Changes for page 06 Operation
Last modified by Iris on 2025/08/05 17:31
From version 90.1
edited by Mora Zhou
on 2025/04/29 10:05
on 2025/04/29 10:05
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To version 102.3
edited by xingzhi lin
on 2025/05/26 09:27
on 2025/05/26 09:27
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... ... @@ -1,1 +1,1 @@ 1 -XWiki. Mora1 +XWiki.lxz - Content
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... ... @@ -1910,10 +1910,13 @@ 1910 1910 )))|0|0 to 3|((( 1911 1911 Set the zero-speed clamp function. In speed mode: 1912 1912 1913 -* 0: Force the speed to 0; 1914 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22 1915 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked 1916 -* 3: Invalid, ignore zero-speed clamp input 1913 +0: Force the speed to 0; 1914 + 1915 +1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22 1916 + 1917 +2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked 1918 + 1919 +3: Invalid, ignore zero-speed clamp input 1917 1917 )))|- 1918 1918 |=P01-22|((( 1919 1919 Zero-speed clamp speed threshold ... ... @@ -1921,7 +1921,7 @@ 1921 1921 Operation setting 1922 1922 )))|((( 1923 1923 Effective immediately 1924 -)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm1927 +)))|20|0 to 6000|Set the speed threshold of zero-speed clamp function|rpm 1925 1925 1926 1926 Table 6-33 Zero-speed clamp related parameters 1927 1927 ... ... @@ -1966,7 +1966,7 @@ 1966 1966 1967 1967 |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function** 1968 1968 |=132|(% style="width:247px" %)((( 1969 -T -COIN rotation detection1972 +TGON rotation detection 1970 1970 )))|(% style="width:695px" %)((( 1971 1971 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16 1972 1972 ... ... @@ -2034,7 +2034,7 @@ 2034 2034 2035 2035 |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function** 2036 2036 |=136|(% style="width:262px" %)((( 2037 - U-COIN consistent speed2040 +V-COIN consistent speed 2038 2038 )))|(% style="width:684px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value 2039 2039 2040 2040 Table 6-39 DO speed consistent function code ... ... @@ -2218,8 +2218,9 @@ 2218 2218 )))|((( 2219 2219 Effective immediately 2220 2220 )))|0|0 to 1|((( 2221 -* 0: internal value 2222 -* 1: AI_1 analog input (not supported by VD2F and VD2L) 2224 +0: internal value 2225 + 2226 +1: AI_1 analog input (not supported by VD2F and VD2L) 2223 2223 )))|- 2224 2224 2225 2225 * Torque limit source is internal torque instruction (P01-14=0) ... ... @@ -2296,7 +2296,7 @@ 2296 2296 Operation setting 2297 2297 )))|((( 2298 2298 Effective immediately 2299 -)))|3000|0 to 5000|(((2303 +)))|3000|0 to 6000|((( 2300 2300 Forward torque 2301 2301 2302 2302 limit in torque mode ... ... @@ -2309,7 +2309,7 @@ 2309 2309 Operation setting 2310 2310 )))|((( 2311 2311 Effective immediately 2312 -)))|3000|0 to 5000|(((2316 +)))|3000|0 to 6000|((( 2313 2313 Reverse torque 2314 2314 2315 2315 limit in torque mode ... ... @@ -2394,13 +2394,18 @@ 2394 2394 )))|((( 2395 2395 Shutdown setting 2396 2396 )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)((( 2397 -* 1: Position control 2398 -* 2: Speed control 2399 -* 3: Torque control 2400 -* 4: Position/speed mixed control 2401 -* 5: Position/torque mixed control 2402 -* 6: Speed/torque mixed control 2401 +1: Position control 2403 2403 2403 +2: Speed control 2404 + 2405 +3: Torque control 2406 + 2407 +4: Position/speed mixed control 2408 + 2409 +5: Position/torque mixed control 2410 + 2411 +6: Speed/torque mixed control 2412 + 2404 2404 **VD2L drive P0-01 setting range: 1-3, not support mixed mode** 2405 2405 )))|- 2406 2406 ... ... @@ -2542,8 +2542,9 @@ 2542 2542 **time** 2543 2543 )))|=**Default value**|=**Range**|=**Definition**|=**Unit** 2544 2544 |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|((( 2545 -* 0:Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault 2546 -* 1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute 2554 +0:Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault 2555 + 2556 +1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute 2547 2547 )))|- 2548 2548 2549 2549 This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur. ... ... @@ -2688,8 +2688,9 @@ 2688 2688 2689 2689 VDI_1 input level: 2690 2690 2691 -* 0: low level 2692 -* 1: high level 2701 +0: Low level 2702 + 2703 +1: High level 2693 2693 )))|- 2694 2694 |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|((( 2695 2695 When P06-07 is set to 1, DI_2 channel logic is control by this function code. ... ... @@ -2696,8 +2696,9 @@ 2696 2696 2697 2697 VDI_2 input level: 2698 2698 2699 -* 0: low level 2700 -* 1: high level 2710 +0: Low level 2711 + 2712 +1: High level 2701 2701 )))|- 2702 2702 |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|((( 2703 2703 When P06-10 is set to 1, DI_3 channel logic is control by this function code. ... ... @@ -2704,8 +2704,9 @@ 2704 2704 2705 2705 VDI_3 input level: 2706 2706 2707 -* 0: low level 2708 -* 1: high level 2719 +0: Low level 2720 + 2721 +1: High level 2709 2709 )))|- 2710 2710 |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|((( 2711 2711 When P06-13 is set to 1, DI_4 channel logic is control by this function code. ... ... @@ -2712,40 +2712,53 @@ 2712 2712 2713 2713 VDI_4 input level: 2714 2714 2715 -* 0: low level 2716 -* 1: high level 2728 +0: Low level 2729 + 2730 +1: High level 2717 2717 )))|- 2718 -|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|((( 2732 +|=P13-05((( 2733 +★ 2734 +)))|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|((( 2719 2719 When P06-16 is set to 1, DI_5 channel logic is control by this function code. 2720 2720 2721 2721 VDI_5 input level: 2722 2722 2723 -* 0: low level 2724 -* 1: high level 2739 +0: Low level 2740 + 2741 +1: High level 2725 2725 )))|- 2726 -|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|((( 2743 +|=P13-06((( 2744 +★ 2745 +)))|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|((( 2727 2727 When P06-19 is set to 1, DI_6 channel logic is control by this function code. 2728 2728 2729 2729 VDI_6 input level: 2730 2730 2731 -* 0: low level 2732 -* 1: high level 2750 +0: Low level 2751 + 2752 +1: High level 2733 2733 )))|- 2734 -|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|((( 2754 +|=P13-07((( 2755 +★ 2756 +)))|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|((( 2735 2735 When P06-22 is set to 1, DI_7 channel logic is control by this function code. 2736 2736 2737 2737 VDI_7 input level: 2738 2738 2739 -* 0: low level 2740 -* 1: high level 2761 +0: Low level 2762 + 2763 +1: High level 2741 2741 )))|- 2742 -|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|((( 2765 +|=P13-08((( 2766 +★ 2767 +)))|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|((( 2743 2743 When P06-25 is set to 1, DI_8 channel logic is control by this function code. 2744 2744 2745 2745 VDI_8 input level: 2746 2746 2747 -* 0: low level 2748 -* 1: high level 2772 +0: Low level 2773 + 2774 +1: High level 2749 2749 )))|- 2750 2750 2751 2751 Table 6-57 Virtual VDI parameters ... ... @@ -2752,7 +2752,7 @@ 2752 2752 2753 2753 (% class="box infomessage" %) 2754 2754 ((( 2755 -✎**Note: **“ ☆” means VD2F servo drive does not support the function code .2781 +✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code . 2756 2756 ))) 2757 2757 2758 2758 == Port filtering time == ... ... @@ -2786,26 +2786,30 @@ 2786 2786 |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|((( 2787 2787 VDO_1 output level: 2788 2788 2789 -* 0: low level 2790 -* 1: high level 2815 +0: Low level 2816 + 2817 +1: High level 2791 2791 )))|- 2792 2792 |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|((( 2793 2793 VDO_2 output level: 2794 2794 2795 -* 0: low level 2796 -* 1: high level 2822 +0: Low level 2823 + 2824 +1: High level 2797 2797 )))|- 2798 2798 |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|((( 2799 2799 VDO_3 output level: 2800 2800 2801 -* 0: low level 2802 -* 1: high level 2829 +0: Low level 2830 + 2831 +1: High level 2803 2803 )))|- 2804 2804 |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|((( 2805 2805 VDO_4 output level: 2806 2806 2807 -* 0: low level 2808 -* 1: high level 2836 +0: Low level 2837 + 2838 +1: High level 2809 2809 )))|- 2810 2810 2811 2811 Table 6-59 Communication control DO function parameters ... ... @@ -2848,3 +2848,871 @@ 2848 2848 ((( 2849 2849 ✎**Note:** It is advised to configure function codes for DO terminals in sequence to avoid errors. Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor. 2850 2850 ))) 2881 + 2882 + 2883 += Homing mode = 2884 + 2885 +The homing mode is used to find the mechanical origin and locate the positional relationship between the mechanical origin and the mechanical zero. 2886 + 2887 +Mechanical homing: A mechanically fixed position may correspond to a certain defined homing switch, or may correspond to the motor Z signal. 2888 + 2889 +Mechanical zero point: Mechanically absolute 0 position. 