Rockwell Automation 6001-F2E User Manual

Allen-Bradley Standard Driver Software

(Cat. No. 6001-F2E)

User’s Manual

Preface 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

This Manual's Purpose 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Audience 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

elated Publications

Product Overview 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Why Use the Standard Driver Software? Compatible Hardware and Software Overview of the F Software Considerations Installing the Standard Driver Software Chapter Objectives What the P What's on the Diskette Installing the Standard Driver Hardware and Software Planning Y Chapter Objectives Include Files Overview of the F P

rogramming Considerations Using the F Chapter Objectives Using Open_StdDrv() Communicating on DH485 with the 6001F2E Standard Driver Using Appl_StdDrv() Using Send_StdDrv() Using Get_ErrMsg() Using Close_StdDrv()

unction Calls

ackage Includes 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

our Application P

unction Calls

rogram 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23 . . . . . . . . . . . . . . . . . . . . .

31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

42 . . . . . . . . . . . . .

42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Compiling, Linking, and Configuring Your Application Program 51 . . .

Chapter Compiling and Linking Y Configuring Y Application P Sample P PLC2 Unprotected R PLC2 Unprotected W Diagnostic L Diagnostic Counter R Diagnostic Status Diagnostic Counter R Specifying Message P Chapter Objectives F Message P Supported Command Set Diagnostic Counters R Diagnostic L Diagnostic R Diagnostic Status Unprotected R

Objectives

our Application P

rogram Examples

rogram A

ormatting the Message P

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ead A

rite A

oop Back A

acket Fields

oop B

ead B

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ead A10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

eset A14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

acket Commands with Send_StdDrv()

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

eset B

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

our Application P

rogram 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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acket B

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rogram 51 . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . .

51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 1 4 6 8

A12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1

1 1

4

6 7 7 8

8 9

Unprotected W

rotected T

with Three A Element, Subelement)

rotected T

with Three A

Element, Subelement) Diagnostic R Diagnostic Status R Diagnostic R Error Codes Error Codes

rite B

yped L

ddress Fields (File,

yped L

ddress fields (File,

eplies C1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ead R

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ogical R

ogical W

eply (Diagnostic Counters)

ead

rite

eply C1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9

B10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C4 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1

Preface

This Manual’s Purpose

Audience

Related Publications

This manual shows you how to:

Install the 6001-F2E Standard Driver software Communicate with DH-485 stations via the 6001-F2E Standard Driver

software

Use this manual and the 6001-F2E Standard Driver software if any of your application programs require information from devices such as the SLC-500 programmable controller. We assume you are familiar with the DOS operating system and C programming language.

See the following publications for information about communicating on the DH-485 network.

Refer

to this manual

PC DH-485 Interface Module Installation Data (publication 1784-2.23)

Data Highway/Data Highway Plus Protocol and Command Set User Manual (publication 1770-6.5.16)

SLC-500 Advanced Programming Software User’s Manual (publication 1747-801)

’s

For

installing the 1784-KR module

information on PLC commands and protocol

information on the SLC-500

Product Overview

Chapter

Why Use the Standard Driver Software?

Compatible Hardware and Software

The Standard Driver Software (cat. no. 6001-F2E) for the 1784-KR Interface Module lets you communicate directly to SLC-500 programmable controllers and other devices on the DH-485 network. You use a standard set of function calls to communicate with DH-485 stations. These function calls let you define your own message packets or request pre-defined message packets included in the software. See page 4-2 for more information about the message packets.

You can use the following hardware devices with the 6001-F2E Standard Driver software:

1784-T35 Plant Floor Terminal 1784-T50 Industrial Terminal 6120, 6121, and 6122 Industrial Support Computers IBM PC/XT and PC/AT Compaq Deskpro 286 Compaq Portable II and III

If your computer is not listed above, consult your local Allen-Bradley sales office for compatibility information.

