Pepperl+Fuchs IMUF99 B16 Series Manual
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Pepperl+Fuchs IMUF99 B16 Series Manual

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Inertial Measurement Unit
IMUF99*B16
with CANopen
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Summary of Contents for Pepperl+Fuchs IMUF99 B16 Series

  • Page 1 Inertial Measurement Unit IMUF99*B16 with CANopen Manual...
  • Page 2 Phone: +49 621 776 - 0 E-mail: info@de.pepperl-fuchs.com North American Headquarters Pepperl+Fuchs Inc. 1600 Enterprise Parkway Twinsburg, Ohio 44087 Phone: +1 330 425-3555 E-mail: sales@us.pepperl-fuchs.com Asia Headquarters Pepperl+Fuchs Pte. Ltd. P+F Building 18 Ayer Rajah Crescent Singapore 139942 Phone: +65 6779-9091 E-mail: sales@sg.pepperl-fuchs.com https://www.pepperl-fuchs.com...

  • Page 3: Table Of Contents

    Inertial Measurement Unit IMUF99*B16 Contents Introduction........................ 6 Content of this Document ................6 Target Group, Personnel ................6 Symbols Used ....................7 Intended Use ....................8 General Safety Notes..................8 Declaration of Conformity................8 Product Description ....................9 Use and application..................9 LED displays ....................
  • Page 4 Inertial Measurement Unit IMUF99*B16 Contents Object 0x1008 Manufacturer Device Name ..........31 Object 0x1009 Manufacturer Hardware Version ........32 Object 0x100A Manufacturer Software Version ........32 Object 0x1010 Store Parameters..............32 6.10 Object 0x1011 Restore Default Parameters ..........32 6.11 Object 0x1017 Producer Heartbeat Time...........32 6.12 Object 0x1018 Device ID (Identity Object) ..........33 6.13...
  • Page 5 Inertial Measurement Unit IMUF99*B16 Contents 6.36 Object 0x2002 Rotation Rate Data ............. 42 6.37 Object 0x2003 Rotation Rate Scaling/Offset..........42 6.38 Object 0x2004 Rotational Acceleration Data ..........42 6.39 Object 0x2005 Rotational Acceleration Scaling/Offset......43 6.40 Object 0x2006 Gravity Vector Data ............43 6.41 Object 0x2007 Gravity Vector Scaling/Offset..........

  • Page 6: Introduction

    Inertial Measurement Unit IMUF99*B16 Introduction Introduction Content of this Document This document contains information required to use the product in the relevant phases of the product life cycle. This may include information on the following: • Product identification • Delivery, transport, and storage •...

  • Page 7: Symbols Used

    Inertial Measurement Unit IMUF99*B16 Introduction Symbols Used This document contains symbols for the identification of warning messages and of informative messages. Warning Messages You will find warning messages, whenever dangers may arise from your actions. It is mandatory that you observe these warning messages for your personal safety and in order to avoid prop- erty damage.

  • Page 8: Intended Use

    If serious faults occur, stop using the device. Secure the device against inadvertent operation. In the event of repairs, return the device to your local Pepperl+Fuchs representative or sales office.

  • Page 9: Product Description

    Inertial Measurement Unit IMUF99*B16 Product Description Product Description Use and application The IMUF99, Inertial Measurement Unit, combines an acceleration sensor and a gyroscope into a single device and links the two sensor elements to increase overall performance of the system and open up new possibilities. This device is optimized to provide gyroscopic-stabilized inclination and acceleration data as well as rotation rate data.
  • Page 10 Inertial Measurement Unit IMUF99*B16 Product Description Spatially fixed coordinate system (extrinsic reference to the horizontal plane) for Euler angle ZXZ Angle range - 180 ° ... +180 ° − Roll − − Pitch Figure 2.3 Body fixed coordinate system (intrinsic or co-rotating) for Euler angle zy'x'' Angle range -180 °...

  • Page 11: Led Displays

    Inertial Measurement Unit IMUF99*B16 Product Description Selectable output values To allow you to perfectly adapt the measuring system to your application, there ars several selectable output values such as acceleration, rotational speed, inclination (Euler angle, Euler value, quaternions) and programmable filters. Parameterization and data transfer take place via the integrated CANopen interface.

