); // Status word
ecrt_slave_config_sdo32( sc, 0x1A01,2,0x60640020 );// Position actual value, per encoder
ecrt_slave_config_sdo8( sc, 0x1A01, 0, 2 ); /* pdo entries */
ecrt_slave_config_sdo8( sc, 0x1A02, 0, 0 ); /* clear TxPDO2 */
ecrt_slave_config_sdo32( sc, 0x1A02,1,0x60410010 ); // Status word
ecrt_slave_config_sdo32( sc, 0x1A02,2,0x60640020 );// Position actual value, per encoder
ecrt_slave_config_sdo8( sc, 0x1A02, 0, 2 ); /* pdo entries */
ecrt_slave_config_sdo8( sc, 0x1A03, 0, 0 ); /* clear TxPDO2 */
ecrt_slave_config_sdo32( sc, 0x1A03,1,0x60410010 ); // Status word
ecrt_slave_config_sdo32( sc, 0x1A03,2,0x60640020 );// Position actual value, per encoder
ecrt_slave_config_sdo32( sc, 0x1A03,3,0x60770010 );// Torque, actual value
ecrt_slave_config_sdo8( sc, 0x1A03, 0, 3 ); /* pdo entries */
ecrt_slave_config_sdo8( sc, 0x1600, 0, 0 ); /* clear entries */
ecrt_slave_config_sdo32( sc, 0x1600, 1, 0x60400010 ); /* control word */
ecrt_slave_config_sdo32( sc, 0x1600, 2, 0x607A0020 ); /* target position */
ecrt_slave_config_sdo32( sc, 0x1600, 3, 0x60FF0020 ); /* target velocity */
ecrt_slave_config_sdo32( sc, 0x1600, 4, 0x60710010 ); /* target torque */
ecrt_slave_config_sdo32( sc, 0x1600, 5, 0x60720010 ); /* max torque */
ecrt_slave_config_sdo32( sc, 0x1600, 6, 0x60600008 ); /* modes of operation */
ecrt_slave_config_sdo32( sc, 0x1600, 7, 0x00000008 ); /* gap */
ecrt_slave_config_sdo32( sc, 0x1600, 8, 0x60B80010 ); /* touch probe function */
ecrt_slave_config_sdo8(sc, 0x1600, 0, 8 ); /* pdo entries */
ecrt_slave_config_sdo8( sc, 0x1601, 0, 0 ); /* clear entries */
ecrt_slave_config_sdo32( sc, 0x1601, 1, 0x60400010 ); /* control word */
ecrt_slave_config_sdo32( sc, 0x1601, 2, 0x607A0020 ); /* target position */
ecrt_slave_config_sdo8( sc, 0x1601, 0, 2 ); /* pdo entries */
ecrt_slave_config_sdo8( sc, 0x1602, 0, 0 ); /* clear entries */
ecrt_slave_config_sdo32( sc, 0x1602, 1, 0x60400010 ); /* control word */
ecrt_slave_config_sdo32( sc, 0x1602, 2, 0x60FF0020 ); /* target position */
ecrt_slave_config_sdo8( sc, 0x1602, 0, 2 ); /* pdo entries */
ecrt_slave_config_sdo8( sc, 0x1603, 0, 0 ); /* clear entries */
ecrt_slave_config_sdo32( sc, 0x1603, 1, 0x60400010 ); /* control word */
ecrt_slave_config_sdo32( sc, 0x1603, 2, 0x60710020 ); /* target position */
ecrt_slave_config_sdo8( sc, 0x1603, 0, 2 ); /* pdo entries */
ecrt_slave_config_sdo16( sc, 0x1C12, 1, 0x1601 ); /* download pdo 1C12 index */
ecrt_slave_config_sdo8( sc, 0x1C12, 0, 1 ); /* set number of RxPDO */
ecrt_slave_config_sdo16( sc, 0x1C13, 1, 0x1A01 ); /* download pdo 1C13 index */
ecrt_slave_config_sdo8( sc, 0x1C13, 0, 1 ); /* set number of TxPDO */
// OPMODE
// Yaskawa recommends 8
ecrt_slave_config_sdo8( sc, 0x6060, 0, 8 );
unsigned char interpolationTime = 0xFF; // 250
unsigned char cycleExponent = 0xFA; // microseconds
// globalSCanRate_us equals either 250 or 125.