You can use the following with the 6001-F2E Standard Driver software:

you use this programming device Use this operating system

1784-T50 programming terminal IBM PC/XT

programming terminal

If you are using a 1784-T50 that has DOS version 2.1

current version of Allen-Bradley DOS

, PC/AT, or IBM-compatible

Allen-Bradley DOS version 3.21 DOS version 3.0 or later (Use the DOS version

included with the programming terminal)

1 or earlier

, you need to purchase the

1-1

Chapter 1

Product Overview

Overview of the Function Calls

The 6001-F2E Standard Driver Software consists of a library of C programming language function calls that let your computer communicate with nodes on the DH-485 network. Table 1.A lists these commands:

able 1.A

6001-F2E

If you want to

perform initialization functions (required before any communication can take place)

transmit data over the DH-485 network to a DH-485 station

release all resources and services before the application program terminates

Standard Driver Software Commands

Use this function call

Open_StdDrv

Send_StdDrv

Close_StdDrv

See chapter 4 for more information on the function calls.

1-2

Chapter 1

Product Overview

Software Considerations

Important information about the 6001-F2E Standard Driver software for the 1784-KR Interface Module is listed below:

the 6001-F2E driver does not support unsolicited messages the 6001-F2E does not support multiple outstanding commands (you

must receive the reply from your command before sending another command)

the 6001-F2E supports the large memory model version of Microsoft C

and Borland Turbo C only

the 6001-F2E driver does not respond to a diagnostic status command

sent to itself, but responds to diagnostic status commands sent from another computer

the 6001-F2E driver does not return a local error code if the KR detects

a node address on the network the same as its own. The station that had the address first stays on-line; the other station goes off-line, so check for duplicate addresses in this situation,

if you incorrectly format messages to be sent by the Standard Driver

software, a timeout condition occurs in the application. Since there is no error code indicating an incorrect message format, check the message format first when the application software times out with a timeout error code

the 6001-F2E does not support off-link messages (messages sent across

a bridge to another network)

the 6001-F2E supports applications that communicate with a single

1784-KR only

1-3

Chapter

Installing the Standard Driver Software

Chapter Objectives

What the Package Includes

In this chapter, you learn about:

what the Standard Driver package includes the contents of the Standard Driver diskette how to install the Standard Driver Software

You have one of these two packages:

Cat.

No.

6001–F2E

1747-F2E

Each package contains:

one User’s Manual (publication 6001-6.5.5) one 5-1/4” diskette and one 3-1/2” diskette (use the appropriate diskette

for your system)

software license

Product Description

Stand-alone Standard Driver software for the 1784-KR

Standard Driver software bundled with the 1784-KR hardware

If you ordered the 1747-F2E, you received a 1784-KR board in addition to the items listed above.

2-1

Chapter 2

Installing the Standard Driver Software

What’s on the Diskette

The Standard Driver diskette contains the following types of files:

linkable large memory model standard driver library files application library files example application files

Standard Driver Library Files

Use the following files to build a linkable large memory model application using the Standard Driver.

This

file

L_MSKR.LIB

L_TCKR.LIB

STDDRV.H

KRDEFS.H START485.EXE

Contains

a large memory model Microsoft v5.1 compatible 6001-F2E Standard Driver library module

a large memory model Borland v2.01 compatible 6001-F2E Standard Driver library module

definitions and declarations required to compile a 6001-F2E Standard Driver application

the 6001-F2E Standard Driver start-up and initialization program. Run the START485.EXE to initialize the 1784-KR before you run your application

Application Library Files

The following files contain application functions libraries that let you use pre-defined support routines (Application Libraries). Use these in applications using the basic command set in table 4.B on page 4-2.

This

file

L_MSAPP.LIB

L_TCAPP.LIB

Contains

a large memory model Microsoft v5.1 compatible application library module

a large memory model Borland v2.0 compatible application library module

2-2

Chapter 2

Installing the Standard Driver Software

Example Files

The following files contain working 6001-F2E Standard Driver application examples:

This

file

Contains

Installing the Standard Driver Hardware and Software

F2EDIAG.C F2ESLC.C SCREEN.H

diagnostic routines unprotected read and unprotected write routines definitions and declarations required to compile F2EDIAG.C or

F2ESLC.C

This section tells you how to install the Standard Driver hardware and software.

Installing the Hardware

To install the Standard Driver hardware:

1. Set the 1784-KR memory address switches and jumper settings that

are compatible with your computer system (See the 1784-KR Installation Data, publication 1784-2.23, for instructions on setting these switches.)

