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Follow by 9-2-7 parameter
D
s i
p
a l
y
O
d r
r e
F
0
6
P
o
w
r e
F
0
7
t S
t a
r o
F
0
8
R
t o
r o
9-2-8 Special parameters
D
s i
p
a l
y
O
d r
r e
P
e
c r
e
F
2
1
c
o
m
p
F
3
0
D
C
b
a r
F
4
8
J
u
m
p
F
4
9
F
e r
q
u
F
5
0
F
e r
q
u
F
5
1
F
e r
q
u
9-2-9 PI control parameters
D
s i
p
a l
y
O
d r
r e
F
8
5
V
F /
c
o
F
8
6
V
F /
c
o
F
8
7
l F
x u
e v
F
8
8
l F
x u
e v
F
u
n
t c
o i
n
a f
t c
r o
e r
s
t s i
r o
e r
s
t s i
r o
F
u
n
t c
o i
n
n
a t
g
e
f o
d
e
a
d
i t
e
s n
t a
o i
n
k
n i
g
o v
a t l
g
e
f
e r
q
u
e
n
y c
a r
n
g
e
e
n
y c
u j
m
p
1
e
n
y c
u j
m
p
2
e
n
y c
u j
m
p
3
F
u
n
t c
o i
n
n
r t
l o
P
g
a
n i
n
r t
l o
g I
a
n i
t c
r o
c
o
n
r t
l o
P
g
t c
r o
c
o
n
r t
l o
g I
a
D
s i
p
a l
y
O
d r
r e
F
0
9
t S
F
1
0
M
F
1
2
M
D
s i
p
a l
y
O
d r
r e
m
e
F
8
3
V
F
8
4
V
F
1
0
3
S
F
1
1
2
M
F
1
1
3
P
F
1
1
4
C
D
s i
p
a l
y
O
d r
r e
S
F
8
9
g
F
9
0
S
a
n i
F
9
8
C
n i
43
F
u
n
t c
o i
n
t a
r o
s
f l e
n i
d
c u
a t
u
u t
l a
n i
d
c u
a t
c n
e
a
c
h
n
c i
a
c l
o
s n
a t
F
u
n
t c
o i
n
o
a t l
g
e
b
o
o
t s
o
a t l
g
e
b
o
o
t s
m
o
p i l
c
o
m
p
e
s n
t a
o i
t l u
i t - i
m
r e
u f
n
t c
o i
o
t n i
s
e
t t
n i
g
c y
e l
n
u
m
b
r e
F
u
n
t c
o i
n
e
s n
r o
e l
s s
c
o
n
r t
l o
a
n i
e
s n
r o
e l
s s
c
o
n
r t
l o
r u
e r
t n
o l
o
p
b
a
n
d
c n
e
t n
d
e
n
g
a
n i
n
P
g I
a
n i
w
d i
h t
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