YRC1000

ROBOTICS

AnyBus-PCIe
EtherNet/IP Adapter (Slave)

Installation instructions
Created on: 2018-08
Revision: 01
Document number: E1102000244GB01 Author: WOE

Modifications made:
Rev. 01: Creation of document

© Copyright 2018
This documentation (or parts of it) must not be reproduced or made available to third parties without
the express approval of YASKAWA Europe "Robotics Division GmbH”.
We have checked the content of this publication for compatibility with the hardware described.
Nevertheless, discrepancies cannot be ruled out. Therefore, we cannot guarantee full compliance.
However, the information given in this publication is checked regularly and any necessary corrections
will be made in subsequent editions.
Subject to technical modifications.
Table of contents

Table of contents

1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Notes for safe operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Frequently used terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Manufacturer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.5 Authorized representative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1 Fieldbus system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 AnyBus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Introduction to the fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Hardware comparability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3 Overview card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4 Fieldbus PCIe-Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.1 Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2 Network setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

5 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5.1 Devices for hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5.2 Hardware installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

6 Software configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
6.1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6.2 Setting name and IP address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.2.1 Setting the IP address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.3 Standard-CIO start addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

7 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3
General

1 General

1.1 Notes for safe operation

DANGER!
Indicates an immediate high-risk hazard situation, which can cause death or serious bodily
injuries if no precautions are taken.

WARNING!
Indicates a possible medium-risk hazard situation, which can cause death or serious bodily
injuries if no precautions are taken.

CAUTION!
Indicates a potentially dangerous situation with a low risk of minor or moderate bodily
injuries if no precautions are taken. This signal word can also be used for property damage
warnings.

NOTICE
Indicates important background information and application advice.

1.2 Frequently used terms

The terms are designated as follows in this manual:

Definitions Used
Controller Robot controller
Industrial robot Robot
Person or persons who install and configure User
the PCIe card
End user Customer
Programming pendant (teach box) Programming pendant or PP
Cable between the robot and the robot con- Cable
troller
Robot, robot controller, and cable Robot system
Yaskawa Electric Corporation YEC
YASKAWA Robotics Division YEU-R
Move, calibrate and setup of the robot Teach
Sequence of movements of the robot JOB
Technical Customer Service TCS

As in all transmission systems, the terms "inputs" and "outputs" can be ambiguous because
their meaning depends on the angle from which you look at them. In this manual the terms
"inputs" and "outputs" always refer to the robot control.

1 -4
General

1.3 About this manual

NOTICE
• This operating manual contains instructions for the YASKAWA fieldbus card to help the
user configure and use the fieldbus card (PCIe). Further information on configuration
and programming can be found in the AnyBus manuals or obtained from the
manufacturer HMS (http://www.Ixxat.com). The descriptions given in this manual are
limited to PCIe and the connections for the YASKAWA robot controller. It is assumed
that the user is familiar with the functions of the robot controller.
• To ensure correct and safe operation, carefully read the operating instructions of the
robot controller ("Instructions E1102000214XX01* and higher" and "Maintenance
E1102000215XX01* and higher").
• In order to illustrate details clearly, some drawings are shown with the protective covers
or shields removed. All protective covers and shields must be mounted before the robot
is operated.
• The drawings and figures in this manual are representative illustrations. They may differ
from the product delivered.
• YEU-R reserves the right to make technical changes. These changes may include
product improvements, modifications or changes in specifications.
• If your copy of the operating and maintenance instructions is damaged or lost, please
contact the local YASKAWA branch office to order a new copy. The official branch
offices are listed on the last page. Please mention the manual number in your order.
• YASKAWA Europe GmbH is not responsible for damage caused due to unauthorised
modification of the system. If any impermissible modifications are made to the system
and to the robot, all warranty and liability claims as well as the declaration of
incorporation will expire.

1 -5
General

Descriptions of the programming pendant, buttons, and displays are shown as

follows:

Programming pendant Manual designation

Character keys The keys which have characters printed on them are
denoted with [ ], e. g. [ENTER]
Symbol keys The keys which have a symbol printed on them are il-
lustrated with a small picture.
e. g. There is no picture for the cursor key.
Mode selection switch Three kinds of modes that can be selected by the mode
key are denoted as follows: REMOTE, PLAY and
TEACH
Keys There are three keys on the programming pendant,
which are referred to as follows: HOLD key; START
key; Emergency stop button
Axis keys Controlling the axes
Numeric keys Number input
Simultaneously pressed keys A plus sign between the keys indicates that it is neces-
sary to press two keys simultaneously.
TOOL SEL

e.g. [SHIFT] + [COORD] COORD

.
Display The menu displayed is denoted with { }.
e.g. {JOB}

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General

1.4 Manufacturer
Address:
YASKAWA Nordic AB
P.O Box 504
Verkstadsgatan 2
SE-385 25 Torsås

1.5 Authorized representative

Address:
YASKAWA Europe GmbH
Robotics Division
Yaskawastr. 1
85391 Allershausen
Germany