2. Record these addresses on a piece of paper. You will need them

when you configure the software.

2-3

Chapter 2

Installing the Standard Driver Software

Installing the Software

To install the Standard Driver software:

1. Create a working directory in your computer’s hard disk (C:\F2E, for

2. Put the disk containing the Standard Driver files in disk drive A:>

3. Copy all the files from the disk to that directory

This completes the installation procedure. The next chapter helps you plan your application program.

example). Use this directory to build your application program(s).

(We use drive A:> as a default.)

Copy A:*.* C:\F2E).

(

2-4

Chapter

Planning Your Application Program

Chapter Objectives

Include Files

This section guides you through the process of planning an application program. It contains the following:

include files you need to put in your program function calls programming considerations

The include files contain declarations for the driver type you are using. Define them at the top of your application program. The 6001-F2E Standard Driver uses the following include files:

KRDEFS.H STDDRV.H

Important: In addition to including header files in your application, you need to link with an appropriate Standard Driver and Application Library file (whether you are using the Application Library or not).

If you use multiple files, place KRDEFS.H and STDDRV.H in the main file. Only one source per executable can reference each include file. If additional source files within an executable reference the Standard Driver software, you must do the following:

duplicate KRDEFS.H and STDDRV.H under different names delete the following lines from the duplicate KRDEFS.H:

int max_umsg = Max_Umsg; int max__smsg = 16;

delete from the duplicate STDDRV.H all lines beginning from the first

occurance of /* ..... */ under the “Prototype” heading to the

end of the file

Use these edited versions in all remaining source files that reference the 6001-F2E Standard Driver software.

3-1

Chapter 3

Planning an Application Program

Overview of the Function Calls

Function calls let your application program communicate with devices on the DH-485 network:

This

Function Call

Open_StdDrv()

Appl_StdDrv()

Send_StdDrv()

Get_ErrMsg() Close_StdDrv()

Lets Y

initialize the 6001-F2E Standard Driver. Use this function call in

every

program you write.

use predefined support routines (Application Library) in applications that use the basic command set. See page 4-2 for a list of these commands.

format commands not provided in the Application Library you format message packets when communicating with token-passing or slave-only devices.

retrieve an ASCII string that describes a network message error end communication. Use this function call in

write.

every

. It lets

program you

Important: When you write your program, you must always start with Open_StdDrv() and end with Close_StdDrv(). The middle of your program will consist of Appl_StdDrv() or Send_StdDrv() or a combination of both. Use the Send_StdDrv() function call to format commands not supported by the Application Library routines. (See table

4.B on page 4-2 for a list of these commands.)

Programming Considerations

Your disk contains example programs (F2EDIAG.C and F2ESLC.C) you can use to test communication on the DH-485 network. (See appendix A for additional program examples.)

The next chapter for the format and parameters for each function call.

Keep the following considerations in mind when you write your application program:

Use Borland Turbo C (v2.01 or later) or Microsoft C (v5.0 or later) Whether you use only Appl_StdDrv() routines or Send_StdDrv()

routines, you must always link the following:

you are using this

Borland Turbo C (v2.01)

Microsoft C (v5.0)

Link these files

L_TCKR.LIB L_TCAPP.LIB L_MSKR.LIB L_MSAPP.LIB

3-2

Using the Function Calls

Chapter

Chapter Objectives

Using Open_StdDrv()

This chapter shows you how to use each of the function calls. It includes the format and parameters for each function call.

The Open_StdDrv() function call initializes the 6001-F2E Standard Driver. To open the Standard Driver, use the following format and parameters:

Format for Open_StdDrv()

The Open function call is shown below:

status = Open_StdDrv(device,0,0,0,

(unsol_msg *)NULL, 0,0,0);

Parameters for Open_StdDrv()

Assign the parameters in Table 4.A:

able 4.A

Assigning

Parameter Type Description

device[ ] = “KR:0”

(unsol_msg *)NULL, 0 N/A

When the Open_StdDrv() function is called, a status value is returned indicating whether the operation was successful or unsuccessful. Normal completion is 1. A value other than 1 indicates that an error occurred.