2890 + 2891 +After the homing, the stop position of the motor is the mechanical homing. By setting P10-08, the relationship between the mechanical homing and the mechanical zero can be set: 2892 + 2893 +Mechanical homing = Mechanical zero +P10-08 (homing offset) 2894 + 2895 +When P10-08=0, the mechanical homing coincides with the mechanical zero. 2896 + 2897 +== Control block diagram == 2898 + 2899 + 2900 +=== Homing mode related function codes === 2901 + 2902 +|Function code|Name|((( 2903 +Setting 2904 + 2905 +method 2906 +)))|((( 2907 +Effective 2908 + 2909 +time 2910 +)))|Default|Range|Definition|Unit 2911 +|P01-39|Homing start mode|((( 2912 +Stop 2913 + 2914 +settings 2915 +)))|((( 2916 +Immediately 2917 + 2918 +effective 2919 +)))|0|0 to 2|((( 2920 +0: Close 2921 + 2922 +1: The servo is powered ON and started after the first ON 2923 + 2924 +2: DI enable 2925 +)))|- 2926 + 2927 +|Function code|Name|((( 2928 +Setting 2929 + 2930 +method 2931 +)))|((( 2932 +Effective 2933 + 2934 +time 2935 +)))|Default|Range|Definition|Unit 2936 +|P01-40|Homing mode|((( 2937 +Stop 2938 + 2939 +settings 2940 +)))|((( 2941 +Immediately 2942 + 2943 +effective 2944 +)))|0|0 to 35|((( 2945 +0 ~~ 35 Homing mode; 2946 + 2947 +✎Note: VD2 currently does not support 15, 16, 31, 32 modes 2948 +)))|- 2949 + 2950 +|Function code|Name|((( 2951 +Setting 2952 + 2953 +method 2954 +)))|((( 2955 +Effective 2956 + 2957 +time 2958 +)))|Default|Range|Definition|Unit 2959 +|P01-41|High-speed search deceleration point signal velocity|((( 2960 +Running 2961 + 2962 +settings 2963 +)))|((( 2964 +Immediately 2965 + 2966 +effective 2967 +)))|300|1 to 3000|High-speed search deceleration point signal velocity in homing mode|rpm 2968 + 2969 +|Function code|Name|((( 2970 +Setting 2971 + 2972 +method 2973 +)))|((( 2974 +Effective 2975 + 2976 +time 2977 +)))|Default|Range|Definition|Unit 2978 +|P01-42〇|Low speed search homing signal speed|((( 2979 +Running 2980 + 2981 +settings 2982 +)))|((( 2983 +Immediately 2984 + 2985 +effective 2986 +)))|60|1 to 300|Low-speed search origin signal velocity in homing mode|rpm 2987 + 2988 +|Function code|Name|((( 2989 +Setting 2990 + 2991 +method 2992 +)))|((( 2993 +Effective 2994 + 2995 +time 2996 +)))|Default|Range|Definition|Unit 2997 +|P01-43〇|Homing acceleration and deceleration|((( 2998 +Running 2999 + 3000 +settings 3001 +)))|((( 3002 +Immediately 3003 + 3004 +effective 3005 +)))|50|1to1000|((( 3006 +Acceleration and deceleration in homing mode 3007 + 3008 +Time for speed acceleration from 0 to 1000rpm 3009 +)))|ms 3010 + 3011 +|Function code|Name|((( 3012 +Setting 3013 + 3014 +method 3015 +)))|((( 3016 +Effective 3017 + 3018 +time 3019 +)))|Default|Range|Definition|Unit 3020 +|P01-44〇|Homing timeout limited time|((( 3021 +Running 3022 + 3023 +settings 3024 +)))|((( 3025 +Immediately 3026 + 3027 +effective 3028 +)))|65535|100 to 65535|Homing timeout limited time|ms 3029 + 3030 +|Function code|Name|((( 3031 +Setting 3032 + 3033 +method 3034 +)))|((( 3035 +Effective 3036 + 3037 +time 3038 +)))|Default|Range|Definition|Unit 3039 +|P10-08〇|Multi-turn absolute encoder homing offset compensation|((( 3040 +Running 3041 + 3042 +settings 3043 +)))|((( 3044 +Immediately 3045 + 3046 +effective 3047 +)))|0|((( 3048 +-2147483647~~ 3049 + 3050 +2147483646 3051 +)))|((( 3052 +P10-08 multi-turn absolute encoder homing offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. 3053 + 3054 +When P10-6 is set to 1, the value of U0-56 is updated to P10-8. 3055 +)))|- 3056 + 3057 +== Introduction to homing mode == 3058 + 3059 +In the following figure, "H" represents P01-41 (high-speed search deceleration point signal speed), and "L" represents P01-42 (low-speed search homing signal speed). 3060 + 3061 + 3062 +(1) P01-40 =1 3063 + 3064 +Mechanical homing: Motor Z signal 3065 + 3066 +Deceleration point: Reverse limit switch (NOT) 3067 + 3068 +① The deceleration point signal is invalid when starting homing 3069 + 3070 +(% style="text-align:center" %) 3071 +[[image:1748221916083-747.jpg||height="347" width="600"]] 3072 + 3073 +When it starts to homing, NOT=0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT. 3074 + 3075 + 3076 +② The deceleration point signal is valid when starting homing 3077 + 3078 +(% style="text-align:center" %) 3079 +[[image:1748222134730-241.jpg||height="341" width="600"]] 3080 + 3081 +When starting to homing, NOT=1, it starts to homing at a direct forward low speed, and stops at the first Z signal after encountering the falling edge of NOT. 3082 + 3083 + 3084 + 3085 + 3086 + 3087 + 3088 +(2) P01-40=2 3089 + 3090 +Mechanical homing: Motor Z signal 3091 + 3092 +Deceleration point: Positive Limit Switch (POT) 3093 + 3094 +① The deceleration point signal is invalid when starting homing 3095 + 3096 +(% style="text-align:center" %) 3097 +[[image:1748222168627-745.jpg||height="334" width="600"]] 3098 + 3099 + 3100 +When it starts to homing, POT = 0, and it starts to homing at a forward high speed. After encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of POT. 3101 + 3102 + 3103 +② The deceleration point signal is valid when starting homing 3104 + 3105 +(% style="text-align:center" %) 3106 +[[image:1748222190794-857.jpg||height="337" width="600"]] 3107 + 3108 +POT=1 when start homing, run at low speed directly in the reverse direction, and stops at the first Z signal after the falling edge of POT. 3109 + 3110 + 3111 + 3112 +(3) P01-40=3 3113 + 3114 +Mechanical homing: Motor Z signal 3115 + 3116 +Deceleration point: Home switch (HW) 3117 + 3118 +① The deceleration point signal is invalid when starting homing 3119 + 3120 +(% style="text-align:center" %) 3121 +[[image:1748222203229-740.jpg||height="337" width="600"]] 3122 + 3123 + 3124 +When it starts to homing, HW=0. It starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction. It runs at a reverse low speed. After encountering the falling edge of HW, it continues to run, and then stops when encountering the first Z signal. 