Kollmorgen S20260 Installation Manual
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Kollmorgen S20260 Installation Manual

S200 series
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S200 Position Node Installation Guide
Hardware Installation Manual
M-SS-S2A-11
Revision A
Sept 25, 2007
Revision B
Nov 13, 2007
Revision C
Apr 30, 2010
Revision D
Apr 13, 2012
Keep all product manuals as a product component during the life span of the servo amplifier.
Pass all product manuals to future users/owners of the servo amplifier.

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  • Page 1 S200 Position Node Installation Guide Hardware Installation Manual M-SS-S2A-11 Revision A Sept 25, 2007 Revision B Nov 13, 2007 Revision C Apr 30, 2010 Revision D Apr 13, 2012 Keep all product manuals as a product component during the life span of the servo amplifier. Pass all product manuals to future users/owners of the servo amplifier.
  • Page 2 Specifications are subject to change without notice. Kollmorgen provides this information "AS IS" and disclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application.

  • Page 3: Table Of Contents

    Kollmorgen 4/13/2012 Table of Contents Table of Contents Product Documentation .......................3 2.0 Product Overview ........................4 2.1 Model Number Scheme ....................5 2.2 Valid Drive Model Numbers for the S200 Position Node..........6 3.0 Specifications..........................7 3.1 Drive Family Power.......................7 3.2 Input Power Specifications ....................9 3.3 DC Input Drives - Control and Power .................10...
  • Page 4 Product Overview 4/13/2012 Kollmorgen 9.1 Definitions Discussion ....................42 9.2 PE Earth Ground Connections ..................42 9.3 Serial port Wiring ......................42 9.4 Wiring Discrete Digital Inputs..................43 9.4.1 Typical wiring with sinking switches: ...................43 9.4.2 Typical Wiring with Sourcing Switches ................44 9.4.3 Wiring DINP5 and DINP10 ....................44 9.5 Wiring Discrete Digital Outputs ..................45...

  • Page 5: Product Documentation

    A good general practice remains: If it’s not broken, don’t fix it. There are times when firmware and software upgrade is required. These files can also be found at www.Kollmorgen.com. Procedures can be found in the companion S200 Position Node User’s Guide.

  • Page 6: Product Overview

    Highest performance all digital servo in the industry Operation and Setup via a PC using the S200 OC Tools setup software Easy set up and tuning with Smart Feedback Device Optimized performance with Kollmorgen AKM motors Rugged optically isolated I/O UL508C recognition, CE (EN50178, EN61800-3)

  • Page 7: Model Number Scheme

    Product Overview 4/13/2012 Kollmorgen & L NCREASED ACHINE HROUGHPUT ONGER Servo system performance is synonymous with machine throughput. The S200 POSITION NODE family takes servo performance to new heights. Industry-leading current loop bandwidth up to 5 kHz and velocity loop bandwidth up to 400 Hz means machine throughput can be increased by as much as 2 to 3 times.

  • Page 8: Valid Drive Model Numbers For The S200 Position Node

    S20250-CNS: 120VAC doubler/240VAC, 1 phase, 1.5/4.5 ARMS Base Unit, Profile Node with CanOpen S20250-DNS: 120VAC doubler/240VAC, 1 phase, 1.5/4.5 ARMS Base Unit, Profile Node with DeviceNet S20260-CNS: 120/240 VAC, 1/3-phase, 1.5/4.5 ARMS Base Unit, Profile Node with CanOpen S20260-DNS: 120/240 VAC, 1/3-phase, 1.5/4.5 ARMS Base Unit, Profile Node with DeviceNet...

  • Page 9: Specifications

    NOTE temperature and over the specified operating line voltage. 3.1 D RIVE AMILY OWER AC Input DC Input Drive Model Number S20260 S20360 S20660 S212660 S20330 S20630 Peak Output Current (A (0 to 40°C) Ambient (A Minimum Peak Current Time...
  • Page 10 Specifications 4/13/2012 Kollmorgen AC Input DC Input Drive Model Number: S20260 S20360 S20660 S212660 S20330 S20630 Shunt Regulator Peak Power kW (500 ms) 4.4 at 36Ω 6.4 at 25Ω 10 at 15Ω 10 at 15Ω Cont. Power watts 440 at 36Ω 640 at 25Ω...

