Hi.
I really don't know why this isn't working as it should, so I really
need some help here. I have taken the default stepper.ini and pinout.hal
files (both from the stepper directory) and adjusted them to my machine.
The files contain "test" in them since I intentionally didn't configure
homing on any axis. I first want to get the configuration to actually
move anything at first.
So the machine is a Proxxon MF-70 with steppers on each axis. The
steppers are driven by a 3D-Step from nc-step.de (documentation in
german only at http://nc-step.de/pdf/3dstep_doku_27.pdf).
The pinout on the parallel port is as follows:
Pin Meaning PC-view
1 spindle out
2 direction X out
3 clock/step X out
4 direction Y out
5 clock/step Y out
6 dir Z out
7 clock/step Z out
8 optional dir C out
9 optional clock C out
10 End/Reference Z in
11 Enable in (triggered to low by emergency stop)
12 End/Reference Y in
13 End/Reference X in
14 coolant out
15 opt. End/Ref. C in
16 Boost out
17 Sleep out (active low)
The machine has 400 steps per millimeter on each axis.
The controlling computer is an ALIX.1b from pcengines.ch, the parallel
port works as I have verified with an evaluation copy of PC/NC from
lewetz.de. The latency tests looked fine, even while moving windows
around on the X desktop using a USB mouse. No overruns, lat_max and
ovl_max where always under 25000 (as you can see in the configs, I have
BASE_PERIOD at 50000). IIUIC, the current configuration would give us
movement speeds of up to 25mm/sec, but the machine actually can't move
much faster than 8mm/sec (we had successful moves at 7mm/sec but didn't
try much more since we had problems moving faster than 4mm/sec with the
previous SMC800 controller), so we have some headroom here to make
BASE_PERIOD even longer.
My current config I have is attached.
Symptoms I see are basically that I can't get the steppers to turn using
the following procedure:
start tkemc
disable estop
power on machine
use manual movement
What I get if I keep my finger on the keys to move an axis, I get a
joint following error after a few seconds.
As I currently don't have the machine within reach, I'm not 100% sure
wether the enabling of the controller works or wether that already
causes the steppers not to move. But with an open loop system, I still
wonder where the following error comes from.
regards,
Sven
PS: I also attached the configs I would use with homing enabled, but
these might be outdated compared to the stepper_test.ini/test_pinout.hal
files and are just there for reference.
PPS: emc2 warns that the block statements are deprecated, but I'm not
sure how I would go about replacing them. The or2 block seems to be
quite ok for the goal I want to achieve.
# local pinout config file for 3-axis steppers
# using a parport for I/O
#
# load two or2 blocks
loadrt blocks or2=2
#
# first load the parport driver
loadrt hal_parport cfg="0x0378"