See Appendix D for a list of error codes.

Parameters to Open Communication

char

struct

Assigns a driver type “KR:” and communication channel “0”. The 6001-F2E Standard Driver supports one 1784-KR communication channel.

This is a null pointer for this release. These parameters are ignored, but you still need to include them in the

function call. Type in a zero for each ignored parameter

4-1

Chapter 4

Writing Your Own Application Program

Communicating on DH-485 with the 6001-F2E Standard Driver

Using Appl_StdDrv()

After you have initialized the Standard Driver with the Open_StdDrv() function call, you are ready to communicate. You can use the Appl_StdDrv() function call (Application Library) or the Send_StdDrv() function call or a combination of both. Use the SendStdDrv() function call to format commands not supported by the Application Library. See table 4.B for a list of commands supported by the Application Library.

The Appl_StdDrv() function formats DH-485 messages for the basic command set and transmits them over the DH-485 network. Use the Appl_StdDrv() with the selected PLC application symbol and Appl_StdDrv() message block data structure. The application symbols and the message block data structure are defined in the STDDRV.H header files. Use the following format and parameters:

Format for Appl_StdDrv()

The Appl_StdDrv() function call is shown below:

status = Appl_StdDrv(SYMBOL, SD_FB *);

Parameter

Type Description

SYMBOL int identifies SD_FB struct

initializes the DH+ function block (see table 4.C)

the support routine symbol (see table 4.B)

See appendix D for return status values for the Appl_StdDrv() function.

Parameters for Appl_StdDrv()

Table 4.B below shows the available functions (in the Application Library) you can use with Appl_StdDrv(). Table 4.C shows the Appl_StdDrv() message block data structure:

able 4.B

6001-F2E

Diagnostic loop back testing Read diagnostic counters Read diagnostic status Reset diagnostic counters Basic command set unprotected read Basic command set unprotected write

Support Routines

o do this

Specify this

PLC_DLB PLC_DCR PLC_DS PLC_RC PLC_UPR PLC_UWR

4-2

Refer to Appendix B for each of the available Application Library routines.

able 4.C

Appl_StdDrv()

Variable Type Description

Message Block Data Structure

Chapter 4

Writing Your Own Application Program

DHP_MSG.dev = device;

DHP_MSG.stat = &io_stat[0]; unsigned int

DHP_MSG.L_R = Loc_Rem; DHP_MSG.dst = &destination; unsigned char The DH-485 destination address. The destination variable is the DH-485

DHP_MSG.dta = &dt_addr unsigned int The data table address. Depending on the routine, the dt_addr variable is a

char

int

The device variable indicates to the Standard Driver the communication interface and its channel. Set this variable to KR:0.

The io_stat variable serves two purposes. When Application Library routines are called, they return status before any type of reply is received from the remote device.

When the Appl_StdDrv() successfully initiates a request to send a message (status = 1), io_stat[0] is reset to 0. When a reply message is received or a reply timeout occurs that matches the original request, io_stat[0] is set to a value greater than 0. Normal completion is 1. If io_stat[0] is normal, io_stat[1] will contain the length of the reply data buf

If io_stat does not equal 1, an error occurred. The format is as follows: The low byte (EXT STS) of io_stat[0] contains local errors, such as timeout. The High byte (STS) of io_stat[0] contains DH-485 errors. If the high byte of io_stat[0] equals F0 Hex (indicating the extended DH-485 status), the low byte if io_stat[0] will contain the extended DH-485 status value. See appendix D for more information on error messages. See table 4.F for examples of STS and EXT STS bytes in io_stat[0].

Set this variable to 0.

address where you want your message to be sent on the DH-485 network.

two byte value or string describing the data table address where data is to be read from or written to.

fer.

DHP_MSG.len = size;

DHP_MSG.buf = &d_buf

DHP_MSG.T

O = timeout; unsigned int The timeout variable is the number of seconds that you want to wait for a

f[0];

int

unsigned char or int

When reading data, the size variable indicates how many data bytes are to be read. When writing data, the size variable indicates how many bytes should be copied from the data buf

The application data buf formats. If you are using byte values, d_buff may be defined as a char array the size variable is defined as a one-to-one relationship. If you are using signed integers, data is automatically stored in byte swapped format, the size value is defined as a two-to-one relationship.

reply.

fer

fer and written to the remote station.