  • Page 12: Supported Canopen Functions

    Inertial Measurement Unit IMUF99*B16 Product Description Supported CANopen Functions The device has a standardized CANopen interface in accordance with the CiA301 specifica- tion. All usable CANopen objects of the object directory OV are listed in this manual. You can set the node ID and baud rate via LSS. You can set the transmission speed in increments of 125 kbit/s up to 1 Mbit/s, according to CiA 102, Table 1 and CiA 301 5.4, Table 1.

  • Page 13: Accessories

    Inertial Measurement Unit IMUF99*B16 Product Description Accessories Various accessories are available. See datasheet or relevant product page on the Internet www.pepperl-fuchs.com. Designation Description EDS file An EDS configuration file is available for easy integration and parameterization of the sensor. You can download it from www.pepperl-fuchs.com, on the product page for the IMUF99*B16*.

  • Page 14: Installation

    CAN-L Table 3.1 Connector assignment Note The wire colors listed above apply when one of the bus cables from the Pepperl+Fuchs accessories range is used. Note The device complies with the EMC norms and standards described in the datasheets. If necessary, additional external EMC protection elements and interference suppression measures (e.g.

  • Page 15: Cybersecurity Information

    Inertial Measurement Unit IMUF99*B16 Cybersecurity Information Cybersecurity Information Security context The device is designed for use in an industrial CAN bus network such as in mobile equipment. The plant operator must ensure that the device is physically protected against unauthorized access.

  • Page 16: Commissioning

    Inertial Measurement Unit IMUF99*B16 Commissioning Commissioning Commissioning via CANopen Engineering Tool Note Before commissioning the sensor on a CAN bus, check whether the communication parameters of the sensor match your CANopen network. The factory default settings are a transfer rate of 250 kbit/s and a node ID of 16. If the node ID is already assigned or not desired and a different transfer rate is required, you can change these settings.

  • Page 17: Enable Processing Of The Process Data

    Inertial Measurement Unit IMUF99*B16 Commissioning 5.1.2 Enable Processing of the Process Data To enable the sensor to send/receive process data, you must set the sensor to the Operational state using an NMT Main Device in accordance with CiA 301. The fix mapping of the process data is specified in the respective TPDO mapping parameter. Here, the available objects are coded in the various subindices.

  • Page 18: Overview Measurement Variables Related Objects

    Inertial Measurement Unit IMUF99*B16 Commissioning 5.1.4 Overview Measurement Variables Related Objects The following table shows an overview about all available measurement values that is provided by sensor. Additional it shows which objects can be used for configuration. Measured Measurement Filter Angle Application Scaling and...

  • Page 19: Scaling Measurement Data

    Inertial Measurement Unit IMUF99*B16 Commissioning 5.1.5 Scaling Measurement Data The following table gives an overview of output data of objects and for scaling the various mea- sured variables. The output data are mapped into the following TPDOs. Each measured variable can be scaled with this: (Data_internal - Offset) / Factor = Output_Data [unit] Measured variable Measurement data...

  • Page 20: Filter Settings

    Inertial Measurement Unit IMUF99*B16 Commissioning Filter Settings Using one of the following filter types, filters in the signal path can be activated in such a way that vibration frequencies that excite the sensor are suppressed. These vibrations could be trig- gered by a running engine or gearbox, for example.
  • Page 21 Inertial Measurement Unit IMUF99*B16 Commissioning Example The following example of "PF Angle" shows to change the filter settings for output data. Object 0x2102 • Subindex 0x01: Type = 0 is buttwerworth lowpass filter • Subindex 0x02: Order = 0 is filter order 1 •...

  • Page 22: Settings Of Compensation Range

    Inertial Measurement Unit IMUF99*B16 Commissioning Settings of Compensation Range The object "Compensation Range" (0x200C:4) is used to adjust the quality of the angle output, depending on the application-specific motion profile. In principle, external accelerations, shocks and jerky movements can lead to incorrect angle outputs. This object must be selected before the actual angle measurement.