3125 + 3126 + 3127 +② The deceleration point signal is valid when starting homing 3128 + 3129 +(% style="text-align:center" %) 3130 +[[image:1748222259038-454.jpg||height="337" width="600"]] 3131 + 3132 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop at the first Z signal after encountering the falling edge of HW; 3133 + 3134 + 3135 + 3136 + 3137 + 3138 + 3139 + 3140 + 3141 + 3142 + 3143 + 3144 + 3145 + 3146 +(4) P01-40=4 3147 + 3148 +Mechanical homing: Motor Z signal 3149 + 3150 +Deceleration point: Home switch (HW) 3151 + 3152 +① The deceleration point signal is invalid when starting homing 3153 + 3154 +(% style="text-align:center" %) 3155 +[[image:1748222356175-586.jpg||height="337" width="600"]] 3156 + 3157 +HW=0 when starting to homing, directly start to homing at low speed, and stop at the first Z signal after encountering the rising edge of HW; 3158 + 3159 + 3160 +② The deceleration point signal is valid when starting homing 3161 + 3162 +(% style="text-align:center" %) 3163 +[[image:1748222408099-521.jpg||height="338" width="600"]] 3164 + 3165 + 3166 +When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, decelerate and reverse, run at a low speed in the forward direction, and stop at the first Z signal after encountering the rising edge of HW. 3167 + 3168 + 3169 + 3170 + 3171 + 3172 +(5) P01-40=5 3173 + 3174 +Mechanical homing: Motor Z signal 3175 + 3176 +Deceleration point: Home switch (HW) 3177 + 3178 +① The deceleration point signal is invalid when starting homing 3179 + 3180 +(% style="text-align:center" %) 3181 +[[image:1748222430449-293.jpg||height="337" width="600"]] 3182 + 3183 +When it starts to homing, HW = 0, and it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW. 3184 + 3185 + 3186 +② The deceleration point signal is valid when starting homing 3187 + 3188 +(% style="text-align:center" %) 3189 +[[image:1748222448727-825.jpg||height="337" width="600"]] 3190 + 3191 +When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop; 3192 + 3193 + 3194 + 3195 + 3196 + 3197 +(6) P01-40=6 3198 + 3199 +Mechanical homing: Motor Z signal 3200 + 3201 +Deceleration point: Home switch (HW) 3202 + 3203 +① The deceleration point signal is invalid when starting homing 3204 + 3205 +(% style="text-align:center" %) 3206 +[[image:1748222469183-894.jpg||height="337" width="600"]] 3207 + 3208 +When starting to homing, HW=0, directly reverse low speed starts to homing, and the first Z signal stops after encountering the rising edge of HW; 3209 + 3210 + 3211 +② The deceleration point signal is valid when starting homing 3212 + 3213 +(% style="text-align:center" %) 3214 +[[image:1748222485622-911.jpg||height="337" width="600"]] 3215 + 3216 +When starting to homing, HW = 1, start to homing at a forward high speed, after encountering the falling edge of HW, decelerate and reverse, run at a reverse low speed, and stop at the first Z signal after encountering the rising edge of HW. 3217 + 3218 + 3219 + 3220 + 3221 + 3222 +(7) P01-40=7 3223 + 3224 +Mechanical homing: Motor Z signal 3225 + 3226 +Deceleration point: Home switch (HW) 3227 + 3228 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3229 + 3230 +(% style="text-align:center" %) 3231 +[[image:1748222509640-301.jpg||height="405" width="600"]] 3232 + 3233 + 3234 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, and runs at a reverse low speed. The first Z signal after encountering the falling edge of HW stops. 