unsigned int us = globalScanRate_us;
size_t i;
for ( i=0;i<6, us > 0xFF;++i )
{
us /= 10;
cycleExponent += 1;
}
interpolationTime = us;
ecrt_slave_config_sdo8( akd->sc_akd, 0x60C2, 1, interpolationTime ); /* Interpolation time */
ecrt_slave_config_sdo8( akd->sc_akd, 0x60C2, 2, cycleExponent ); /* Cycle exponent */
PRINT("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc, EC_END, slave_syncs))
{
PRINT("Failed to configure Yaskawa Sigma PDOs.\n");
return FALSE;
}
struct timespec cur_time;
clock_gettime(CLOCK_REALTIME, &cur_time);
size_t loop_period = globalScanRate_us * 1000;
if ( loop_period == 0 ) loop_period = 1;
size_t loop_shift
= loop_period - (cur_time.tv_nsec % loop_period);
ecrt_slave_config_dc(
sc,
0x0300,
loop_period,
loop_shift,
0,
0);
For the EL3356, would I then?
KL3356StrainGauge* sg = (KL3356StrainGauge*)slave->instance;
printf( "Begin kl3356_ecConfigure...\n");
//
// Create the slave configuration
//
if (!(sg->sc = ecrt_master_slave_config(
master,
slavePosDomain, slavePosIndex, // Bus position
vendorId, productCode // Slave type
)))
{
printf(
"kl3356_ecConfigure -- Failed to get slave configuration.\n");
return FALSE;
}
//
// Register startup configuration for the hardware
//
ecrt_slave_config_sdo8( sg->sc, 0x1C12, 0, 0 ); /* clear sm pdo 0x1c12 */
ecrt_slave_config_sdo8( sg->sc, 0x1C13, 0, 0 ); /* clear sm pdo 0x1c12 */
ecrt_slave_config_sdo16( sg->sc, 0x1C12, 1, 0x1600 ); /* download pdo 1C12 index */
ecrt_slave_config_sdo8( sg->sc, 0x1C12, 0, 1 ); /* set number of RxPDO */
ecrt_slave_config_sdo16( sg->sc, 0x1C13, 1, 0x1A00 ); /* download pdo 1C13 index */
ecrt_slave_config_sdo16( sg->sc, 0x1C13, 2, 0x1A02 ); /* download pdo 1C13 index */
ecrt_slave_config_sdo8( sg->sc, 0x1C13, 0, 2 ); /* set number of TxPDO */
//
// Configure the hardware's PDOs
//
if (ecrt_slave_config_pdos(sg->sc, EC_END, kl3356_syncs))
{
printf(
"kl3356_ecConfigure -- Failed to configure PDOs.\n");
return FALSE;
}
struct timespec cur_time;
clock_gettime(CLOCK_REALTIME, &cur_time);
size_t loop_period = globalScanRate_us * 1000;
if ( loop_period == 0 ) loop_period = 1;
size_t loop_shift
= loop_period - (cur_time.tv_nsec % loop_period);
ecrt_slave_config_dc(
sg->sc,
0x0300,
loop_period,
loop_shift,
0,
0);
Thanks!
Thomas C. Bitsky Jr. | Lead Developer
ADC | automateddesign.com<http://automateddesign.com/>
P: 630-783-1150 F: 630-783-1159 M: 630-632-6679
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From: Graeme Foot <Graeme.Foot at touchcut.com<mailto:Graeme.Foot at touchcut.com>>
Date: Friday, February 19, 2016 at 7:24 PM
To: Thomas Bitsky <tbj at automateddesign.com<mailto:tbj at automateddesign.com>>, "etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>" <etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>>
Subject: RE: Distributed Clocks
Hi,
I don’t see in your code calls to ecrt_slave_config_dc().
For the yaskawa drive, during the config stage, I use the following calls:
// set interpolation time period (free run mode)
// where 0x60C2 is time in seconds = (0x60C2, 0x01) x 10^(0x60C2, 0x02)
// eg period of 1ms:
// (0x60C2, 0x01) = 1
// (0x60C2, 0x02) = -3
// => 1 x 10^(-3) = 0.001s
ecrt_slave_config_sdo8(dev->slaveConfig, 0x60C2, 0x01, (uint8_t)g_app.scanTimeMS);
ecrt_slave_config_sdo8(dev->slaveConfig, 0x60C2, 0x02, (int8_t)(-3));
// set up the distributed clock
// 0x0000 = free run, 0x0300 = dc
// (Supported DC cycle: 125us to 4ms (every 125us cycle))
ecrt_slave_config_dc(dev->slaveConfig, 0x0300, g_app.scanTimeNS, 500000, 0, 0);
0x60C2 shouldn’t be necessary for dc mode, but I used it before I had dc mode working and have never tried it without and it doesn’t harm anything having it in.