  • Page 23: Application Flag

    Inertial Measurement Unit IMUF99*B16 Commissioning Application Flag Independent limits can be set for the X-, Y- and Z-axes of the acceleration, rotation rate and angle measurement axes. If these limits are exceeded, this is indicated in the switching status of the application flags (AF). The parameters 0x69 to 0x8C are used to set the application flags (AF).

  • Page 24: Gravity Flag

    Inertial Measurement Unit IMUF99*B16 Commissioning Gravity Flag Rotations about the gravity vector cannot be detected in the angle output. Technical-physical relations • Regardless of the mounting position of the sensor, a rotation around the gravitational vec- tor is not recognized as an angle change. •...
  • Page 25 Inertial Measurement Unit IMUF99*B16 Commissioning The following 2 examples show the value of Gravity Flag for different sensor orientations. Y-Axis Parallel to Gravity Vector − Gravity Vector Roll − − Pitch Figure 5.1 Object 0x200A 0x200A:4 = 0x*2 *value of Application Flag which is part of 0x200A:4 Z-Axis Parallel to Gravity Vector −...

  • Page 26: Parameterization Using The Canopen Engineering Tool With Canopen Objects

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Parameterization Using the CANopen Engineering Tool with CANopen Objects CANopen Overview What Is CANopen? CANopen is a multimaster-compliant fieldbus system based on the CAN (Controller Area Net- work).
  • Page 27 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects In summary, PDOs are used for the cyclic exchange of immediate data, while SDOs are used for the non-cyclic exchange of parameterization and diagnostic data. Both play an important role in a CANopen network and enable communication and interaction between devices.

  • Page 28: Canopen Object Directory

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects CANopen Object Directory Note CANopen Parameter Communication This section contains the information required for the data exchange via CANopen. Data is exchanged with the sensor via objects. These objects and their respective permissible functions are defined in the following object directory.
  • Page 29 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Supported Objects Object Description 0x1000 Device Type 0x1001 Error Register 0x1005 SYNC Identifier 0x1008 Manufacturer Device Name 0x1009 Manufacturer Hardware Version 0x100A Manufacturer Software Version 0x1010 Store Parameters 0x1011 Restore Default Parameters 0x1017...
  • Page 30 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Object Description 0x200A PF angle data 0x200B Euler Angle Data 0x200C Angle Configuration 0x200D Quaternation Data 0x200E Quaternation Scaling/Offset 0x200F Temperature Data 0x2010 Temperature Scaling/Offset 0x2100 Filter Setup Acceleration 0x2101 Filter Setup Rotation Rate 0x2103...

  • Page 31: Object 0X1000 Device Type

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Object 0x1000 Device Type Index Subindex Designation Data type Attribute Default value 0x1000 0x00 Device Type unsigned32 ro (= read 0x0102019a only) Table 6.2 1. Data type without prefix, 32 bit Object 0x1001 Error Register Index Subindex...

  • Page 32: Object 0X1009 Manufacturer Hardware Version

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Object 0x1009 Manufacturer Hardware Version Index Subindex Designation Data type Attribute Default value 0x1009 0x00 Manufacturer visible Value may change Hardware Version string Table 6.8 Object 0x100A Manufacturer Software Version Index Subindex Designation...

  • Page 33: Object 0X1018 Device Id (Identity Object)

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.12 Object 0x1018 Device ID (Identity Object) Index Subindex Designation Data type Attribute Default value 0x1018 0x00 Highest subindex unsigned8 supported 0x01 Vendor ID unsigned32 0xAD 0x02 Product Code unsigned32 0x05000001...

  • Page 34: Object 0X1800 Tpdo1 Communication Parameter - Inclination Cia Profile 410

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.14 Object 0x1800 TPDO1 Communication Parameter - Inclination CiA Profile 410 Index Subindex Designation Data type Attribute Default value 0x1800 0x00 Highest subindex unsigned8 0x06 supported 0x01 COB ID unsigned32 rw NODEID + 0x180...

  • Page 35: Object 0X1804 Tpdo5 Communication Parameter - Acceleration

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.15 Object 0x1804 TPDO5 Communication Parameter - Acceleration Index Subindex Designation Data type Attribute Default value 0x1804 0x00 Highest subindex unsigned8 0x06 supported 0x01 COB ID unsigned32 rw 0x80000000 TPDO is deactivated by default 0x02...