3235 + 3236 + 3237 +②When homing, the deceleration point signal is invalid and the forward limit switch is encountered 3238 + 3239 +(% style="text-align:center" %) 3240 +[[image:1748222603373-759.jpg||height="482" width="600"]] 3241 + 3242 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and continue to run at a reverse low speed. The first Z signal after the falling edge of HW will stop. 3243 + 3244 + 3245 +③ The deceleration point signal is valid when starting homing 3246 + 3247 +(% style="text-align:center" %) 3248 +[[image:1748222658301-527.jpg||height="406" width="600"]] 3249 + 3250 +When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW; 3251 + 3252 + 3253 +(8) P01-40=8 3254 + 3255 +Mechanical homing: Motor Z signal 3256 + 3257 +Deceleration point: Home switch (HW) 3258 + 3259 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3260 + 3261 +(% style="text-align:center" %) 3262 +[[image:1748222676833-578.jpg||height="425" width="600"]] 3263 + 3264 +When it starts to homing, HM-0 starts to homing at a forward high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and reverse, and run at a reverse low speed. After encountering the falling edge of HW, reverse, run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW. 3265 + 3266 + 3267 +② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3268 + 3269 +(% style="text-align:center" %) 3270 +[[image:1748222776332-811.jpg||height="460" width="600"]] 3271 + 3272 +When it starts to homing, HW = 0, and it starts to homing at forward high speed. If it encounters a limit switch, it will automatically reverse and run at reverse high speed; After encountering the rising edge of HW, slow down and run at a reverse low speed; After encountering the falling edge of HW, reverse the direction, run at a forward low speed, and stop the first Z signal after encountering the rising edge of HW. 3273 + 3274 + 3275 +③ The deceleration point signal is valid when starting homing 3276 + 3277 +(% style="text-align:center" %) 3278 +[[image:1748222790840-470.jpg||height="403" width="600"]] 3279 + 3280 +When starting to homing, HM-1 will directly reverse and start to return to zero at low speed. After encountering the falling edge of HW, it will reverse and run at forward low speed. The first Z signal after encountering the rising edge of HW will stop. 3281 + 3282 + 3283 + 3284 +(9) P01-40=9 3285 + 3286 +Mechanical homing: Motor Z signal 3287 + 3288 +Deceleration point: Home switch (HW) 3289 + 3290 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3291 + 3292 +(% style="text-align:center" %) 3293 +[[image:1748222807478-627.jpg||height="407" width="600"]] 3294 + 3295 +When it starts to homing, HW=0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed; After encountering the falling edge of HW, reverse, run at a low speed in the reverse direction, and stop at the first Z signal after encountering the rising edge of HW. 3296 + 3297 + 3298 +② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3299 + 3300 + 3301 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering a rising edge of HW, it will slow down and reverse to resume forward operation. Running at a forward low speed, after encountering a falling edge of HW, it will reverse. During reverse low speed operation, the first Z signal after encountering a rising edge of HW will stop. 3302 + 3303 +③ The deceleration point signal is valid when starting homing 3304 + 3305 + 3306 +When starting homing, HW=1 starts homing directly at forward low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and reverse low speed operation; 3307 + 3308 + 3309 +(10) P01-40=10 3310 + 3311 +Mechanical homing: Motor Z signal 3312 + 3313 +Deceleration point: Home switch (HW) 3314 + 3315 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3316 + 3317 + 3318 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, slow down and run at a forward low speed. After encountering the falling edge of HW, continue to run at a forward low speed, and then the first Z signal encountered stops. 3319 + 3320 +When homing, the deceleration point signal is invalid and the forward limit switch is encountered 3321 + 3322 + 3323 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and reverse to resume forward operation. The first Z signal after the low speed encounters the falling edge of HW will stop. 3324 + 3325 + 3326 +③ The deceleration point signal is valid when starting homing 3327 + 3328 + 3329 +When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop; 3330 + 3331 + 3332 +(11) P01-40=11 3333 + 3334 +Mechanical homing: Motor Z signal 3335 + 3336 +Deceleration point: Home switch (HW) 3337 + 3338 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3339 + 3340 + 3341 +When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW. 3342 + 3343 + 3344 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3345 + 3346 + 3347 +When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it encounters a limit switch, it will automatically reverse and run at a forward high speed. After encountering a rising edge of HW, slow down and continue to run at a forward low speed. When encountering a falling edge of HW, the first Z signal after the edge stops. 