Related Manuals for AXIOMATIC SAE J1939
Summary of Contents for AXIOMATIC SAE J1939
- Page 1 User Manual UMAX0609XX-20XX Version 7E Firmware 7.xx Axiomatic EA 5.15.108.0+ USER MANUAL Tri-Axial Gyro Inclinometer, SAE J1939 P/N: AX060900 – Two M12 Connectors P/N: AX060910 – Two M12 Connectors, Extended Dynamic Range...
- Page 2 European Economic Area (EEA) since 1985 Diagnostic Message. Defined in J1939/73 standard The Axiomatic Electronic Assistant, a PC application software from Axiomatic, primarily designed to view and program Axiomatic control configuration parameters (setpoints) through CAN bus using J1939...
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Page 3: Table Of Contents
TABLE OF CONTENTS INTRODUCTION ........................5 INCLINOMETER DESCRIPTION ..................... 6 Inclinometer Modifications ................... 6 Theory of Operation ..................... 6 2.2.1 Unit Coordinate System ..................6 2.2.2 Unit Reference Frames ..................7 2.2.3 Angle measurements .................... 8 2.2.3.1 Static Condition ....................8 2.2.3.2 Dynamic Condition .................... - Page 4 3.10 CAN Input Signal ....................... 42 3.11 CAN Output Message ....................44 CONFIGURATION PARAMETERS ..................47 Electronic Assistant Software ..................47 Function blocks in the Axiomatic EA ................48 Setpoint File ....................... 49 Configuration Example ....................51 4.4.1 User Requirements ..................... 51 4.4.2...
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Page 5: Introduction
It can be done using Axiomatic Electronic Assistant (EA) software through CAN bus. The inclinometers support SAE J1939 CAN interface. It is assumed, that the user is familiar with the J1939 group of standards. The terminology from these standards is widely used in this manual. -
Page 6: Inclinometer Description
The Z-down coordinate system is described by in the SAE J670 standard for automotive applications. It is used in SAE J1939 slope sensor PGN definitions. This system is similar to the NED (North-East-Down) coordinate system used in aerospace and navigation, but without reference to the cardinal directions. -
Page 7: Unit Reference Frames
Figure 1. Inclinometer Coordinate System 2.2.2 Unit Reference Frames Several Z-down coordinate systems or frames are used to describe the inclinometer orientation. The (X,Y,Z) coordinate system attached to the unit forms a unit or inclinometer frame, see Figure 2. The original (default) unit frame orientation is shown on the inclinometer label. It can be changed using configuration parameters to facilitate the unit installation. -
Page 8: Angle Measurements
After the inclinometer is installed on the machine at the customer site, the customer can set-up the unit initial installation angles through configuration parameters. To simplify further description of inclinometer operations, unless specially mentioned, it will be assumed that the unit frame orientation is original, initial installation angles are zero and all inclinometer parameters are referred therefore to the unit frame (X,Y,Z). -
Page 9: Sensor Fusion
−�� −�� −�� �� �� �� �� −�� �� �� �� �� ] – rotation matrix for quaternion, derived from angular rates. where: Ω = [ −�� �� �� �� �� �� �� �� −�� �� �� �� The inclinometer angular displacement can be found by integrating this equation over time and converting the result to the corresponding rotation matrix and the estimate of the gravity vector in the unit frame ��... - Page 10 The sign of the pitch and roll tilt angles is defined by the right-hand rule and presented by arrows �� about the Y and X axes. Since the pitch angle �� direction in Figure 3 is the same as the positive direction defined by the yellow arrow about the Y axis, the angle is positive.