  • Page 36: Object 0X1806 Tpdo7 Communication Parameter - Rotational Acceleration Rate

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.17 Object 0x1806 TPDO7 Communication Parameter - Rotational Acceleration Rate Index Subindex Designation Data type Attribute Default value 0x1806 0x00 Highest subindex unsigned8 0x06 supported 0x01 COB ID unsigned32 rw 0x80000000 TPDO is deactivated by default...

  • Page 37: Object 0X1808 Tpdo9 Communication Parameter - Linear Acceleration

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.19 Object 0x1808 TPDO9 Communication Parameter – Linear Accele- ration Index Subindex Designation Data type Attribute Default value 0x1808 0x00 Highest subindex unsigned8 0x06 supported 0x01 COB ID unsigned32 rw 0x80000000 TPDO is deactivated by default...

  • Page 38: Object 0X180A Tpdo11 Communication Parameter - Euler Angle

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.21 Object 0x180A TPDO11 Communication Parameter – Euler Angle Index Subindex Designation Data type Attribute Default value 0x180A 0x00 Highest subindex unsigned8 0x06 supported 0x01 COB ID unsigned32 rw 0x80000000 TPDO is deactivated by default...

  • Page 39: Object 0X180C Tpdo13 Communication Parameter - Temperature

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.23 Object 0x180C TPDO13 Communication Parameter – Temperature Index Subindex Designation Data type Attribute Default value 0x180C 0x00 Highest subindex unsigned8 0x06 supported 0x01 COB ID unsigned32 rw 0x80000000 TPDO is deactivated by default 0x02...

  • Page 40: Object 0X1A05 Tpdo6 Mapping - Rotation Rate

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.26 Object 0x1A05 TPDO6 Mapping - Rotation Rate Index Subindex Designation Data type Attribute Default value Description 0x1A05 0x01 Mapping unsigned32 ro 0x20020110 Object Rotation Rate Data X Entry 1 0x02 Mapping...

  • Page 41: Object 0X1A09 Tpd10 Mapping - Euler Angle

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.30 Object 0x1A09 TPD10 Mapping - Euler Angle Index Subindex Designation Data type Attribute Default value Description 0x1A09 0x01 Mapping unsigned32 ro 0x200B0110 Object Euler Angle Data X Entry 1 0x02 Mapping...

  • Page 42: Object 0X2000 Acceleration Data

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.34 Object 0x2000 Acceleration Data Index Subindex Designation Data type Attribute Default value Description 0x2000 0x01 Acceleration X integer16 Acceleration in X direction – 0x02 Acceleration Y integer16 Acceleration in Y direction –...

  • Page 43: Object 0X2005 Rotational Acceleration Scaling/Offset

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.39 Object 0x2005 Rotational Acceleration Scaling/Offset Index Subindex Designation Data type Attribute Default value Description 0x2005 0x01 Factor unsigned16 rw Factor of rotational accelera- tion 0x02 Offset unsigned16 rw Offset of rotational accelera- tion...

  • Page 44: Object 0X200A Pf Angle Data

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.44 Object 0x200A PF Angle Data Index Subindex Designation Data type Attribute Default value Description 0x200A 0x01 PF Angle X unsigned16 ro Angle X-axis – 0x02 PF Angle Y unsigned16 ro Angle Y-axis –...

  • Page 45: Object 0X200C Angle Configuration

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.46 Object 0x200C Angle Configuration Index Subindex Designation Data type Attribute Default value Description 0x200C 0x01 Factor unsigned16 rw Factor of angle 0x02 Offset unsigned16 rw Offset of angle 0x03 Angle Defin- unsigned8...

  • Page 46: Object 0X200D Quaternion Data

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.47 Object 0x200D Quaternion Data Index Subindex Designation Data type Attribute Default value Description 0x200D 0x01 Quaternion X integer16 Quaternion Data X – 0x02 Quaternion Y integer16 Quaternion Data Y –...