#
# next connect the parport functions to threads
# read inputs first
addf parport.0.read base-thread 1
# write outputs last
addf parport.0.write base-thread -1
#
# finally connect physical pins to the signals
linksp Xstep => parport.0.pin-03-out
linksp Xdir => parport.0.pin-02-out
linksp Ystep => parport.0.pin-05-out
linksp Ydir => parport.0.pin-04-out
linksp Zstep => parport.0.pin-07-out
linksp Zdir => parport.0.pin-06-out
# create a signal for the estop loopback
linkpp iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
linkpp iocontrol.0.tool-prepare iocontrol.0.tool-prepared
linkpp iocontrol.0.tool-change iocontrol.0.tool-changed
# create a signal for "spindle on"
newsig spindle-on bit
# connect the controller to it
linkps motion.spindle-on => spindle-on
# connect it to a physical pin
linksp spindle-on => parport.0.pin-01-out
###
### You might use something like this to enable chopper drives when machine ON
### the Xen signal is defined in core_stepper.hal
###
# linksp Xen => parport.0.pin-01-out
###
### If you want active low for this pin, invert it like this:
###
# setp parport.0.pin-01-out-invert 1
###
### A sample home switch on the X axis (axis 0). make a signal,
### link the incoming parport pin to the signal, then link the signal
### to EMC's axis 0 home switch input pin
###
newsig Xhome bit
linkps parport.0.pin-13-in => Xhome
linksp Xhome => axis.0.home-sw-in
newsig Yhome bit
linkps parport.0.pin-12-in => Yhome
linksp Yhome => axis.1.home-sw-in
newsig Zhome bit
linkps parport.0.pin-10-in => Zhome
linksp Zhome => axis.0.home-sw-in
###
### Shared home switches all on one parallel port pin?
### that's ok, hook the same signal to all the axes, but be sure to
### set HOME_IS_SHARED and HOME_SEQUENCE in the ini file. See the
### user manual!
###
# newsig homeswitches bit
# linkps parport.0.pin-10-in => homeswitches
# linksp homeswitches => axis.0.home-sw-in
# linksp homeswitches => axis.1.home-sw-in
# linksp homeswitches => axis.2.home-sw-in
###
### Sample separate limit switches on the X axis (axis 0)
###
# newsig X-neg-limit bit
# linkps parport.0.pin-11-in => X-neg-limit
# linksp X-neg-limit => axis.0.neg-lim-sw-in
# newsig X-pos-limit bit
# linkps parport.0.pin-12-in => X-pos-limit
# linksp X-pos-limit => axis.0.pos-lim-sw-in
###
### Just like the shared home switches example, you can wire together
### limit switches. Beware if you hit one, EMC will stop but can't tell
### you which switch/axis has faulted. Use caution when recovering from this.
###
# newsig Xlimits bit
# linkps parport.pin-13-in => Xlimits
# linksp Xlimits => axis.0.neg-lim-sw-in
# linksp Xlimits => axis.0.pos-lim-sw-in
linksp Xhome => axis.0.neg-lim-sw-in
linksp Xhome => axis.0.pos-lim-sw-in
linksp Yhome => axis.1.neg-lim-sw-in
linksp Yhome => axis.1.pos-lim-sw-in
linksp Zhome => axis.2.neg-lim-sw-in
linksp Zhome => axis.2.pos-lim-sw-in
###
### you can also use the "net" syntax to accomplish the "newsig" and "link"
### operations all at once. This command does the same thing as the above
### block.
###
# net Xlimits parport.pin-13-in => axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in
#newsig FloodOn bit
#linkps iocontrol.0.coolant-flood => FloodOn
#linksp FloodOn => parport.0.pin-14-out
net FloodOn iocontrol.0.coolant-flood => parport.0.pin-14-out
net Xenable axis.0.amp-enable-out => or2.0.in0
net Yenable axis.1.amp-enable-out => or2.0.in1
net XYenable or2.0.out => or2.1.in0
net Zenable axis.2.amp-enable-out => or2.1.in1
net AMPenable or2.1.out => parport.0.pin-17-out
# BOOST: parport.0.pin-16-out
# EMC controller parameters for generic controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# Settings with a + at the front of the comment are likely needed to get
# changed by the user.
# Settings with a - at the front are highly unneeded to be changed
###############################################################################
# General section
###############################################################################
[EMC]
#- Version of this INI file
VERSION = $Revision: 1.9.4.4 $
#+ Name of machine, for use with display, etc.
MACHINE = EMC-HAL-STEP-MM
#- Name of NML file to use, default is emc.nml
NML_FILE = emc.nml
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#+ Name of display program, e.g., xemc
DISPLAY = axis
# DISPLAY = usrmot
# DISPLAY = mini
# DISPLAY = tkemc
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
#- Path to help file
HELP_FILE = tkemc.txt
#- Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
#- Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
#+ Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
#- Prefix to be used
PROGRAM_PREFIX = /usr/share/emc/ncfiles/
#- Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 2
###############################################################################
# Task controller section
###############################################################################
[TASK]
#- Name of task controller program, e.g., bridgeporttask
TASK = milltask
# TASK = minimilltask
#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010
###############################################################################
# Part program interpreter section
###############################################################################
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = stepper.var
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT = motmod
#- Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY = 111
#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
#- Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010
#+ Base task period, in nanosecs - this is the fastest thread in the machine
BASE_PERIOD = 50000
#- Servo task period, in nanosecs - will be rounded to an int multiple of
BASE_PERIOD
SERVO_PERIOD = 1000000
#- Trajectory Planner task period, in nanosecs - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 10000000
###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#
# list of hal config files to run through halcmd
#+ files are executed in the order in which they appear
HALFILE = core_stepper.hal
#HALFILE = xylotex_pinout.hal
HALFILE = our_pinout.hal
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES = 3
# COORDINATES = X Y Z A B C
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.500
MAX_VELOCITY = 5.0
DEFAULT_ACCELERATION = 30.0
MAX_ACCELERATION = 50.0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4.0
# NOTE: the step generator module applies its own limits to
# acceleration and velocity. We have discovered that it needs
# to have a little "headroom" over the accel by the trajectory
# planner, otherwise it can fall slightly behind during accel
# and later overshoot as it catches up. In the long term we
# hope to come up with a clean fix for this problem. In the
# meantime, please set STEPGEN_MAXACCEL below to a few percent
# higher than the regular acceleration limit MAX_ACCELERATION
MAX_ACCELERATION = 50.0
STEPGEN_MAXVEL = 4.500
STEPGEN_MAXACCEL = 52.0
BACKLASH = 0.000
INPUT_SCALE = 400
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT = 156.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = -4.0
HOME_LATCH_VEL = 0.50
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#+ Second axis
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXVEL = 4.500
STEPGEN_MAXACCEL = 52.0
BACKLASH = 0.000
INPUT_SCALE = 400
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT = 100.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = -4.0
HOME_LATCH_VEL = 0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#+ Third axis
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXVEL = 4.500
STEPGEN_MAXACCEL = 52.0
BACKLASH = 0.000
INPUT_SCALE = 400
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT = 60.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = -4.0
HOME_LATCH_VEL = 0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
###############################################################################
# section for main IO controller parameters
###############################################################################
[EMCIO]
#- Name of IO controller program, e.g., io
EMCIO = io
#- cycle time, in seconds
CYCLE_TIME = 0.100
#- tool table file
TOOL_TABLE = stepper.tbl
# EMC controller parameters for generic controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# Settings with a + at the front of the comment are likely needed to get
# changed by the user.
# Settings with a - at the front are highly unneeded to be changed
###############################################################################
# General section
###############################################################################
[EMC]
#- Version of this INI file
VERSION = $Revision: 1.9.4.4 $
#+ Name of machine, for use with display, etc.
MACHINE = EMC-HAL-STEP-MM
#- Name of NML file to use, default is emc.nml
NML_FILE = emc.nml
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#+ Name of display program, e.g., xemc
DISPLAY = axis
# DISPLAY = usrmot
# DISPLAY = mini
# DISPLAY = tkemc
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
#- Path to help file
HELP_FILE = tkemc.txt
#- Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
#- Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
#+ Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
#- Prefix to be used
PROGRAM_PREFIX = /usr/share/emc/ncfiles/
#- Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 2
###############################################################################
# Task controller section
###############################################################################
[TASK]
#- Name of task controller program, e.g., bridgeporttask
TASK = milltask
# TASK = minimilltask
#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010
###############################################################################
# Part program interpreter section
###############################################################################
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = stepper.var
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT = motmod
#- Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY = 111
#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
#- Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010
#+ Base task period, in nanosecs - this is the fastest thread in the machine
BASE_PERIOD = 50000
#- Servo task period, in nanosecs - will be rounded to an int multiple of
BASE_PERIOD
SERVO_PERIOD = 1000000
#- Trajectory Planner task period, in nanosecs - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 10000000
###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#
# list of hal config files to run through halcmd
#+ files are executed in the order in which they appear
HALFILE = core_stepper.hal
#HALFILE = xylotex_pinout.hal
HALFILE = test_pinout.hal
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES = 3
# COORDINATES = X Y Z A B C
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.500
MAX_VELOCITY = 5.0
DEFAULT_ACCELERATION = 30.0
