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SatService sat-nms ACU-RMU User Manual

Rack mount unit antenna controller
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sat-nms ACU-RMU
Antenna Control Rackmount Unit
User Manual
Version 4.4 / 2016-06-30
© Copyright
SatService Gesellschaft für Kommunikatiosnsysteme mbH
Hardstrasse 9
D-78256 Steisslingen
www.satnms.com
www.satservicegmbh.de
Tel +49 7738 99791-10
Fax +49 7738 99791-99

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  • Page 1 ACU-RMU Antenna Control Rackmount Unit User Manual Version 4.4 / 2016-06-30 © Copyright SatService Gesellschaft für Kommunikatiosnsysteme mbH Hardstrasse 9 D-78256 Steisslingen www.satnms.com www.satservicegmbh.de Tel +49 7738 99791-10 Fax +49 7738 99791-99...

  • Page 2: Table Of Contents

    Table Of Contents Table Of Contents ..........................1 Introduction ............................2 Safety Instructions ..........................3 The sat-nms ACU-RMU ........................3.1 Frontpanel Keyboard ........................3.2 Frontpanel Display ........................3.3 Frequency Inverters, Motor Controller ................... 3.3.1 Display and function of the buttons ..................
  • Page 3 8.4.1 The sat-nms Adaptive Tracking Algorithm ................8.4.2 The Tracking Memory ......................8.4.3 Adaptive Tracking Parameters ....................8.5 Program Tracking ........................8.5.1 Practical Usage ........................8.5.2 File Format .......................... 8.6 Faults and Tracking ........................9 Specifications ........................... (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 2/80...
  • Page 4 (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 3/80...

  • Page 5: Introduction

    CD and at www.satnms.com. Safety Instructions: This chapter gives an overview about the safety precautions that have to be (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 4/80...
  • Page 6 ACU user interface and elaborately describe the meaning of each alterable parameter. Frontpanel Operation : The sat-nms ACU19 and the sat-nms ACU-RMU optionally are equipped with a frontpanel Human-Machine-Interface. This chapter describes how to use this interface. Remote Control: The ACU outdoor module provides a versatile remote control interface.

  • Page 7: Safety Instructions

    Use only double shielded twisted pair cables (e.g. CAT7 Ethernet cable) to connect the resolvers to the sat-nms ACU Only ACU-ODU: If the Unit is equipped with an optional air ventilation, avoid direct contact with jets of water, normal rain is no problem. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 6/80...

  • Page 8: The Sat-Nms Acu-Rmu

    3 The sat-nms ACU-RMU The sat-nms ACU-RMU is a full featured antenna positioner and antenna tracking system. It is completely integrated to a 6RU 19inch case. It consists from the components listed in the following table. All of these components are described in the next chapters.
  • Page 9 Front view with opened fronpanel Rear view with opened rearpanel (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 8/80...

  • Page 10: Frontpanel Keyboard

    3.3.1 Display and function of the buttons The frequency inverters used in the sat-nms ACU-RMU are equipped with a Basic Operation Panel (BOP) that shows you all of the parameters set to the frequency inverter. It also is able to show you the actual values of frequency, voltage and output voltage.
  • Page 11 Pressing this button when the motor is running has no effect. functions this button can be used to view additional information. It works by pressing and holding the button. It shows the following, starting from any parameter (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 10/80...

  • Page 12: Changing Parameters Of The Frequency Inverter

    This is because while changing the motor parameters the frequency inverter makes some measures to define the power that is needed to make the motor run. In normal cases it suffices to change the following Parameters of the frequency-inverters: Setting of the motor parameters (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 11/80...

  • Page 13: Parameter Settings In Delivery State

    Table 2 Setting of the interface parameters Table 3 3.3.3 Parameter settings in delivery state Setting of the motor parameters in delivery state (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 12/80...
  • Page 14 Table 4 Setting of the interface parameters in delivery state (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 13/80...