  • Page 11: Input Power Specifications

    AC Inrush Current & Fusing Worse Case Inrush Peak Current at 240 VAC 140 A 0-p Inrush pulse width 1.5 ms Recommended Fusing Line Inputs Type – 250 VAC Time Delay Fuse S20260 S20360 S20660 S21260 240 VAC 3 Phase FRN-R-5 FRN-R-8...

  • Page 12: Dc Input Drives - Control And Power

    Specifications 4/13/2012 Kollmorgen 3.3 DC I NPUT RIVES ONTROL AND OWER DC Control Power Control Voltage Range (VDC) +10 to +90 (J1-1 to J1-2) Control Input power (watts) 2 to 8 (20 watt min supply recommended) Refer to the DC Power Supply Section for detailed application information and requirements.
  • Page 13 Specifications 4/13/2012 Kollmorgen Current Loop Bandwidth Maximum Bandwidth AC Input Drive (kHz) DC Input Drive (kHz) Recommended Bandwidth AC Input Drive (kHz) DC Input Drive (kHz) SFD Auto Set (kHz) AC & Bandwidth Variation For ± 2.5 Fixed Motor L...

  • Page 14: Mechanical Specifications

    3.5 M ECHANICAL PECIFICATIONS Physical Dimensions and Specifications S20330-CNS S20250-CNS S20350-CNS S20650-CNS S20330-DNS S20250-DNS S20350-DNS S20650-DNS S21260-CNS S20630-CNS S20260-CNS S20360-CNS S20660-CNS S21260-DNS S20630-DNS S20260-DNS S20360-DNS S20660-DNS 152.4 mm 152.4 mm 175.0 mm 175.0 mm 177.0 mm Drive Height (A) 6.00 in 6.00 in...
  • Page 15 Specifications 4/13/2012 Kollmorgen Quadrature Input Quadrature Input CHA (J12-12, 13) CHB (J12-14,15) Type RS-422/RS-485, TTL, Open Collector compatible Input Voltage +/- 200mV Differential Input Termination Please see diagrams in manual Maximum Line Frequency 625 kHz (corresponds to 2.5 MHz quadrature pulse rate)

  • Page 16: Environmental Specifications

    Specifications 4/13/2012 Kollmorgen 3.7 E NVIRONMENTAL PECIFICATIONS Environmental Specifications Operating Temperature (° C) – Full 0 to 40 Rating Operating Temperature (° C) – Derated Linearly Derate Continuous Current to 67% of 40 C Rating 40 – 50 Pollution Degree Storage Temperature (°...

  • Page 17: Accessories

    4.1.2 Serial Communications Cable Kollmorgen offers a 6 ft serial communications cable designed to connect directly between the S200 Position Node and standard PC 9 Pin communications port. Order Part Number P7S2-232-D. S200 Position Node Installation Guide...

  • Page 18: Connector Kits

    4.2 C ONNECTOR Kollmorgen offers several connector kit options to help interface drive connections. Please note that there are connector kits that are designed to interface to just the base unit drive and connector kits designed for the auxiliary S200 Position Node auxiliary features. More than one connector kit may be required.
  • Page 19 DC S200 Base Unit models. (J1 and J4). This connector kit provides the auxiliary connectors required when purchasing Kollmorgen Cable sets when screw terminals are preferred over soldering of J4. Applicable Drive Models: S20330-xNS, S20630-xNS...
  • Page 20 AC power connector, J1, for the low power S200 Base Unit models. Cage Clamp connector kit. This connector kit provides the auxiliary connectors required when purchasing Kollmorgen Cable sets where terminal screws are preferred over soldering of J4. Applicable Drive Models: S20250-xNS, S20260-xNS, S20350-xNS, S20360-xNS, x20660-xNS.

  • Page 21: Position Node Connector Kits

    4.3 R EGEN ESISTOR Kollmorgen offers the ERH-26 fully enclosed, thermally protected regen resistor rated at 26 ohms, 150 watts. The resistor has connection leads and an integrated thermal switch with fast-on type connectors. The thermal switch can be wired into the user’s safety circuit.