3348 + 3349 +③ The deceleration point signal is valid when starting homing 3350 + 3351 + 3352 +When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop; 3353 + 3354 + 3355 +(12) P01-40=12 3356 + 3357 +Mechanical homing: Motor Z signal 3358 + 3359 +Deceleration point: Home switch (HW) 3360 + 3361 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3362 + 3363 + 3364 + 3365 +When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW. 3366 + 3367 + 3368 + 3369 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3370 + 3371 + 3372 +When it starts to homing, HW=0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates, runs at a forward low speed, encounters a falling edge of HW, reverses, runs at a reverse low speed, and stops at the first Z signal after encountering a rising edge of HW. 3373 + 3374 + 3375 + 3376 +③ The deceleration point signal is valid when starting homing 3377 + 3378 + 3379 +When starting to homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. The first Z signal after encountering the rising edge of HW will stop. 3380 + 3381 +(13) P01-40=13 3382 + 3383 +Mechanical homing: Motor Z signal 3384 + 3385 +Deceleration point: Home switch (HW) 3386 + 3387 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3388 + 3389 + 3390 +When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and run at a reverse low speed. After encountering the falling edge of HW, reverse and run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW. 3391 + 3392 + 3393 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3394 + 3395 + 3396 +When it starts to homing, HW=0, it starts to homing at reverse high speed, encounters the limit switch, automatically reverses, runs at forward high speed, after encountering the rising edge of HW, decelerates and runs in reverse low speed, and encounters the falling edge of HW when running at reverse low speed, the first Z signal after encountering the rising edge of HW stops. 3397 + 3398 +③ The deceleration point signal is valid when starting homing 3399 + 3400 + 3401 +When starting homing, HW=1 starts homing directly at reverse low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and forward low speed operation; 3402 + 3403 + 3404 +(14) P01-40=14 3405 + 3406 +Mechanical homing: Motor Z signal 3407 + 3408 +Deceleration point: Home switch (HW) 3409 + 3410 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3411 + 3412 + 3413 +When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates and runs at reverse low speed. After encountering the falling edge of HW, it continues to run at reverse low speed, and then the first Z signal encountered stops. 3414 + 3415 + 3416 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3417 + 3418 + 3419 +When it starts to homing, HW = 0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates and runs in a reverse direction, and stops the first Z signal after encountering a falling edge of HW at a reverse low speed. 3420 + 3421 + 3422 +③ The deceleration point signal is valid when starting homing 3423 + 3424 + 3425 +When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW; 3426 + 3427 + 3428 +(15) P01-40=17 3429 + 3430 +Mechanical homing: Negative overrun switch (NOT) 3431 + 3432 +Deceleration point: Negative overrun switch (NOT) 3433 + 3434 +① The deceleration point signal is invalid when starting homing 3435 + 3436 + 3437 +When it starts to homing, NOT = 0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops after encountering the falling edge of NOT. 3438 + 3439 + 3440 +② The deceleration point signal is valid when starting homing 3441 + 3442 + 3443 +When starting homing, NOT=1, start homing directly at low speed, and stop after encountering the falling edge of NOT. 3444 + 3445 + 3446 +(16) P01-40=18 3447 + 3448 +Mechanical homing: Positive overrun switch (POT) 3449 + 3450 +Deceleration point: Positive overrun switch (POT) 3451 + 3452 +① The deceleration point signal is invalid when starting homing 3453 + 3454 + 3455 +When it starts to return to zero, POT=0, it starts to homing at a forward high speed, after encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops after encountering the falling edge of POT. 3456 + 3457 + 3458 +② The deceleration point signal is valid when starting homing 3459 + 3460 + 3461 +When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge; 3462 + 3463 + 3464 + 3465 +(17) P01-40=19 3466 + 3467 +Mechanical homing: Home switch (HW) 3468 + 3469 +Deceleration point: Home switch (HW) 3470 + 3471 +① The deceleration point signal is invalid when starting homing 3472 + 3473 + 3474 +When it starts to homing, HW=0, and it starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a reverse low speed, and stops when encountering the falling edge of HW. 3475 + 3476 + 3477 +② The deceleration point signal is valid when starting homing 3478 + 3479 + 3480 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge; 3481 + 3482 + 3483 +(18) P01-40=20 3484 + 3485 +Mechanical homing: Home switch (HW) 3486 + 3487 +Deceleration point: Home switch (HW) 3488 + 3489 +① The deceleration point signal is invalid when starting homing 3490 + 3491 + 3492 +When starting to homing, HW=0, directly start to homing at low speed, and stop after encountering the rising edge of HW; 3493 + 3494 + 3495 +② The deceleration point signal is valid when starting homing 3496 + 3497 + 3498 +When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, slow down and reverse the direction, run at a low speed in the forward direction, and stop when encountering the rising edge of HW. 3499 + 3500 + 3501 +(19) P01-40=21 3502 + 3503 +Mechanical homing: Home switch (HW) 3504 + 3505 +Deceleration point: Home switch (HW) 3506 + 3507 +① The deceleration point signal is invalid when starting homing 3508 + 3509 + 3510 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW. 3511 + 3512 + 3513 +② The deceleration point signal is valid when starting homing 3514 + 3515 + 3516 +When starting back to zero, HW=1, it will start homing directly at low speed, and stop after encountering the falling edge of HW; 3517 + 3518 + 3519 +(20) P01-40=22 3520 + 3521 +Mechanical homing: Home switch (HW) 3522 + 3523 +Deceleration point: Home switch (HW) 3524 + 3525 +① The deceleration point signal is invalid when starting homing 3526 + 3527 + 3528 +When starting to homing, HW=0, directly reverse low speed starts to homing, and stops when encountering HW rising edge; 3529 + 3530 + 3531 +Deceleration point signal is valid when homing start 3532 + 3533 + 3534 +When starting to homing, HW=1, start to homing at a forward high speed, after encountering the falling edge of HW, slow down and reverse, run at a reverse low speed, and stop when encountering the rising edge of HW. 3535 + 3536 + 3537 +(21) P01-40=23 3538 + 3539 +Mechanical homing: Home switch (HW) 3540 + 3541 +Deceleration point: Home switch (HW) 3542 + 3543 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3544 + 3545 + 3546 +When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, runs at a reverse low speed, and stops when encountering the falling edge of HW. 3547 + 3548 + 3549 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3550 + 3551 + 3552 +When you start homing, HW = 0, start homing at a forward high speed. When encountering the limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, slow down, continue to run at reverse low speed, and stop when encountering the HW falling edge. 3553 + 3554 + 3555 + 3556 +③ The deceleration point signal is valid when starting homing 3557 + 3558 + 3559 +When it starts to homing, HW=1, it starts to homing at a reverse low speed, and stops when it encounters the falling edge of HW. 3560 + 3561 + 3562 +(22) P01-40=24 3563 + 3564 +Mechanical homing: Home switch (HW) 3565 + 3566 +Deceleration point: Home switch (HW) 3567 + 3568 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3569 + 3570 + 3571 +When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW. 3572 + 3573 + 3574 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3575 + 3576 + 3577 +When it starts to homing, HW = 0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, runs at reverse high speed, encounters the rising edge of HW, decelerates and runs at reverse low speed, encounters the falling edge of HW, reverses, runs at forward low speed, and stops when encountering the rising edge of HW. 3578 + 3579 + 3580 +③ The deceleration point signal is valid when starting homing 3581 + 3582 + 3583 +When starting with homing, HW = 1, it will directly reverse the low speed and start to homing. After encountering the falling edge of HW, it will reverse the direction and run at a forward low speed, and stop when encountering the rising edge of HW. 3584 + 3585 + 3586 +(23) P01-40=25 3587 + 3588 +Mechanical homing: Home switch (HW) 3589 + 3590 +Deceleration point: Home switch (HW) 3591 + 3592 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3593 + 3594 + 3595 +When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW. 3596 + 3597 + 3598 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3599 + 3600 + 3601 +When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerate and reverse to resume forward operation. After encountering the falling edge of HW at forward low speed, reverse. When running at reverse low speed, stop when encountering the rising edge of HW. 3602 + 3603 + 3604 +③ The deceleration point signal is valid when starting homing 3605 + 3606 + 3607 +When starting homing, when HW=1, it starts to homing directly at low speed in the forward direction. After encountering the falling edge of HW, it stops at the rising edge of HW in the reverse low speed operation 3608 + 3609 + 3610 +(24) P01-40=26 3611 + 3612 +Mechanical homing: Home switch (HW) 3613 + 3614 +Deceleration point: Home switch (HW) 3615 + 3616 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3617 + 3618 + 3619 +When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates, runs at a forward low speed, and stops when encountering the falling edge of HW. 3620 + 3621 + 3622 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3623 + 3624 + 3625 +When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerates and reverses to resume forward operation, and stops when encountering the falling edge of HW at forward low speed. 