  • Page 47: Object 0X2101 Filter Setup Rotation Rate

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.52 Object 0x2101 Filter Setup Rotation Rate Index Subindex Designation Data type Attribute Default value Description 0x2101 0x01 Type unsigned8 Filter type 0x02 Order unsigned8 Filter order 0 = off 0x03 Frequency...

  • Page 48: Object 0X2104 Filter Setup Rotational Acceleration Rate

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.55 Object 0x2104 Filter Setup Rotational Acceleration Rate Index Subindex Designation Data type Attribute Default value Description 0x2104 0x01 Type unsigned8 Filter type 0x02 Order unsigned8 Fitler order 0x03 Frequency unsigned16 rw...
  • Page 49 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2105 0x04 Logic for X- unsigned8 0x00 For acceleration X-axis: axis This parameter determines which value range of the Limits should be displayed as the "active"...
  • Page 50 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2105 0x07 SP2 for Y- unsigned16 rw 0x7FFF For acceleration Y-axis: axis/Set Point The value of this switching 2 for Y-axis parameter determines the Lim- it2, exceeding or falling below it...
  • Page 51 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2105 0x0A SP1 for Z- unsigned16 rw 0x7FFF For acceleration Z-axis: axis/Set Point The value of this switching 1 for Z-axis point parameter determines the Limit1, exceeding or falling...

  • Page 52: Object 0X2106 Rotation Rate Application Flags (Af)

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.57 Object 0x2106 Rotation Rate Application Flags (AF) Index Subindex Designation Data type Attribute Default value Description 0x2106 0x01 Mode for X- unsigned8 0x00 For rotation rate X-axis: axis 0 = deactivated;...
  • Page 53 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2106 0x04 Logic for X- unsigned8 0x00 For rotation rate X-axis: axis This parameter determines which value range of the Lim- its should be displayed as the "active"...
  • Page 54 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2106 0x07 SP2 for Y- unsigned16 rw 0x7FFF For rotation rate Y-axis: axis/Set Point The value of this switching 2 for Y-axis point parameter determines the Limit2, exceeding or falling...
  • Page 55 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2106 0x0A SP1 for Z- unsigned16 rw 0x7FFF For rotation rate Z-axis: axis/Set Point The value of this switching 1 for Z-axis point parameter determines the Limit1, exceeding or falling...

  • Page 56: Object 0X2107 Inclination Application Flags (Af)

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.58 Object 0x2107 Inclination Application Flags (AF) Index Subindex Designation Data type Attribute Default value Description 0x2107 0x01 Mode for X- unsigned8 0x00 Just use it in combination with axis INX/INY/INZ inclination setting.
  • Page 57 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2107 0x04 Logic for X- unsigned8 0x00 Just use it in combination with axis INX/INY/INZ inclination setting. Don't use it with ZYZ or zy'x'' inclination setting.
  • Page 58 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2107 0x06 SP1 for Y- unsigned16 rw 0x0000 Just use it in combination with axis/Set Point INX/INY/INZ inclination setting. 1 for Y-axis Don't use it with ZYZ or zy'x'' inclination setting.
  • Page 59 Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2107 0x09 Mode for Z- unsigned8 0x00 Just use it in combination with axis INX/INY/INZ inclination setting. Don't use it with ZYZ or zy'x'' inclination setting.

  • Page 60: Object 0X2200 Application Tag

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects Index Subindex Designation Data type Attribute Default value Description 0x2107 0x0C Logic for Z- unsigned8 0x00 Just use it in combination with Axis INX/INY/INZ inclination setting. Don't use it with ZYZ or zy'x'' inclination setting.

  • Page 61: Object 0X6010 Slope Long16

    Inertial Measurement Unit IMUF99*B16 Parameterization Using the CANopen Engineering Tool with CANopen Objects 6.62 Object 0x6010 Slope Long16 Index Subindex Designation Data type Attribute Default value Description 0x6010 0x00 Slope integer16 Angle X-axis value – Long16 Table 6.64 6.63 Object 0x6011 Slope Long16 Operating Parameter Index Subindex Designation Data type...
  • Page 62 Pepperl+Fuchs Quality Download our latest policy here: www.pepperl-fuchs.com/quality www.pepperl-fuchs.com © Pepperl+Fuchs · Subject to modifications / DOCT-8633A...

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