  • Page 22: Din Rail Terminal Break Outs

    S200 Position Node product. 4.5 S YSTEMS APABILITIES Kollmorgen offers a variety of pre-configured systems from component kits to pre-wired systems in NEMA 12 enclosures. Please consult your local Kollmorgen representative for details. S200 Position Node Installation Guide...

  • Page 23: Installation

    Kollmorgen 4/13/2012 Installation 5.0 INSTALLATION 5.1 U NPACKING AND NSPECTING Open the box and remove all the contents. Check to ensure there is no visible damage to any of the equipment. Use proper procedures when handling electronic components to avoid damage to equipment.

  • Page 24: Dimensions

    Installation 4/13/2012 Kollmorgen 5.3 D IMENSIONS Mounting Dimensions S20330-CNS S202x0-CNS S20330-DNS S202x0-DNS S20630-CNS S203x0-CNS S206x0-CNS S21260-CNS S20630-DNS S203x0-DNS S206x0-DNS S21260-CNS Drive Dimensions Drive Height (A) 152.4 mm 175.0 mm 175.0 mm 177.0 mm 6.00 in 6.90 in 6.90 in 6.97 In Drive Width (B) 48.3 mm...

  • Page 25: Mounting Outline

    Installation 4/13/2012 Kollmorgen 5.4 M OUNTING UTLINE DEPTH 0.18 mm 4.57 in RECOMMENDED MOUNTING HARDWARE M4 OR #8 0.18 mm 4.57 in TOP VIEW HORIZONTAL MOUNTING OFFSET (F) WIDTH VERTICAL MOUNTING OFFSET (G) VERTICAL MOUNTING HEIGHT HEIGHT (H) VERTICAL MOUNTING...

  • Page 26: Wiring Diagrams

    DINP1 I/O RET DINP2 Power CH Z IN DINP3 Models CH Z IN DINP4 Optional DOUT 1 - S20260-xNS PTC RET Encoder DOUT 1 S20360-xNS 5V SOURCE Feedback DOUT 2 - I/O RET S20660-xNS DOUT 2 + CH A IN...

  • Page 27: High Power Ac Wiring Diagram

    Wiring Diagrams 4/13/2012 Kollmorgen 6.2 H AC W OWER IRING IAGRAM S200 Drive DINP COM AC Input DINP1 I/O RET Power DINP2 CH Z IN DINP3 Model CH Z IN DINP4 Optional DOUT 1 - Encoder S21260-xNS DOUT 1 +...

  • Page 28: Dc Models Drive Wiring Diagram

    Wiring Diagrams 4/13/2012 Kollmorgen 6.3 DC M ODELS RIVE IRING IAGRAM S200 Drive DINP COM DC Input DINP1 I/O RET DINP2 Power CH Z IN DINP3 CH Z IN Models DINP4 Optional DOUT 1 - Encoder PTC RET DOUT 1 +...

  • Page 29: Connector Pinout And Discriptions

    Kollmorgen 4/13/2012 Connector Pinout And Discriptions 7.0 CONNECTOR PINOUT AND DISCRIPTIONS The following section describes the user connections to the S200 Position Node by connector. The front part of this section presents AC / DC input Power and Power Terminal wirings for various drive models. J1 and TB1 vary according to the model.

  • Page 30: J1 - Low Power Ac Input Power Models Drive Power

    Connector Pinout And Descriptions 4/13/2012 Kollmorgen 7.2 J1 – L AC I OWER NPUT OWER ODELS RIVE OWER Models S202x60-xNS, S203x0-xNS, S206x0-xNS The S200 AC input drives are capable of direct line operation. All units are fully isolated and do not require external isolation transformers.
  • Page 31 The Regen input is not short circuit protected. The Regen Resistance MUST be within specified ranges to prevent damage to the drive. For example, between 25 to 50 Ω for the S20260, S20360 WARNING drives or 15 to 50 Ω for the S20660.

  • Page 32: J1 - Ac Input Control Power High Power Ac Models

    Connector Pinout And Descriptions 4/13/2012 Kollmorgen 7.3 J1 – AC I AC M NPUT ONTROL OWER OWER ODELS Models: S21260-xNS Description J1-1 PE (Protective Earth) – Must be tied back to central earth bar. J1-2 C2 CTRL VAC – Logic control Power. Use 120 or 240Vac.