The second value that is being passed to the ecrt_slave_config_dc method is a value that is written to the ESC register 0x980. The Yaskawa SGDV doco says this value should be 0x0000 for free run mode and 0x0300 for dc mode. Other ESC’s may required different values.
I’ve never been able to get the EL7041 stepper modules to work in dc mode.
Graeme.
From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Thomas Bitsky Jr
Sent: Saturday, 20 February 2016 1:09 p.m.
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: [etherlab-users] Distributed Clocks
Hello.
I’ve been using the EtherCAT master for years to great success, but I’m stuck on a problem I can’t figure out that I think several people here are doing successfully. I can’t implement distributed clocks in my application.
I am having the same problem on two systems I have up and running:
SYSTEM ONE:
EtherLAB Master 1.52, E1000E Driver, Scan Rate 4Khz, Ubuntu Server 14.04LTS, RT-PREEMPT 3.12.50-rt68
alias=0, position=0, device=EK1100
alias=0, position=1, device=EL1104
alias=0, position=2, device=EL2004
alias=0, position=3, device=EL9510
alias=0, position=4, device=EL3356
alias=0, position=5, device=Kollmorgen AKD
alias=0, position=6, device=MTS LVDT
SYSTEM TWO:
EtherLAB Master 1.52, E1000E Driver, Scan Rate 8Khz, Ubuntu Server 14.04LTS, RT-PREEMPT 3.12.50-rt68
alias=0, position=0, device=EK1100
alias=0, position=1, device=EL3001
alias=0, position=2, device=EL1104
alias=0, position=3, device=EL1104
alias=0, position=4, device=EL1104
alias=0, position=5, device=EL2004
alias=0, position=6, device=EL2004
alias=0, position=7, device=EL9505
alias=0, position=8, device=EL7041
alias=0, position=9, device=EL7041
alias=0, position=10, device=EL7041
alias=0, position=11, device=EL7041
alias=0, position=12, device=EL7041
alias=0, position=13, device=EL7041
alias=0, position=14, device=EK1110
alias=1, position=0, device=SIGMA5-05
alias=2, position=0, device=Yaskawa SIGMA5-05
alias=3, position=0, device=Yaskawa SIGMA5-05
Both of the system are fully operational. However, for various reasons, I need to implement distributed clocks on these systems. I’ve never been able to get this to work.
What follows is the code I used for both systems to try this. I read through examples on the mailing list, plus the examples, but I’m not seeing what I’m doing wrong. The result is always the same: all the fieldbus cards go into operation, but the servo drives won’t because of “bad configuration.” Take out the distributed clock code, and they work fine. I’m getting away with it for now, but I do need better clock resolution.
The systems have an LRW domain, then a separate read domain and write domain for the servo drive(s) for a total of three domains (LRW, read, write). The yaskawa drives necessitate this. The scan rate is usually 4Khz, but I have tried it at both 1Khz and 8Khz and gotten the same results. Everything about the implementation is fairly straight-forward. There’s just something fundamental about the DC configuration that I’m not understanding.
Almost all the code below is taken right from the examples or the message boards (thanks, everybody!). If anyone could tell me what I’m going wrong or offer any insights, it’s greatly appreciated. For brevity, I tried to narrow it down to relevant parts, but please let me know any additional information or code I can provide.
Thank you in advance,
Tom
**********************************************************
// EtherCAT distributed clock variables
#define DC_FILTER_CNT 1024
#define SYNC_MASTER_TO_REF 1
static uint64_t dc_start_time_ns = 0LL;
static uint64_t dc_time_ns = 0;
static uint8_t dc_started = 0;
static int32_t dc_diff_ns = 0;
static int32_t prev_dc_diff_ns = 0;
static int64_t dc_diff_total_ns = 0LL;
static int64_t dc_delta_total_ns = 0LL;
static int dc_filter_idx = 0;
static int64_t dc_adjust_ns;
static int64_t system_time_base = 0LL;
static uint64_t wakeup_time = 0LL;
static uint64_t overruns = 0LL;
/** Get the time in ns for the current cpu, adjusted by system_time_base.