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Introduction

2 Introduction

2.1 Fieldbus system

Instead of conventional lines for transmitting input and output signals, computer systems
are being used more and more in automation engineering. The costs of material,
installation, documentation and maintenance can be considerably reduced by using
communication systems. In addition, the transmission system can be used for higher-level
tasks, such as connecting several controllers and distributing control functions among
intelligent subsystems, sensors and actuators.
The transmission systems used for these tasks are generally called fieldbus systems.
These systems are used in all areas of automation, such as automation of factories,
manufacturing, assembly, buildings, processes etc.
Different kinds of systems are used for this purpose because each application has different
technical requirements. These requirements include various levels of bus systems and
structures as well as the real time performance, the amount of data to be transmitted,
transmission media and power distribution of the communication media.
The differences in technical requirements and the fact that none of the systems available
on the market can meet all the requirements have led to the development of a large variety
of fieldbus systems.
When developing a product in which a fieldbus system is to be installed, the on-site
computer network or transmission system must also be considered. This means that the
YASKAWA fieldbus card (PCIe) is specially designed to meet the needs of a specific
installation.

2 -8
Introduction

2.2 AnyBus
AnyBus offers a number of small fieldbus modules. For every fieldbus system, there is an
AnyBus module. The complete electronics, software and control for the fieldbus are
integrated in the module. All AnyBus modules use the same standardized product interface.
Therefore, all AnyBus modules can be interchanged without having to modify the product
design.
This standardized interface facilitates the development of products that support all
important fieldbus systems of the same product version. The product does not have to be
set according to the fieldbus properties because this is taken care of by the AnyBus module.
Various AnyBus modules are available. Which module is used depends on the quantity of
data to be processed. A suitable AnyBus module can be found even for highly complex
applications.
Since an AnyBus module is available for every important fieldbus system, the fieldbus-
specific data, configurations or installations do not have to be considered when developing
the application.

Product AnyBus module Fieldbus

1 2

1 Application that accesses the AnyBus module as interface to the fieldbus system.
2 The fieldbus data and events are transmitted through a standardized product interface
to/from the application.
AnyBus® is a registered trademark of HMS Industrial Networks AB.

2.3 Introduction to the fieldbus interface

The PCIe card allows you to connect robot control to all common fieldbus systems. It
controls the data communication between robot control and the AnyBus modules via the
fieldbus interface.

2.4 Hardware comparability

The PCIe card is electrically compatible with the motherboards in all current robot
controllers. For the user the fieldbus card is used as standard I/O card.
The AnyBus interface meets the requirements of every fieldbus system.

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Overview card

3 Overview card
1 LED status display
2 LAN connector
3 PCIe connector plug

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Fieldbus PCIe-Card

4 Fieldbus PCIe-Card

4.1 Status LEDs

The Ethernet/IP slave interface supports the following function:
• Beacon based DLR (Device Level Ring) and linear network topology
• Max. read process data: 504 bytes
• Max. write process data: 504 bytes

EtherNet/IP Adapter (Slave)

1 LED NS
NS 1
2 LED MS MS 2
3 Link/Activity LED

3 3

LED NS

LED state Description

Off No IP address
Green Online, one or more connections established (CIP class 1 or
3)
Green flashing Online, no connections established
Red Duplicate IP address, fatal error
Red flashing One or more connections timed out (CIP class 1 or 3)

LED MS

LED state Description

Off Application not started
Green Controlled by scanner in RUN state
Green flashing Not configured or scanner in IDLE state
Red Major error (EXCEPTION state, fatal error etc.)
Red flashing Recoverable errors:
Interface is configured but stored parameters differ from cur-
rently used parameters.

If LED NS and LED MS are red, contact HMS Industrial Networks technical support.

Link/Activity LED

LED state Description

Off No link
Green Link (100 Mbit/s) established
Green flashing Activity (100 Mbit/s)
Yellow Link (10 Mbit/s) established
Yellow flashing Activity (10 Mbit/s)

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Fieldbus PCIe-Card

4.2 Network setup

The IP address on the board is set with the HMS "Anybus IPconfig" tool which can be
downloaded from the HMS support web page.
See chapter 6.2 "Setting name and IP address" in IP-based networks.