  • Page 33: Tb1: High Power Ac Power Connections

    Connector Pinout And Descriptions 4/13/2012 Kollmorgen 7.4 TB1: H AC P OWER OWER ONNECTIONS Models: S21260-xNS The S200 AC input drives are capable of direct line operation. All units are fully isolated and do not require external isolation transformers. The inrush current on the connection to the line is internally limited to a safe level for the drive.
  • Page 34 Connector Pinout And Descriptions 4/13/2012 Kollmorgen For maximum line droop tolerance connect logic power to 230Vac instead of 115Vac N O TE After powering down the drive, monitor the BUS voltage by connecting a meter from TB1-7 (+BUS) to TB1-6 (-BUS) to verify...

  • Page 35: J1 - Dc Input Power Models Drive Power Connector

    Connector Pinout And Descriptions 4/13/2012 Kollmorgen 7.5 J1 – DC I NPUT OWER ODELS RIVE OWER ONNECTOR The S200 DC input drives should be powered from power supplies with reinforced isolation. On DC input drives, J1 is a 3 pin plugable connector.

  • Page 36: J2 - Motor Power Connector

    Connector Pinout And Descriptions 4/13/2012 Kollmorgen 7.6 J2 – M OTOR OWER ONNECTOR Applicable Models: All except S21260-xNS (See TB1, above for this model). (J2 Connector view from front of drive). Description J2-1 PE (Chassis Ground) on S200 AC Input Drives BUS/CTRL GND on S200 DC Input Drives Intended for motor ground and motor cable shield connection.

  • Page 37: J4 - Command I/O Connector

    Connector Pinout And Descriptions 4/13/2012 Kollmorgen 7.8 J4 – C I/O C OMMAND ONNECTOR J4 is a 26-Position High Density D subminiature female connector. (J4 Connector view from front of drive.) Description Description J4-1 DINP COM J4-14 DAC MON1 J4-2...

  • Page 38: J5: Serial Port Connections

    Connector Pinout And Descriptions 4/13/2012 Kollmorgen 7.9 J5: S ERIAL ONNECTIONS The S200 Position Node serial port is wired to connector J5 using RS232 physical layer protocol. J5 RS232 Serial Port Connections Function Drive Receive RS232 Data DC Common DC Common...

  • Page 39: J12 Connector

    Connector Pinout And Descriptions 4/13/2012 Kollmorgen 7.11 J12 C ONNECTOR J12, Option Card General Purpose I/O is a 15-Position High Density D subminiature male (plug) connector. 5 User-configurable discrete inputs, one user-configurable output, and encoder (or step and direction) input channels are provided on this 15 Pin High Density D socket connector.

  • Page 40: J13 Encoder Feedback Connector

    Connector Pinout And Descriptions 4/13/2012 Kollmorgen 7.12 J13 E NCODER EEDBACK ONNECTOR J13, Option Card Optional Encoder Feedback is a 15-Position High Density D subminiature female (socket) connector. Connector pin out is described below with more detailed electrical information is given elsewhere in this document.

  • Page 41: Dc Input Power Model Power Supply Requirements

    Kollmorgen 4/13/2012 DC Input Power Model Power Supply Requirements 8.0 DC INPUT POWER MODEL POWER SUPPLY REQUIREMENTS Applicable Models: S20330-xNS, S20630-xNS DC Unit Bus Input Power Specifications Bus Voltage (J1-3 to J1-2) + 20 VDC to + 90 VDC BUS Supply Current...

  • Page 42: Control Voltage

    DC Input Power Model Power Supply Requirements 4/13/2012 Kollmorgen Control Supply 20 to 110 mA at 75 VDC Current 60 to 330 mA at 24 VDC 125 to 660 mA at 12 VDC Bus Voltage Bus voltage outside the operating range (20 to 90 V) causes an under- voltage or over-voltage fault.

  • Page 43: Bus Switching And Fusing

    DC Input Power Model Power Supply Requirements 4/13/2012 Kollmorgen VDC supply the recommended minimum bus output capacitance of the supply is 4 x 4,000 µf = 16,000 µf. Bus capacitor voltage rating should be 100 V. Bus capacitor type is aluminum electrolytic.