  • Page 15: Fault States Overview

    Table 5 3.3.4 Fault states overview The following tables give you a short overview over the fault states, the frequency inverter is able to display. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 14/80...
  • Page 16 Table 6 origin: Siemens user Documentation 6SE6400-5AA00-0BP0 (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 15/80...
  • Page 17 Table 7 origin: Siemens user Documentation 6SE6400-5AA00-0BP0 (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 16/80...
  • Page 18 Table 8 origin: Siemens user Documentation 6SE6400-5AA00-0BP0 (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 17/80...
  • Page 19 Table 9 origin: Siemens user Documentation 6SE6400-5AA00-0BP0 (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 18/80...

  • Page 20: Circuit Breakers

    3.8 Solid State Relais If your sat-nms ACU-RMU is equipped with the optional POL-drive, you find solid state relais in your sat- nms ACU-RMU. The POL Motor is normally a small single phase motor that does not need a frequency inverter for driving.

  • Page 21: Installation

    T he sat-nms ACU-RMU is completely integrated into a 6RU 19inch case with standard mounting holes. The case of the sat-nms ACU-RMU is not strong enough to carry the complete unit only on the front mounting holes! Because of that, take care that the sat-nms ACU-RMU is placed onto a bar guide that carries the complete weight of the sat-nms ACU-RMU.
  • Page 22 'FWD' signal switches the motor on in forward direction, 'REV' activates the motor in reverse direction. This configuration mode is convenient to control a motor with relays. At sat-nms ACU-RMU it has to be configured as DIR-START for AZ and EL and as DUAL-START for POL.
  • Page 23 'FWD' signal switches the motor on in forward direction, 'REV' activates the motor in reverse direction. This configuration mode is convenient to control a motor with relays. At sat-nms ACU-RMU it has to be configured as DIR-START for AZ and EL and as DUAL-START for POL.
  • Page 24 The sat-nms ACU-RMU preferably is used together with the sat-nms LBRX beacon receiver. With the sat- nms LBRX the sat-nms ACU-RMU talks though TCP/IP, no additional cabling is required in this case. At J5 the ACU provides an analog interface to third party beacon receivers.
  • Page 25 J7, J8, J9 Angle Encoder Connector Connector Type: D-Sub9 male The sat-nms ACU-RMU is available in different configurations of angle encoders. It is possible to equip it with interfaces for standard resolvers, for optical SSI encoders or for analog sensors (potentiometers). It is possible to mix it (e.g.
  • Page 26 SSI-Data+ SSI data SSI-Data- SSI data SSI CLK+ SSI clock SSI CLK- SSI clock n.c. encoder power supply +24V encoder power supply n.c. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 25/80...

  • Page 27: Start-Up

    Ethernet cabling (10Base-T) OUT 4.3 Start-up This chapter describes how to install and set-up the sat-nms ACU-RMU. It is a step-by-step description without detailed description. If you need more detailed description for e.g. some parameter settings, please refer to chapter Operation, all of the parameters are described here.

  • Page 28: Setting The Ip Address

    4.3.1 Setting the IP Address Before you can operate the sat-nms ACU-RMU, you need to set the ACU's IP address. There is a special configuration program on the documentation CD shipping with the ACU for this purpose. We recommend to configure the ACU's TCP/IP settings before you install the sat-nms ACU-RMU at it's final place.

  • Page 29: Limit Switches

    ACU and your computer are configured for the same subnet. 4.3.2 Limit switches Connect the limit switches to the sat-nms ACU-RMU as described in chapter 4.2.2 Pin description 1. Switch on circuit breaker F3 to on state, take care, that the other ones are in off-position. The sat-nms (C) 2017, SatService GmbH www.satnms.com...

  • Page 30: Angle Detectors

    Setup. 4.3.4 Motors Before you connect the motors to the sat-nms ACU-RMU, take care that the circuit breakers F1, F2 and if available F4 are in off position before connecting the motors. 1. Connect the motors to the sat-nms ACU-RMU as described in chapter 4.2.2.