. The application data may take on several

Important: If you are communicating to an SLC-500 using the unprotected read or unprotected write commands, create Data File 9 in the SLC-500. The SLC-500 uses this file for DH-485 communication. The data table address (defined as dt_addr in the Appl_StdDrv() function) will

4-3

Chapter 4

Writing Your Own Application Program

be interpretted by the SLC-500 as a logical offset (in words) into Data File 9. See the SLC-500 Advanced Programming Software Manual, chapter A3, for more information on the SLC-500 memory organization.

Using Send_StdDrv()

If you do not wish to use the commands supported by the Application Library, use the Send_StdDrv() function to send user-formatted messages. The Send_StdDrv() function call transmits data over the DH-485 network to a DH-485 station. Depending on your application, you can use the Send_StdDrv() function call two ways. You can:

communicate with token-passing DH-485 devices (such as the

SLC-500)

communicate with slave-only DH-485 devices

(See appendix B for more information on message packet formats for the Send_StdDrv() function call.)

Any transmission that does not complete normally is aborted by a timeout or local error code indicating the problem. See appendix D for a list of error codes. Use the following format and parameters:

Format for Send_StdDrv()

The Send_StdDrv() function call is shown below:

4-4

status = Send_StdDrv(device,

&io_stat[0], &cmd_buff[0], pass_thru, &reply_buff[0], timeout, 0,0)

Use the Send_StdDrv() function call to send user-formatted messages.

Parameters for Send_StdDrv()

Assign the parameters in Table 4.D:

able 4.D

Assigning

Parameter Type Description

Parameters to Send Data

Chapter 4

Writing Your Own Application Program

device[] = “KR:0”

io_stat[2];

cmd_buff[...]

char

unsigned int

unsigned char The cmd_buff parameter is the buffer containing your message to be sent to the remote

The device parameter should coincide with the same device used in the Open_StdDrv() function (Set this value to KR:0.)

The io_stat variable serves two purposes. When standard driver routines are called, they return status before any type of reply is received from the remote device.

When the Standard Driver successfully initiates a request to send a message (status = 1), io_stat[0] is reset to 0. When a reply message is received or a reply timeout occurs that matches the original request, io_stat[0] is set to a value greater than 0. Normal completion is

1. If io_stat does not equal 1, an error occurred. The format is as follows:

The low byte (EXT STS) of io_stat[0] contains local errors, such as timeout. The high byte (STS) of io_stat[0] contains DH-485 errors. If the high byte of io_stat[0] equals F0 Hex (indicating the extended DH-485 status), the low byte if io_stat [0] will contain the extended DH-485 status value. See appendix D for more information on error messages. See table

4.F for examples of STS and EXT STS bytes in io_stat[0].

station. Use the following format: LEN TYP DST SRC CMD STS TNS TNS DA The LEN field contains the entire packet length, including LEN. The TYP field is the

message type. Set this value to 0 or 5, depending on the message type. The DST field is the DH-485 destination where your message is sent. The SRC field is the local 1784-KR DH-485 address. This field can be set to 0. See appendix B for definitions of each field.

pass_thru = 1; pass_thru = 0;

reply_buf

timeout = 5; unsigned int 0, 0

f[...];

int

unsigned char The reply_buff parameter tells the driver where to put a reply message to your application.The

N/A

The pass_thru parameter is a reply option for the Standard Driver. When pass_thru is set to 1, the entire reply message (the header and the data you requested) is placed in your buf When the pass_thru parameter is set to 0, only the data you requested (not the header) is

fer

placed in your buf

reply message is copied into your buf LEN TYP DST SRC CMD STS TNS TNS DA

The timeout parameter is the number of seconds your application waits for a reply message. Parameters 7 and 8 are not used, but you still need to include them in the function call. T

in a zero for both parameters.

. The length is returned in io_stat[1].

fer using the following format:

See Appendix D for return status values for the Send_StdDrv() function.

fer.

ype

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