  • Page 44: Detailed Wiring Information

    ERIAL PORT IRING Connector J5 is the RS232 Serial Port. Kollmorgen offers a pre-made serial communications cable P/N P7S2- 232-D for direct connect to a computers 9-pin serial communications port. The following information is supplied for applications choosing to not use this cable.

  • Page 45: Wiring Discrete Digital Inputs

    Detailed Wiring Information 4/13/2012 Kollmorgen To J5 To PC on Drive 9 Pin Fem ale To J5 To PC on Drive 25 Pin Fem ale 9.4 W IRING ISCRETE IGITAL NPUTS The discrete digital inputs are DINP1-10. This section discusses wiring of inputs DINP1-4, and 6-9. Digital inputs 5 and 10 are different than the rest and will be covered in the next section.

  • Page 46: Typical Wiring With Sourcing Switches

    Detailed Wiring Information 4/13/2012 Kollmorgen 9.4.2 Typical Wiring with Sourcing Switches S200 Position Node Internal Equiv Circuits Customer’s Power Supply Internal Opto-Isolators J4-1 4 to 30Vdc (J12-1) DINP1 J4-2 (Enable) (J12-2) (DINP6) DINP2 J4-3 (DINP7) (J12-3) DINP3 J4-4 (DINP8) Customer’s Switching...

  • Page 47: Wiring Discrete Digital Outputs

    Detailed Wiring Information 4/13/2012 Kollmorgen For systems desiring to use input voltages exceeding the 5V rating for DINP5 and DINP10 an external current limiting resistor must be used. The resistor should be in series with the input line. The following table indicates the recommended resistor values.

  • Page 48: Using The Dac Monitors

    This switching voltage can couple capacitively in both the cable and the motor creating high frequency current flows that must be controlled. Kollmorgen offers highly engineered cables to provide the best control of these signals.

  • Page 49: Regen Resistor Wiring

    IRING Applicable Models: All AC Input units. Many applications do not require the use of a regen resistor. Kollmorgen’s Motioneering software can predict the need for a regen resistor. There is also an application note on the Kollmorgen website (www.Kollmorgen.com) providing the equations to calculate the regenerative levels.

  • Page 50: Encoder Motor Feedback

    EEDBACK The following diagrams indicate how to wire an encoder feedback to the S200 Position Node drive. The information provided pertains to Kollmorgen AKM Series motors. Other motors or encoder manufacturers may use different conventions when naming signals. Kollmorgen cannot be responsible for the differences but a phasing diagram and some explanations are provided to help the user determine the proper wiring and setup for other component suppliers.
  • Page 51 Detailed Wiring Information 4/13/2012 Kollmorgen The AKM motor wiring is provided below in both schematic and tabular form. CH Z AKM Motor Encoder I/ORET I/O RET Signal Drive Pin# AKM ‘C’ Option Motor Wire AKM ‘M’ Description Name On J13...
  • Page 52 The following phasing diagram can be helpful when using motors other than Kollmorgen’s AKM Series with encoder feedback. S200 Position Node Installation Guide...
  • Page 53 Detailed Wiring Information 4/13/2012 Kollmorgen S200 Position Node Installation Guide...

  • Page 54: System Startup

    Kollmorgen 4/13/2012 System Startup 10.0 SYSTEM STARTUP The companion S200 Position Node User’s guide has information pertaining to installation and use of the User Interface Program (GUI) called S200 OC Tools. The following startup recommendations assume that the user has the GUI installed on the computer for test and setup and that it is appropriately connected via RS232 communications.

  • Page 55: Control Wiring Checks

    System Startup 4/13/2012 Kollmorgen All drive configuration settings made in the previous steps must be saved to non-volatile memory or the settings will be lost upon power cycle. Use the Save to NV button to accomplish this. NOTE 10.4 C...

  • Page 56: Motor Motion Checks

    System Startup 4/13/2012 Kollmorgen 10.7 M OTOR OTION HECKS Using S200 OC Tools click the mouse on the jog buttons and confirm controlled motor motion. Clicking on an arrow causes motion in that direction. Moving the mouse away from the arrow stops motor motion. Check both directions Motion control from the GUI is available as indicated in the above screen shot.