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Page 11: Rotation Angles
° ° �� ∈ [ 0 �� = ��������2( √ �� + �� , �� ; 180 �� �� �� ° When �� > 90 , the roll-over occurs. �� �� When pitch �� and roll �� angles are measured in the ±180° range, the tilt angles will detect a roll- ��... -
Page 12: Euler Angles
The sign of the pitch and roll angles is defined by the right-hand rule and presented by arrows �� about the Y and X axes. Since the pitch angle �� direction in Figure 4 is the same as the positive direction defined by the yellow arrow about the Y axis, the angle is positive. -
Page 13: Gimbal Lock
�� plane. Since the yaw rotation �� on Figure 5 is opposite to the positive rotation direction, shown by the red arrow about the Z axis, the resulted angle is negative. �� – pitch angle. It is performed about the Y The second rotation defines the ��... -
Page 14: Maximum Gravity Acceleration Error
X- Axis Z- axis Z- axis Y - Axis Gravity vector Y - Axis ⃗ is coincident with the Z axis X- Axis Plane (X ) is parallel to the Earth surface Figure 6. Gimbal Lock �� The same condition occurs with the pitch angle �� when both: ��... -
Page 15: Practical Recommendations
(������) The Maximum Gravity Acceleration Error �� is set by the user normally above the expected �� external accelerations at the customer site during normal operation conditions. (������) Please remember that even when �� ≤ �� , the rated inclinometer static parameters including ��... - Page 16 Inclination Angles Advantages Disadvantages • ±180° range for pitch and roll angles. • Roll-over detection. • • Unit Rotation Smooth angular transition Numerically unstable pitch and roll Angles inside the measurement range, angles in gimbal lock points. except for the gimbal lock points. •...
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Page 17: Default Settings
Dual-Axis |Angle|>90° Tilt Angle ±90° Angular position in space Smooth angular transition Pitch angle ±180° Euler Angle Unit Rotation Angle Tilt Angle ±180° Figure 8. Dual-Axis Measurements In case it is necessary to get the ±180° range for both: pitch and roll angles with a smooth angular transition, the unit rotation angles should be used. -
Page 18: Software Organization
BAT+ EMI Filter. 12V, 24V Transient and Reverse Power Supply Nominal Polarity Protection BAT - CAN_SHIELD CAN_HI 3D Accelerometer CAN_LO Z-axis Gyro ARM Cortex-M4 Microcontroller X-axis Gyro 3D Low-g Accelerometer Y-axis Gyro Present in the Extended Dynamic Range Modification Figure 9. Simplified Inclinometer Hardware Block Diagram The extended dynamic range inclinometer (AX060910) has a dedicated 3D low-g accelerometer to accurately measure inclination angles in a static condition. - Page 19 Sensor Filter Accel X, Y, Z Frame Accel Measurement Latency Accelerometer Accel Figure of Merit Machine Accel Sensor Temperature Frame Pitch, Roll, Gravity Angles Uncomp g vector Sensor Temperature Gravity Accel Error Uncomp Dynamic Compensation Angular Measurement Latency Uncomp Angles Angular Figure of Merit Uncomp Sensor error condition...
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Page 20: Configurable Internal Architecture
The user can modify the inclinometer functionality using PC-based Axiomatic Electronic Assistant (EA) software through the CAN interface, without disconnecting the inclinometer from the user’s system. The inclinometer application firmware can be also updated in the field using the Axiomatic EA, see Flashing New Firmware section. -
Page 21: Can Baud Rate
J1939/73 – Application Layer – Diagnostics. Rev. FEB 2010 Memory access protocol (MAP) support. DM14, DM15, DM16 messages used by the Axiomatic EA to program configuration parameters. 2.5.1 CAN Baud Rate The inclinometer can operate at J1939 standard 250 kbit/s and 500 kbit/s baud rates. It can also run at 667kbit/s and at 1Mbit/s –... -
Page 22: Slew Rate Control
PGN 65256, Vehicle Direction/Speed, VDS; • PGN 64905, Vehicle Direction/Speed 2, VDS2. The user should use the Axiomatic EA to activate sending the appropriate preconfigured PGNs by changing the Transmission Enable configuration parameter from No to Yes, see CAN Output Message function block. -
Page 23: Pgn 61459, Slope Sensor Information, Ssi
2.6.1.1 PGN 61459, Slope Sensor Information, SSI This PGN provides measurements of the vehicle pitch and roll angles, and a measurement of the vehicle pitch rate. It has the following parameters: Transmission Repetition Rate: 10 ms Data Length: Default Priority: Parameter Group Number: 61459 Start Position... -
Page 24: Pgn 61481, Slope Sensor Information 2, Ssi2
Roll angle degraded. Data is suspect due to environmental conditions. Error Not available Type: Status Parameter Name: Pitch Rate Figure of Merit Data Length: 2 bits Bit 2 Bit 1 Pitch rate fully functional. Data is within sensor specification. Pitch rate degraded. Data is suspect due to environmental conditions. - Page 25 Data Range: -250 to 250.9999 deg Operational Range: same as data range Type: Measured Parameter Name: Roll Angle Extended Range Data Length: 3 bytes Resolution: 1/32768 deg/bit, -250 deg offset Data Range: -250 to 250.9999 deg Operational Range: same as data range Type: Measured Parameter Name:...