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Installation

5 Installation

5.1 Devices for hardware

WARNING!
Danger of injury and property damage due to short-circuiting!
When mounting or removing the expansion card or other system components:
 Disconnect the system from the power supply.

CAUTION!

The field bus card contains components that are sensitive to ESD (electro-
static discharge).
Please take ESD safety precautions when installing the card!
Touch the card only along the edges!

NOTICE
 For malfunction-free operation, the front plate of the card must be screwed onto the
system cover.
 The system cover must be earthed according to the local regulations.

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Installation

5.2 Hardware installation

1. Loosen the screws and remove the installation frame from the CPU rack (see Fig. 5-1:
"Installation frame").

NOTICE
To install a PCIe card, use one of the following riser cards
 Standard: Type JANCD-ABB02-E (2xPCIe) or
 Optional: Type JANCD-ABB04-E (1xPCI, 1xPCIe).

Fig. 5-1: Installation frame

2. Empty rack with the 2 PCIe slots.
Remove screws for mounting PCIe-board (see figure below).

Fig. 5-2: Cover

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Installation

3. Insert the PCIe card into the corresponding slot (1 or 2) and tighten the screws of the
PCIe card.

Fig. 5-3: Insert PCIe card into the slot

4. Install the installation frame into the CPU rack and fasten it again with the screws.

Fig. 5-4: Installed installation frame

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Software configuration

6 Software configuration
The robot controller must be started up in MAINTENANCE mode.

Fig. 6-1: Programming pendant

The start in MAINTENANCE mode

1. During power up, press the key [MAIN MENU] as long as a signal sounds.
The window {MAINTENANCE MODE} will be opened.

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Software configuration

Changing the authorisation level

1. Select {SYSTEM} → {SECURITY} and press [SELECT].

2. With the cursor key, select {MANAGEMENT MODE} and confirm with [ENTER].

The window for the password input will open.

3. Enter the code 999999999999999 and confirm the entry using [ENTER].

This is the default setting. In case the code has been changed, ask your administrator.
The authorization level is now at 3 keys.

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Software configuration

6.1 Settings
Select settings and enter PCIe card
1. Select SYSTEM → SETUP.

2. Select OPTION BOARD.

3. Select the appropriate PCIe card and press SELECT.

4. Change the status of the PCIe card using SELECT on USED.

5. For selecting the fieldbus type select the firmware first

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Software configuration

6. Select the firmware by using cursor keys and press SELECT

7. Enter the desired size for the I/O area (byte) using SELECT.

NOTICE
That changes the acknowledgment query to ENABLE which prevents an external
configuration of the card. Should this be wished, then change this setting only after the
commissioning of the network.

8. Confirm with ENTER.

The MODIFY window will be opened.

9. Confirm the settings with YES.

10. Press ENTER again.
A list of the registered I/O cards will be shown.

11. Keep ENTER pressed until the line with the entry of the appropriate PCIe card is
displayed.
The I/O number is specified in bits and contains in addition to the set value also 8 status
bits.

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Software configuration

12. Confirm with ENTER.

The MODIFY window will be opened.

13. Confirm the settings with YES.

14. Using SELECT, change the occupation mode from AUTO to MANUAL.

15. Select DETAIL with the cursor button and press SELECT.
16. Assign the input bytes of the PCIe card to the desired CIO start address.
The standard-CIO start addresses can be found in the table in chapter 6.1
"Settings".
The first byte (the individual) is the status byte. This is followed by the data bytes, which
are entered in step 5.
17. Change the input address for the PCIe card by pressing SELECT, select CHANGE,
press SELECT, enter the address and confirm the entry with ENTER.

18. After having completed all the changes, confirm with ENTER.

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Software configuration

19. Change the output address of the PCIe card following the same procedure as for the
input address.

20. Confirm the settings with YES and press ENTER again.

The PCIe card is now enabled in the controller and can be used.

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Software configuration

6.2 Setting name and IP address

6.2.1 Setting the IP address

The initial setting the IP address of the EtherNet/IP Adapter (Slave) can be carried out with
the help of the HMS Tool "Anybus IPconfig". This tool can be downloaded from the
manufacturer HMS (http://www.Ixxat.com).
1. Start the robot controller in normal mode.
2. Connect your PC with the EtherNet/IP Adapter (Slave) board.
3. Start the tool "Anybus IPconfig" and press on the button "Scan".
4. Choose the device you want to configure by double clicking.
A new window for the configuration opens.
5. Enter the desired IP address and the subnet mask and press the "Set" button.