  • Page 31: Backup Of Acu Settings

    4. Login with username service and password service 5. Now you see on the right side the file system of the ACU like shown on the following picture. On the left side you see the computers file system. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 30/80...
  • Page 32 ACU in the same way (right click->copy) 9. After copying an app.dat file to the ACU, you have to reboot the unit (power off). By next starting up, the new app.dat file will be used. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 31/80...

  • Page 33: Operation

    'large step' is ten times this value. With the polarization axis, steps always are 1°. STOP: Clicking to the STOP button immediately stops all motors. The ACU indicates a fault. A click to the RESET button releases this fault. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 32/80...

  • Page 34: Antenna Pointing

    LBRX beacon receiver via TCP/IP of the level derived from the ACU's analog input. Temperature The actual temperature inside the ACU enclosure. This value is for information only. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 33/80...
  • Page 35 The absolute step size used by the step track in this axis. Time The actual time of the ACU's internal clock. GPS State The actual state of an external GPS receiver connected to the ACU (if applicable). Antenna Pointing Page Example: (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 34/80...

  • Page 36: Target Memory

    If the tracking memory has been saved before the antenna has been moved to the second satellite, it may be restored after the (C) 2017, SatService GmbH www.satnms.com...

  • Page 37: Tracking Parameters

    No beacon reception is required for this. You have to create such a data file and copy it with FTP to the ACU before you can use this mode. SatService GmbH provides a PC software which lets you easily create data files for program track from commonly used ephemeris data sets for geostationary satellites.
  • Page 38 0.5 Hz post detector filter bandwidth and a measurement delay of 1500 msec. Recovery delay After the ACU has done the tracking steps for the elevation axis, it waits (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 37/80...
  • Page 39 These settings let you limit the adaptive model to a simpler one, the ACU EL Maximum model type would choose by itself. The maximum model type can be set individually for each axis. Normally you will set both axes to 'LARGE', which leaves the (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 38/80...

  • Page 40: Test Page

    The 'Test' page is re-read by the Web-browser about once a second. Some browsers seem to ignore mouse clicks occasionally due to the screen refresh. Adaptive tracking coefficients: (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 39/80...

  • Page 41: Setup

    To cancel a parameter modification you already started, either use the 'Back' button of you w e b browser or click to the 'Setup' button on navigation bar. Both returns to the setup page without changing the parameter you edited. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 40/80...
  • Page 42 For special applications however it might be helpful to set the step delta to a much greater value. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 41/80...
  • Page 43 Normally the ACU assumes that the full range of a position sensor corresponds 360°. If you scale are using a multiturn position sensor or if the position sensor is mounted to the shaft of a (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 42/80...
  • Page 44 The maximum target value accepted at the user interface and via remote control. This limit software limit prevents the ACU from running the antenna to the limit position under normal conditions. Beacon Receiver Parameter Description Name (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 43/80...
  • Page 45 Applicable only for car-mobile variants of the ACU Inclinometer type Applicable only for car-mobile variants of the ACU Nick offset Applicable only for car-mobile variants of the ACU Roll offset Applicable only for car-mobile variants of the ACU (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 44/80...
  • Page 46 Here you can define the password for the 'admin' login. Default password is 'admin'. When password you are logged in as "admin" you have full access to all parameters of the ACU, including the setup and the tweaks on the test page. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 45/80...

  • Page 47: Handheld Terminal

    ACU and the sat-nms handheld. Connect the Handheld with the provided cable (Handheld: 9pol DSUB + Power supply, ACU-Cabinet: 15pol DSUB). After connecting the Handheld, push the Redraw button once. The start-up screen, that shows the (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 46/80...
  • Page 48 Moves the antenna up (EL) Moves the antenna to the left (AZ) Stops the antenna movement (only in continuous mode) Moves the antenna to the right (AZ) Moves the antenna down (EL) (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 47/80...

  • Page 49: Frontpanel Operation

    The number keys are to enter numeric parameters. If STEP MOVE is selected in the menu the following keys have a new function. Move the polarization counterclockwise Move the polarization clockwise Move the elevation down (large/XL step) (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 48/80...