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Page 26: Pgn 61482, Angular Rate Information, Ari
Type: Measured 2.6.1.3 PGN 61482, Angular Rate Information, ARI This PGN provides measurements of the vehicle pitch, roll, and yaw rate. It has the following parameters: Transmission Repetition Rate: 10 ms Data Length: Default Priority: Parameter Group Number: 61482 Start Position Length Parameter Name 2 bytes... -
Page 27: Pgn 65256, Vehicle Direction/Speed, Vds
Roll rate fully functional. Data is within sensor specification. Roll rate degraded. Data is suspect due to environmental conditions. Error Not available Type: Status Parameter Name: Yaw Rate Extended Range Figure of Merit Data Length: 2 bits Bit 2 Bit 1 Yaw rate fully functional. -
Page 28: Pgn 64905, Vehicle Direction/Speed 2, Vds2
to +301.992 deg (ASCENT) Type: Measured Parameter Name: Altitude (Not used by the inclinometer. Populated with 0xFFFF) Data Length: 2 bytes Resolution: 0.125 m/bit, -2500 m offset Data Range: -2500 to 5531.875 m Operational Range: same as data range Type: Measured 2.6.1.5 PGN 64905, Vehicle Direction/Speed 2, VDS2 Transmission Repetition Rate:... -
Page 29: Inclinometer Logical Structure
Each function block is absolutely independent and has its own set of configuration parameters, or setpoints. The configuration parameters can be viewed and changed through CAN bus using Axiomatic Electronic Assistant (EA) software. The gyroscope and accelerometer sensors are presented by Gyroscope and Accelerometer function blocks, respectively. -
Page 30: Function Block Signals
the unit is mounted at a customer’s site. Sensor Calibration is an auxiliary function block representing the inclinometer calibration parameters. The J1939 CAN interface is represented by the CAN Input Signal, CAN Output Message and J1939 Network function blocks. The CAN Input Signal function blocks are used to receive CAN signals transmitted on the CAN bus. -
Page 31: Signal Type Conversion
3.1.4 Signal Type Conversion Discrete and Continuous signals are automatically converted into each other when a signal input of one signal type is connected to a signal output of a different signal type. 3.1.4.1 Discrete to Continuous Conversion A Discrete signal is converted into a positive Continuous signal of the same value. 3.1.4.2 Continuous to Discrete Conversion A positive Continuous signal is converted into the same value Discrete signal. -
Page 32: Accelerometer
The Angular Rate Figure of Merit discrete signal defines whether the gyroscope angular rate data can be trusted. It has the following set of states: Table 4. Gyroscope Angular Rate Figure of Merit State Description All gyroscopes are fully functional. Data is within the sensor specification. Data is suspect due to environmental conditions. -
Page 33: Angle Measurement
State Description Data is suspect due to environmental conditions. Set when the accelerometer sensor temperature is less than -40°C or greater than +125°C. Error condition has been detected. The Accelerometer Sensor Temperature output represents the 3D accelerometer sensor temperature in [°C]. The Accelerometer function block configuration parameters are defined below. - Page 34 Figure 15. Angle Measurement Function Block The Pitch Angle and Pitch Angle Uncompensated are continuous signals that output the unit pitch angle �� in [deg]. They have ±90 [deg] range for Euler angles and ±180 [deg] for unit rotation angles. For tilt angles, they can be either ±90 or ±180 [deg] depending on the Tilt Angle Range configuration parameter.