MAX_ACCELERATION = 50.0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4.0
# NOTE: the step generator module applies its own limits to
# acceleration and velocity. We have discovered that it needs
# to have a little "headroom" over the accel by the trajectory
# planner, otherwise it can fall slightly behind during accel
# and later overshoot as it catches up. In the long term we
# hope to come up with a clean fix for this problem. In the
# meantime, please set STEPGEN_MAXACCEL below to a few percent
# higher than the regular acceleration limit MAX_ACCELERATION
MAX_ACCELERATION = 50.0
STEPGEN_MAXVEL = 4.500
STEPGEN_MAXACCEL = 52.0
BACKLASH = 0.000
INPUT_SCALE = 400
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT = 156.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#+ Second axis
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXVEL = 4.500
STEPGEN_MAXACCEL = 52.0
BACKLASH = 0.000
INPUT_SCALE = 400
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT = 100.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#+ Third axis
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXVEL = 4.500
STEPGEN_MAXACCEL = 52.0
BACKLASH = 0.000
INPUT_SCALE = 400
OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT = 60.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = -1.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
###############################################################################
# section for main IO controller parameters
###############################################################################
[EMCIO]
#- Name of IO controller program, e.g., io
EMCIO = io
#- cycle time, in seconds
CYCLE_TIME = 0.100
#- tool table file
TOOL_TABLE = stepper.tbl
# local pinout config file for 3-axis steppers
# using a parport for I/O
#
# load two or2 blocks
loadrt blocks or2=2
#
# first load the parport driver
loadrt hal_parport cfg="0x0378"
#
# next connect the parport functions to threads
# read inputs first
addf parport.0.read base-thread 1
# write outputs last
addf parport.0.write base-thread -1
#
# finally connect physical pins to the signals
linksp Xstep => parport.0.pin-03-out
linksp Xdir => parport.0.pin-02-out
linksp Ystep => parport.0.pin-05-out
linksp Ydir => parport.0.pin-04-out
linksp Zstep => parport.0.pin-07-out
linksp Zdir => parport.0.pin-06-out
# create a signal for the estop loopback
linkpp iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
linkpp iocontrol.0.tool-prepare iocontrol.0.tool-prepared
linkpp iocontrol.0.tool-change iocontrol.0.tool-changed
# create a signal for "spindle on"
newsig spindle-on bit
# connect the controller to it
linkps motion.spindle-on => spindle-on
# connect it to a physical pin
linksp spindle-on => parport.0.pin-01-out
###
### You might use something like this to enable chopper drives when machine ON
### the Xen signal is defined in core_stepper.hal
###
# linksp Xen => parport.0.pin-01-out
###
### If you want active low for this pin, invert it like this:
###
# setp parport.0.pin-01-out-invert 1
###
### A sample home switch on the X axis (axis 0). make a signal,
### link the incoming parport pin to the signal, then link the signal
### to EMC's axis 0 home switch input pin
###
newsig Xhome bit
linkps parport.0.pin-13-in-not => Xhome
linksp Xhome => axis.0.home-sw-in
newsig Yhome bit
linkps parport.0.pin-12-in-not => Yhome
linksp Yhome => axis.1.home-sw-in
newsig Zhome bit
linkps parport.0.pin-10-in-not => Zhome
linksp Zhome => axis.0.home-sw-in
###
### Shared home switches all on one parallel port pin?
### that's ok, hook the same signal to all the axes, but be sure to
### set HOME_IS_SHARED and HOME_SEQUENCE in the ini file. See the
### user manual!
###
# newsig homeswitches bit
# linkps parport.0.pin-10-in => homeswitches
# linksp homeswitches => axis.0.home-sw-in
# linksp homeswitches => axis.1.home-sw-in
# linksp homeswitches => axis.2.home-sw-in
###
### Sample separate limit switches on the X axis (axis 0)
###
# newsig X-neg-limit bit
# linkps parport.0.pin-11-in => X-neg-limit
# linksp X-neg-limit => axis.0.neg-lim-sw-in
# newsig X-pos-limit bit
# linkps parport.0.pin-12-in => X-pos-limit
# linksp X-pos-limit => axis.0.pos-lim-sw-in
###
### Just like the shared home switches example, you can wire together
### limit switches. Beware if you hit one, EMC will stop but can't tell
### you which switch/axis has faulted. Use caution when recovering from this.
###
# newsig Xlimits bit
# linkps parport.pin-13-in => Xlimits
# linksp Xlimits => axis.0.neg-lim-sw-in
# linksp Xlimits => axis.0.pos-lim-sw-in
linksp Xhome => axis.0.neg-lim-sw-in
linksp Xhome => axis.0.pos-lim-sw-in
linksp Yhome => axis.1.neg-lim-sw-in
linksp Yhome => axis.1.pos-lim-sw-in
linksp Zhome => axis.2.neg-lim-sw-in
linksp Zhome => axis.2.pos-lim-sw-in
###
### you can also use the "net" syntax to accomplish the "newsig" and "link"
### operations all at once. This command does the same thing as the above
### block.
###
# net Xlimits parport.pin-13-in => axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in
#newsig FloodOn bit
#linkps iocontrol.0.coolant-flood => FloodOn
#linksp FloodOn => parport.0.pin-14-out
net FloodOn iocontrol.0.coolant-flood => parport.0.pin-14-out
net Xenable axis.0.amp-enable-out => or2.0.in0
net Yenable axis.1.amp-enable-out => or2.0.in1
net XYenable or2.0.out => or2.1.in0
net Zenable axis.2.amp-enable-out => or2.1.in1
net AMPenable or2.1.out => parport.0.pin-17-out
# BOOST: parport.0.pin-16-out
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