3626 + 3627 + 3628 +③ The deceleration point signal is valid when starting homing 3629 + 3630 + 3631 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge; 3632 + 3633 + 3634 +(25) P01-40=27 3635 + 3636 +Mechanical homing: Home switch (HW) 3637 + 3638 +Deceleration point: Home switch (HW) 3639 + 3640 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3641 + 3642 + 3643 +When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW. 3644 + 3645 + 3646 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3647 + 3648 + 3649 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and continues to run at a forward low speed. When it encounters a falling edge of HW, it stops. 3650 + 3651 + 3652 +③ The deceleration point signal is valid when starting homing 3653 + 3654 + 3655 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge; 3656 + 3657 + 3658 +(26) P01-40=28 3659 + 3660 +Mechanical homing: Home switch (HW) 3661 + 3662 +Deceleration point: Home switch (HW) 3663 + 3664 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3665 + 3666 + 3667 +When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW. 3668 + 3669 + 3670 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3671 + 3672 + 3673 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When encountering a limit switch, it automatically reverses and runs at a forward high speed. When encountering a rising edge of HW, it decelerates and runs at a forward low speed. When encountering a falling edge of HW, it reverses and runs at a reverse low speed. When encountering a rising edge of HW, it stops. 3674 + 3675 + 3676 +③ The deceleration point signal is valid when starting homing 3677 + 3678 + 3679 +When starting with homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. When encountering the rising edge of HW, it will stop. 3680 + 3681 + 3682 +(27) P01-40=29 3683 + 3684 +Mechanical homing: Home switch (HW) 3685 + 3686 +Deceleration point: Home switch (HW) 3687 + 3688 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3689 + 3690 + 3691 +When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW. 3692 + 3693 + 3694 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3695 + 3696 + 3697 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. After encountering a rising edge of HW, it decelerates and runs in a reverse low speed. After encountering a falling edge of HW, it reverses. When running at a forward low speed, it stops when it encounters a rising edge of HW. 3698 + 3699 +③ The deceleration point signal is valid when starting homing 3700 + 3701 + 3702 +When starting homing, when HW=1, it starts to homing directly at low speed in reverse direction. After encountering the falling edge of HW, it stops when running at low speed in reverse direction and forward direction and encountering the rising edge of HW 3703 + 3704 + 3705 +(28) P01-40=30 3706 + 3707 +Mechanical homing: Home switch (HW) 3708 + 3709 +Deceleration point: Home switch (HW) 3710 + 3711 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3712 + 3713 + 3714 +When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates, runs at reverse low speed, and stops when encountering the falling edge of HW. 3715 + 3716 + 3717 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3718 + 3719 + 3720 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and runs in a reverse low speed. When it encounters a falling edge of HW, it stops. 3721 + 3722 + 3723 +③ The deceleration point signal is valid when starting homing 3724 + 3725 + 3726 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge; 3727 + 3728 + 3729 +(29) P01-40=33 and P01-40=34 3730 + 3731 +Mechanical homing: Z signal. 3732 + 3733 +Deceleration point: None 3734 + 3735 +Homing mode 33: Reverse low speed operation, stop the first Z signal encountered 3736 + 3737 +Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered 3738 + 3739 + 3740 + 3741 +(30) P01-40=35 3742 + 3743 +Homing mode 35, taking the current position as the mechanical homing, after triggering the homing (P01-39: 0x00→0x01/0x00 → 0x02); 3744 + 3745 +After the homing is completed, according to the set value of P10-08 (homing bias compensation), P10-06 (encoder multi-turn reset operation) is executed. 3746 + 3747 + 3748 +
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