*
* \attention Rather than calling rt_get_time_ns() directly, all application
* time calls should use this method instead.
*
* \ret The time in ns.
*/
uint64_t system_time_ns(void)
{
struct timespec ts;
clock_gettime(GLOBAL_CLOCK_TO_USE, &ts);
return TIMESPEC2NS(ts);
}
static
void sync_distributed_clocks(void)
{
uint32_t ref_time = 0;
uint64_t prev_app_time = dc_time_ns;
dc_time_ns = system_time_ns();
// set master time in nano-seconds
ecrt_master_application_time(master_, dc_time_ns);
// get reference clock time to synchronize master cycle
ecrt_master_reference_clock_time(master_, &ref_time);
dc_diff_ns = (uint32_t) prev_app_time - ref_time;
// call to sync slaves to ref slave
ecrt_master_sync_slave_clocks(master_);
}
/** Return the sign of a number
*
* ie -1 for -ve value, 0 for 0, +1 for +ve value
*
* \retval the sign of the value
*/
#define sign(val) \
({ typeof (val) _val = (val); \
((_val > 0) - (_val < 0)); })
/*****************************************************************************/
/** Update the master time based on ref slaves time diff
*
* called after the ethercat frame is sent to avoid time jitter in
* sync_distributed_clocks()
*/
static unsigned int cycle_ns = 1000000; // 1 millisecond
void update_master_clock(void)
{
// calc drift (via un-normalised time diff)
int32_t delta = dc_diff_ns - prev_dc_diff_ns;
prev_dc_diff_ns = dc_diff_ns;
// normalise the time diff
dc_diff_ns =
((dc_diff_ns + (cycle_ns / 2)) % cycle_ns) - (cycle_ns / 2);
// only update if primary master
if (dc_started) {
// add to totals
dc_diff_total_ns += dc_diff_ns;
dc_delta_total_ns += delta;
dc_filter_idx++;
if (dc_filter_idx >= DC_FILTER_CNT) {
// add rounded delta average
dc_adjust_ns +=
((dc_delta_total_ns + (DC_FILTER_CNT / 2)) / DC_FILTER_CNT);
// and add adjustment for general diff (to pull in drift)
dc_adjust_ns += sign(dc_diff_total_ns / DC_FILTER_CNT);
// limit crazy numbers (0.1% of std cycle time)
if (dc_adjust_ns < -1000) {
dc_adjust_ns = -1000;
}
if (dc_adjust_ns > 1000) {
dc_adjust_ns = 1000;
}
// reset
dc_diff_total_ns = 0LL;
dc_delta_total_ns = 0LL;
dc_filter_idx = 0;
}
// add cycles adjustment to time base (including a spot adjustment)
system_time_base += dc_adjust_ns + sign(dc_diff_ns);
}
else {
dc_started = (dc_diff_ns != 0);
if (dc_started)
{
// record the time of this initial cycle
dc_start_time_ns = dc_time_ns;
}
}
}
struct timespec dcTime_;
int
ecatMain_process(void* lp)
{
ecrt_master_receive(master_);
clock_gettime(CLOCK_REALTIME, &dcTime_);
ecrt_master_application_time(master_, TIMESPEC2NS(dcTime_));
ecrt_master_sync_reference_clock(master_);
ecrt_master_sync_slave_clocks(master_);
ecrt_domain_process(lrwDomainMgr_.domain);
ecrt_domain_process(noLrwWriteDomainMgr_.domain);
ecrt_domain_process(noLrwReadDomainMgr_.domain);
… // handle my business
// write application time to master
clock_gettime(CLOCK_REALTIME, &dcTime_);
ecrt_master_application_time(master_, TIMESPEC2NS(dcTime_));
if (sync_ref_counter_)
{
sync_ref_counter_--;
}
else
{
sync_ref_counter_ = 1; // sync every cycle
ecrt_master_sync_reference_clock(master_);
}
// send process data
ecrt_domain_queue(lrwDomainMgr_.domain);
ecrt_domain_queue(noLrwWriteDomainMgr_.domain);
ecrt_domain_queue(noLrwReadDomainMgr_.domain);
// sync distributed clock just before master_send to set
// most accurate master clock time