- Page 35 State Description Dynamic Angle Compensation: On –The accelerometer sensor or one of the gyroscope sensors is saturated or is malfunctioning or the sensor fusion algorithm is temporarily disabled (due to a sensor error or while recovering from an error condition) Off –...
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Page 36: Unit Installation
Default Name Range Units Description Value [0…1] Accelerometer 0.12 mg/sqrt(Hz) Accelerometer white-noise Kalman Noise Density 0.037 filter parameter. [0…1] Gyro Noise 0.008 deg/s/sqrt(Hz) Gyroscope white-noise Kalman Density 0.007 filter parameter. [0…1] Gyro Rate 0.0005 deg/s^2/sqrt(Hz) Gyroscope rate random walk Random Walk Kalman filter parameter. -
Page 37: Unit Frame Orientation Examples
The initial installation pitch and roll angles are Euler angles used to transform the unit accelerations from the unit frame to the machine frame. They can be written manually or set up automatically when Auto-Null Command is set to Yes. To set up the initial installation angles automatically, the user issues the Auto-Null Command when the machine is in the initial null-angle position, leveled on the operation area. -
Page 38: Sensor Calibration
In user applications, to avoid errors, it is recommended checking the new unit frame orientation on the bench before installing the inclinometer on the machine. The Axiomatic CAN Assistant – Visual, P/N: AX070501VIS can be used to verify angular directions and ranges after performing the unit frame coordinate rotation. - Page 39 Function Name Description Comment ! Logical Not f(x) = !x x is converted into 4-byte unsigned integer before function is applied ~ Bitwise Not f(x) = ~x x is converted into 4-byte unsigned integer before function is applied abs(x) Absolute f(x) = x, if x≥0 f(x) = -x, if x<0 The following binary functions are defined in the function block:...
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Page 40: Global Parameters
Table 15. Binary Function Block Configuration Parameters Name Default Value Range Units Description – F[x;y] – Binary function Binary Function Undefined See Binary Function table – A – Output Scale Output Scale Any value – B – Output Offset Output Offset Any value –... -
Page 41: J1939 Network
Changing the ECU Instance Number is necessary to accommodate multiple inclinometers on the same CAN network. The list of available ECU instances is shown in the ECU Instance Number Setup dialog window in the Axiomatic EA. The user should select the required ECU instance UMAX0609XX-20XX Version 7E... -
Page 42: Can Network Parameters
The user selects the new ECU address from the list of available ECU addresses in the ECU Address Setup dialog window similar to the ECU instance number setup dialog. After the required ECU address is selected, the user should press OK button or, starting from Axiomatic EA 5.14.103.0, double-click the selected address. - Page 43 If Autoreset Time is 0, the auto- reset is disabled. Proprietary A PGN (61184) is excluded. It is taken by Axiomatic Simple Proprietary Protocol and therefore cannot be used in function blocks. The CAN input signal position is defined within the CAN message data frame by the Data Position Byte and Data Position Bit configuration parameters the same way as in the J1939 standard.
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Page 44: Can Output Message
���������������� = ( �������������������������������� − 1 ) ∙ 8 + ( ������������������������������ − 1 ) , (12) �������������� = ���������������� + �������� − 1, ��ℎ������: ����������������, �������������� ∈ [0 … 63]. Resolution and Offset configuration parameters are set for continuous CAN input signals. They are not used with discrete CAN signals. - Page 45 Default Name Range Units Description Value Transmission Rate [0;10000] CAN output message transmission rate. If 0 – transmission is upon request. – Destination Address [0; 255] Destination address of the PDU1 PGN messages. [0…8] Length byte CAN message data frame length. [0…7] –...