  • Page 50: Display Mode

    XL steps although you can select them on the handheld. If you nevertheless want to drive XL steps, please contact SatService GmbH and request a software update. If one or all motors are moving, they can stop with the following key: 0 Stop every motor 6.1 Display mode...

  • Page 51: The Main Menu

    The antenna can be moved over the front panel with the STEP MOVE menu. The corresponding keys are listed below: 7 Move the polarization counterclockwise 9 Move the polarization clockwise 8 Move the elevation down (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 50/80...

  • Page 52: Editing Numeric Parameters

    In the SELECT TRACKING MODE menu, you can change the tracking mode as shown below: STEP ADAPTIVE PROGRAM For detailed information about tracking please refer to chapter 8.3 Step Tracking, chapter 8.4 Adaptive Tracking chapter 8.5 Program Tracking. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 51/80...

  • Page 53: Remote Control

    Assigning a value to a read-only parameter will cause no fault, however the ACU will overwrite this parameter immediately or some seconds later with the actual value. 7.2 The TCP/IP remote control interface (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 52/80...

  • Page 54: The Rs232 Remote Control Interface

    The checksum byte is calculated using an algorithm as implemented by the following formula: This protocol type is known as MOD95- or Miteq protocol . The ACU also packs its reply in a protocol (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 53/80...

  • Page 55: Parameter List

    ° Pointing hysteresis ainv NORMAL INVERTED Sense invert ajtr Peaking jitter alat -90.000 .. 90.000 °N Antenna latitude alon -180.000 .. 180.000 °E Antenna longitude amax -3600.000 .. 3600.000 ° Upper limit (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 54/80...
  • Page 56 (absolute) bavg 1 .. 25 samples Level averaging bcfr 1000.000 .. 40000.000 Beacon frequency bcip aaa.bbb.ccc.ddd Beacon RX IP address bclc Calculate level offset bcof -200.00 .. 0.00 Beacon 0V level (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 55/80...
  • Page 57 EL Calibration offset eclc ° Calculate offset from El. value ecoe r/o/ see below model coefficients ehys 0.000 .. 2.000 ° Pointing hysteresis einv NORMAL INVERTED Sense invert ejtr 0 .. Peaking jitter (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 56/80...
  • Page 58 GPS satellites gpty NONE GPS receiver type 3) ibit 00000000 .. FFFFFFFF Input bits (described below) icty NONE Inclinometer type 4) ipt1 SNMP trap IP ipt2 SNMP trap IP ipt3 SNMP trap IP (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 57/80...
  • Page 59 DUAL-START DIR-START NONE Motor driver type pofs ######## PO Pre scale offset ppos -90.000 .. 90.000 ° PO Pointing praw 00000000 .. FFFFFFFF pointing psca 0.000000 .. 100000.000000 PO Calibration scale (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 58/80...
  • Page 60 1 .. 1638 Tracking cycle time tdly 100 .. 9999 msec Recovery delay tdsc 0..99 / character string °C Target description 7) temp °C Temperature tflt 00 .. FF Tracking fault bits (described below) (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 59/80...
  • Page 61 7) This parameter reports the description (name and pointing angles) for a given target number. 'tdsc=12' e.g. is interpreted by the ACU as a request to report the target description for target no. 12. The reply to this (C) 2017, SatService GmbH www.satnms.com...
  • Page 62 TRKPEAK peaking in progress LOWBEAC low beacon signal BCRXFLT beacon receiver fault LIMIT limit switch summary AZSTOP azimuth stopped ELSTOP elevation stopped PLSTOP polarization stopped GPSFLT GPS receiver fault (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 61/80...
  • Page 63 OUT_BCPR2 reserved for beacon receiver frequency select OUT_BCPR3 reserved for beacon receiver frequency select OUT_BCPR4 reserved for beacon receiver frequency select OUT_AUX7 not used OUT_AUX8 not used (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 62/80...

  • Page 64: One Line Read Via Tcp/Ip

    The ACU answers a 'text/plain' type document which consists of one line. As shown in the example below, the line consists of a set of keyword - value pairs, separated by '&' characters. Within each pair, keyword and value are separated by the '=' character. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 63/80...
  • Page 65 Future version of the ACU may provide additional values which not necessarily will appear at the end of the line. A description of the parameters is given in the chapter Parameter list above. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 64/80...