sync_distributed_clocks();
// send EtherCAT data
ecrt_master_send(master_);
// update the master clock
// Note: called after ecrt_master_send() to reduce time
// jitter in the sync_distributed_clocks() call
update_master_clock();
return 1;
}
int
ecatMain_start(void* lp)
{
//
// domain regs must end in a null entry
//
lrwDomainMgr_.domainRegs = realloc(
lrwDomainMgr_.domainRegs,
sizeof(ec_pdo_entry_reg_t) * (lrwDomainMgr_.size + 1) );
memset(
&(lrwDomainMgr_.domainRegs[lrwDomainMgr_.size]),
0,
sizeof(ec_pdo_entry_reg_t) );
noLrwReadDomainMgr_.domainRegs = realloc(
noLrwReadDomainMgr_.domainRegs,
sizeof(ec_pdo_entry_reg_t) * (noLrwReadDomainMgr_.size + 1) );
memset(
&(noLrwReadDomainMgr_.domainRegs[noLrwReadDomainMgr_.size]),
0,
sizeof(ec_pdo_entry_reg_t) );
noLrwWriteDomainMgr_.domainRegs = realloc(
noLrwWriteDomainMgr_.domainRegs,
sizeof(ec_pdo_entry_reg_t) * (noLrwWriteDomainMgr_.size + 1) );
memset(
&(noLrwWriteDomainMgr_.domainRegs[noLrwWriteDomainMgr_.size]),
0,
sizeof(ec_pdo_entry_reg_t) );
//
// NOTE: the Output Domain must be registered with
// ecrt_domain_reg_pdo_entry_list before the Input Domain otherwise you
// will not have any data exchanged even though the drive goes into OP
// mode.
//
PRINT("\nAttempting to register PDOs on WRITE ONLY domain...\n");
if (ecrt_domain_reg_pdo_entry_list(
noLrwWriteDomainMgr_.domain, noLrwWriteDomainMgr_.domainRegs))
{
PRINT("WRITE ONLY PDO entry registration failed!\n");
return FALSE;
}
PRINT("\nAttempting to register PDOs on READ ONLY domain...\n");
if (ecrt_domain_reg_pdo_entry_list(
noLrwReadDomainMgr_.domain, noLrwReadDomainMgr_.domainRegs))
{
PRINT("READ ONLY PDO entry registration failed!\n");
return FALSE;
}
//
// And now we register the bi-directional domain.
//
PRINT("\nAttempting to register PDOs on LRW domain...\n");
if (ecrt_domain_reg_pdo_entry_list(
lrwDomainMgr_.domain, lrwDomainMgr_.domainRegs))
{
PRINT("LRW PDO entry registration failed!\n");
return FALSE;
}
/*
* Finishes the configuration phase and prepares for cyclic operation.
* This function tells the master that the configuration phase
* is finished and the realtime operation will begin.
* The function allocates internal memory for the domains and calculates
* the logical FMMU addresses for domain members.
* It tells the master state machine that the bus configuration is
* now to be applied
*/
PRINT("\nAttempting to activate ECAT master...\n");
if (ecrt_master_activate(master_))
{
PRINT(
"%s Failed to activate master!\n",
__FUNCTION__ );
return FALSE;
}
/*
* Returns the domain's process data.
*/
PRINT( "%s getting LRW process data from master.\n", __FUNCTION__ );
if (!(lrwDomainMgr_.processData
= ecrt_domain_data(lrwDomainMgr_.domain)))
{
PRINT(
"%s set ecProcessData -- domain data is NULL!\n",
__FUNCTION__ );
return FALSE;
}
if (!(noLrwReadDomainMgr_.processData
= ecrt_domain_data(noLrwReadDomainMgr_.domain)))
{
PRINT(
"%s set read ProcessData -- domain data is NULL!\n",
__FUNCTION__ );
return FALSE;
}
if (!(noLrwWriteDomainMgr_.processData
= ecrt_domain_data(noLrwWriteDomainMgr_.domain)))
{
PRINT(
"%s set write ProcessData -- domain data is NULL!\n",
__FUNCTION__ );
return FALSE;
}
… // blah blah blah
doScan_ = TRUE;
PRINT( "%s completed successfully.\n", __FUNCTION__ );
return TRUE;
}
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