- Page 46 For CAN Output Message #1. Proprietary A PGN (61184) is excluded. It is taken by Axiomatic Simple Proprietary Protocol and therefore cannot be used in function blocks. Configuration parameters: Signal #1…10 Byte Position and Signal #1…10 Bit Position, together with the Signal #1…10 Size have the same meaning as in the CAN Input Signal function block.
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Page 47: Configuration Parameters
Axiomatic website www.axiomatic.com. The Axiomatic EA uses the Axiomatic USB-CAN converter P/N AX070501 to connect to the CAN network. The converter with cables can be ordered as an Axiomatic EA KIT, P/Ns: AX070502 or AX070506K. Please, refer to the user manual UMAX07050X for description of the EA and associated products, and for the CAN network connection troubleshooting. -
Page 48: Function Blocks In The Axiomatic Ea
Figure 26. General ECU Information Screen 4.2 Function blocks in the Axiomatic EA Each inclinometer function block is presented by its own setpoint group in the Setpoint File main group. Individual configuration parameters (setpoints) of a function block can be accessed through the function block setpoint group, see Figure 27. -
Page 49: Setpoint File
Figure 27. Accelerometer Function Block in the Axiomatic EA Figure 28. Changing a Configuration Parameter in the Axiomatic EA 4.3 Setpoint File The Axiomatic EA can store all inclinometer configuration parameters in one setpoint file and then flash them into the unit in one operation. UMAX0609XX-20XX Version 7E... - Page 50 The user then can open the setpoint file, view or print it, and also flash the setpoint file into the inclinometer, see Figure 29. Figure 29. An Axiomatic EA Setpoint File The CAN network identification and “read-only” configuration parameters are not transferrable using this operation.
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Page 51: Configuration Example
A setpoint file containing default configuration parameters for the current firmware version is available upon request. 4.4 Configuration Example The user can change the default inclinometer functionality using the configuration parameters. A detailed description of the unit configuration process is presented below, as an example. 4.4.1 User Requirements Let us assume that the user requires to generate a proprietary PGN message with a signal flag alarming the user that a platform is tilted more than 30 degrees from its original 0-degree position. - Page 52 Signal #1 PGN = 65280 Gravity Angle Transmission Enable = Yes Angle Measurement Transmission Rate = 100 ms Binary Function Length = 1 Byte Priority = 6 Output Message Default = 30 [Deg] Signal #1 Type = Discrete F[x,y] = { >= (Great Equal)} Signal #1 Byte Position = 1 Signal #1 Bit Position = 1 Signal #1 Size = 2 Bit...
- Page 53 Figure 32. CAN Output Message #5 Example Configuration As the last step, if the default functionality is not required, the user can disable sending SSI2 CAN messages in the CAN Output Message #2 function block by setting the Transmission Enable configuration parameter to No.
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Page 54: Flashing New Firmware
The bootloader version can be found on the Bootloader Information group screen. The Axiomatic EA will prompt the user to change the Force Bootloader to Load on Reset parameter flag to Yes. This will automatically activate the bootloader on the next ECU reset. After accepting the change, the next screen will ask the user if the reset is actually required, see Figure 34. - Page 55 Figure 34. Bootloader Activation. Final Reset All the bootloader specific information: controller hardware, bootloader details, and the currently installed application firmware remains the same in the bootloader mode and the user can read it in the Bootloader Information group screen, see Figure 35. The information can be slightly different for different versions of the bootloader.
- Page 56 To flash the new firmware, the user should click on toolbar icon or from the File menu select the Open Flash File command. The Open Application Firmware Flash File dialog will appear. Pick up the flash file with the new inclinometer firmware and confirm the selection by pressing the Open button.