  • Page 66: Theory Of Operation

    From the user's point of view, the ACU accepts and displays pointing angles as floating point numbers with 0.001° resolution. Internally the software treats angles (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 65/80...

  • Page 67: Pointing / Motor Control

    Depending on the motor driver type configured, this signal reverses the motor direction or it activates the motor in reverse direction. SPD1 This signal is active while the ACU wants to run the motor slowly. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 66/80...

  • Page 68: Steptrack

    Within one step track cycle on one axis, the ACU does several very small steps. Using the position and beacon level values of all steps in the cycle, the ACU calculates the peak position by aligning the approximated antenna pattern to the measured points. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 67/80...

  • Page 69: Acu And Beacon Receiver

    This meas for an inclient satellite you need a shorter cycle time than for a geostationary satellite. 8.3.2 ACU and Beacon Receiver To perform a step track, the ACU requires the actually measured beacon level as a rate of the received (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 68/80...

  • Page 70: Smoothing

    To stabilize the tracking in such situations, the sat-nms ACU provides a smoothing function which lets you reduce the pointing jitter. The smoothing function is based in the fact, that most satellites (specially that ones which are on a stable (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 69/80...

  • Page 71: Steptrack Parameters

    These parameters define the slope and offset of the beacon level voltage. The Beacon RX 0V level values must be set to match settings of the beacon receiver. With the sat-nms LBRX beacon receiver you can set these parameters there as well, chapter (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 70/80...
  • Page 72 If the beacon level drops below this value, the ACU raises a fault signal. Steptrack is inhibited while the beacon level is too low, the antenna position freezes. Recovery delay After the the ACU has done the tracking steps for the elevation axis, it waits (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 71/80...

  • Page 73: Adaptive Tracking

    The ACU uses three different mathematical models to describe the movement of the antenna while it tracks the satellite. All models are based on sinusoidal functions with a cycle time on an sidereal day. The models called SMALL, MEDIUM and LARGE differ in their complexity. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 72/80...
  • Page 74 24 hours, the uncertainty of the step track peaks is quite high compared to this amplitude. The ACU compares the movement amplitude to the antenna's (half) 3dB beam width to evaluate this measure. The ACU presents this figure as a percentage value. (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 73/80...

  • Page 75: The Tracking Memory

    / elevation values and the beacon level measured after the peaking. The tracking memory has a fixed size (1000 entries). Once 1000 records are stored, the memory works in a first in - first (C) 2017, SatService GmbH www.satnms.com...
  • Page 76 To use this feature, store the ACU settings to the target location 0 (Target memory page). This saves the tracking parameters and the tracking memory as well. When this memory location is recalled later on, the (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 75/80...

  • Page 77: Adaptive Tracking Parameters

    The figure is also expressed as a percentage of the antenna's beamwidth, low values indicate, that the model ideally describes the antenna's path. High values indicate that's something wrong. The step (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 76/80...

  • Page 78: Program Tracking

    To use the program tracking facility of the ACU, follow the step by step instructions below: 1. Create a "program.txt" file with the antenna pointings you want to track. SatService GmbH offers a PC Software for this purpose which calculates the antenna pointing from commonly used ephemeris data sets for geostationary satellites.

  • Page 79: Faults And Tracking

    If a fault stay active in one axis and don't disappear during a RESET, the tracking stops the operation. For example if the polarisation have a fault, azimuth and elevation stop the tracking operation.%% (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 78/80...

  • Page 80: Specifications

    380V three-phase alternating current, current depends of motor power. Temperature range Humidity 5° to 40° C up to 90% no condensation 6HU 19inch rack-mount case 483x266x463mm (length x width x depth including handles) (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 79/80...
  • Page 81 Weight depending on frequency inverter type, approx. 25kg (C) 2017, SatService GmbH www.satnms.com ACU-RMU-UM-1707 Page 80/80...

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