  • Page 57: Appendix A - Cables

    Drive and the Smart Feedback Device (SFD). Kollmorgen has developed and sells a composite cable that has very good isolation between the power and feedback sections. It is strongly recommended that this raw cable be used for custom composite cable designs.
  • Page 58 There are many ways to connect the multiple shields of a composite cable. A good way to understand how the Kollmorgen composite cable is built is to buy a short Kollmorgen S200 composite cable, open it up, and see how the shields at both the motor and drive end are connected.

  • Page 59: Appendix B - Regulatory Information

    Kollmorgen 4/13/2012 Regulatory Information APPENDIX B - REGULATORY INFORMATION ONFORMANCE EQUIREMENTS The equipment described herein has been developed, produced, tested and documented in accordance with the corresponding standards. Use conforming with requirements means that the safety recommendations and warnings detailed in this manual are complied with and that the applicable regulations for safety (machine directives, etc.) and noise suppression (EMC Directives) are observed while operating the drive.

  • Page 60: Ce Test Setup

    In our Declaration of Conformity, we affirm our compliance with Directive 73/23/EEC (Low voltage Directive) and with Directive 89/336/EEC (EMC Directive). For the S20260-VTS, S20360-VTS, S20330-VTS, and S20630-VTS, EMC testing was done according to EN61800-3:1997 with the incorporation of amendment A11:2000 (Emission limits according to chapter 6.3.1 of that regulation, First environment / restricted distribution).
  • Page 61 Regulatory Information 4/13/2012 Kollmorgen CE Declaration of Conformity This is to certify that: Kollmorgen Industrial Drives 201 Rock Rd Radford, VA 24141 Declares that the product(s): DIGITAL SERVO DRIVE Designation Type S20260-DNS, S20360-DNS, S20330-DNS, S20630-DNS, S20250-DNS, S20350- DNS, S20260-CNS, S20360-CNS,...

  • Page 62: Installation And Commissioning

    As the user or person applying this unit, you are responsible for determining the suitability of this product for the application. In no event will Kollmorgen be responsible or liable for indirect or consequential damage resulting from the misuse of this product.
  • Page 63 Regulatory Information 4/13/2012 Kollmorgen The discharge time for the bus capacitors may be as long as 5 minutes. After disconnecting the drive from the ac mains be sure to wait 5 minutes before removing the drive’s cover and exposing live parts.

  • Page 64: Ul And Cul Conformance

    The motor should not be loaded until the servo drive is disabled. The holding brake, optional on Kollmorgen motors, is not intended to stop a spinning motor. It is designed to prevent a stopped motor from rotating due to an applied torque.

  • Page 65: Emc Compliance With En61800-3

    Kollmorgen had to use in the EMC test setups. General Suggestions to Improve Machine EMC Performance Use Kollmorgen cables – Kollmorgen cables have been designed with EMC considerations in mind. Because subtle differences in cable construction can cause dramatic changes in EMC performance use of Kollmorgen's motor power and feedback cables is recommended.

  • Page 66: Ac Mains Conducted Emissions

    It is the responsibility of the machine builder to choose filter(s) appropriate for the application. Kollmorgen is willing to assist in this choice. Often, the decision is made to filter the machine as a whole instead of filtering the individual drives.
  • Page 67 Regulatory Information 4/13/2012 Kollmorgen All cables used with the S200 drives should be shielded with the shields connected to PE. Dangerous voltages, resulting from cable capacitance, exist on some cable shields if the shields are not connected to PE ground.

  • Page 68: Regen Resistor

    Additional information on EMC performance and noise reduction techniques can be found on the Kollmorgen website (www.DanaherMotion.com): Kollmorgen Application Note EMI Noise Checklist Pacific Scientific Application Note 106 - Reducing Motor Drive Line Noise Pacific Scientific Application Note 107 - Reducing Motor Drive Radiated Emissions...

  • Page 69: Sales And Service

    ALES AND ERVICE Kollmorgen is committed to quality customer service. Our products are available world-wide through an extensive authorized distributor network. To serve in the most effective way, please contact your local sales representative for assistance. If you are unaware of your local sales representative, please contact us.

This manual is also suitable for:

S212660S20360S20630S20330S20660

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