- Page 57 Select Yes and see the ECU running the new firmware, see Figure 38. This will indicate that the flashing operation has been performed successfully. For more information, refer to the J1939 Bootloader section of the Axiomatic EA user manual. Figure 37. Flashing New Firmware. Final Reset Figure 38.
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Page 58: Technical Specifications
All our products carry a limited warranty against defects in material and workmanship. Please refer to our Warranty, Application Approvals/Limitations and Return Materials Process as described on https://www.axiomatic.com/service/. 6.1 Performance Parameters Stated at 25°C unless otherwise specified. -
Page 59: Angular Rate Measurements
6.1.2 Angular Rate Measurements 6.1.2.1 AX060900 Table 23. AX060900 Angular Rate Measurement Parameters Parameter Value Remarks Measurement Range ±125°/s Resolution 0.08°/s Effective Resolution (3.46*NoiseRMS). Typical at Cut-Off Frequency Fc=5Hz Offset Error ±1°/s Maximum Offset Temperature ±0.8°/s Maximum, in the full temperature range: -40…85°C Drift Sensitivity Error ±2.5%... -
Page 60: General Specifications
V5.xx…5.xx – at 250, 500, and 1000 kbit/s (1Mbit/s) baud rates. 6.4 General Specifications Table 27. General Specifications Parameter Value Remarks Sensor Type MEMS Internal Logic User Configurable Axiomatic Electronic Assistant, P/Ns: AX070502 or AX070506K. Operating -40…+85 °C Industrial temperature range. Temperature Environmental IP67 IEC 60529 with mated connectors. Protection Vibration Sinusoidal. - Page 61 If only one connector is used, an M12 sealing cap with IP67 rating should be installed on the unused connector. PROT-M12 FB – 1555538 from PHOENIX CONTACT is recommended for the unused output M12 connector, Axiomatic P/N AX070140. There is only one CAN port supported by the unit. Both CAN connectors are electrically connected together to facilitate cable routing in the user system.
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Page 62: Unit Orientation
6.6 Unit Orientation The unit coordinates, together with the Pitch and Roll directions are shown on the inclinometer label, see Figure 41. Z points vertically into the picture Roll Pitch Figure 41. Unit Orientation 6.7 Installation See mechanical installation information on the dimensional drawing. The CAN wiring is considered intrinsically safe. -
Page 63: Third Party Software License Notices
THIRD PARTY SOFTWARE LICENSE NOTICES This section contains Third Party Software License Notices and/or Additional Terms and Conditions for licensed third-party software components included in the Tri-Axial Gyro Inclinometer firmware. Table 28. Third Party Software License Notices Third Party Software License Notice/Terms STMicroelectronics COPYRIGHT(c) 2017 STMicroelectronics... - Page 64 Third Party Software License Notice/Terms THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE...
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Page 65: Version History
VERSION HISTORY Axiomatic User Electronic Firmware Manual Assistant Date Author Modifications version Version (EA) version • Removed single-axis versions: p/n 7.xx 5.15.108.0 Nov 28, Olek or higher 2023 Bogush AX062008, AX062018. • Performed Legacy Updates 7.xx 5.15.108.0 Sep 14, Kiril... - Page 66 Axiomatic User Electronic Firmware Manual Assistant Date Author Modifications version Version (EA) version • Clarified Resolution remarks, added 3.xx 5.13.99.0 Nov 16, Olek or higher 2018 Bogush Maximum Dynamic Acceleration parameter in Angular Measurement Parameters table. • Clarified Gimbal Lock in Angle Measurements.
- Page 67 Any inquiries should be sent to sales@axiomatic.com. Fan Drive Controllers SAFE USE Gateways, CAN/Modbus, RS-232 All products should be serviced by Axiomatic. Do not open the product and perform the service yourself. Gyroscopes, Inclinometers This product can expose you to chemicals which are known in the Hydraulic Valve Controllers State of California, USA to cause cancer and reproductive harm.
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