NOTICE
The IP-addresses for Default Gateway and DNS can be maintained at 0.0.0.0, if these
functions are not needed.

6. If you want to change the setting of the EtherNet/IP Adapter (Slave) board later, you
can run the web interface of the card. To this end, enter the IP-address of the card into
the navigation bar of your Internet browser (Internet Explorer, for example) and press
Enter.

NOTICE
The initial start-up of the card is not possible with an Internet browser, as the starting IP
address is 0.0.0.0.
If, despite of the correct IP address no connection to the Web Interface can be made, make
sure that the SECURITY QUERY is set to DEFAULT.

7. Enter the desired data and press the button "SET".

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Software configuration

6.3 Standard-CIO start addresses

Settings in the maintenance mode
 Option board → set an address in the field bus and in the I/O area.
 Option Function → set up external I/O → Manual (Auto) set up external I/O → details

NOTICE
Slave area:
Input (CIO address area 21910)
Output (CIO address area 31910)
Master area:
Input (CIO Start address area 20060
Output (CIO Start address area 30060)
Maximum 184 bytes

Set the CIO start address as shown in the following table:

External IO Allocation (Maintenance) for Fieldbus Master and Fieldbus Slave
The external IO Allocation must be set in MAINTENANCE mode. The objective of this
allocation is to set the external IO start address of the specified board.
For this CIO version the standard AIO02 board starts at ext. Input 20010 and ext. output
30010. If an optional fieldbus master is used, please set the start address to x0060 for
statusbyte and x0070 for fieldbus IOs. If an optional fieldbus slave is used, please set the
start address to x1910 for statusbyte and x1920 for Fieldbus IOs. (x=2 for Input, x=3 for
Output).

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Software configuration

Address Size Board typ Description Optional/

(byte) necessary
20010 AIO02 Standard IO
5 Necessary
Board

Fieldbus Statusbyte
20060 1 Fieldbus Optional
Master Master
Fieldbus Statusbyte
20070 ” Fieldbus Optional
Master Master

Inputs

Fieldbus Statusbyte
21910 1 Fieldbus Optional
Slave
Slave
Fieldbus Statusbyte
21920 ” Fieldbus Optional
Slave
Slave

AIO02 Standard IO
30010 5 Necessary
Board

Fieldbus Statusbyte
30060 1 Fieldbus Optional
Master Master
Statusbyte
30070 ” Fieldbus Fieldbus Optional
Master Master
Outputs

Fieldbus Statusbyte
31910 1 Fieldbus Optional
Slave
Slave
Fieldbus Statusbyte
31920 ” Fieldbus Optional
Slave
Slave

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Software configuration

External IO Allocation (Maintenance) for max.12 YIU02 and Fieldbus Slave

The external IO Allocation must be set in MAINTENANCE mode. The objective of this
allocation is to set the external IO start address of the specified board.
For this CIO Version the standard AIO02 board starts at ext. Input 20010 and ext. output
30010. YIU02 board for welder 1 starts 5 bytes higher, at x0060. optional XOI boards (non
welding) can be added at x0260, x0310,...,x0610. If an optional fieldbus slave is used,
please set the start address to x1910 for statusbyte and x1920 for fieldbus IOs. (x=2 for
Input, x=3 for Output).

Address Size Board typ Description Optional/

(byte) necessary
20010 Standard IO
5 AIO02 Necessary
Board

20060 IO Extension
5 1st YIU02 board Optional
IO Extension
20110 5 2nd YIU02 Optional
board
IO Extension
20160 5 3rd YIU02 board
Optional
IO Extension
Inputs

20210 5 4th YIU02 Optional

board
IO Extension
20260 5 5th YIU02 Optional
board
IO Extension Max. 12 YIU02
…… x*5 …YIU02 boards
board
Fieldbus Statusbyte
21910 1
Slave
Fieldbus Optional
Slave
Statusbyte
21920 ” Fieldbus
Fieldbus Optional
Slave Slave

AIO02 Standard IO
30010 5 Necessary
Board

IO Extension
30060 5 1st YIU02 board
Optional
IO Extension
30110 5 2nd YIU02 Optional
board
IO Extension
30160 5 3rd YIU02 board
Optional
Outputs

IO Extension
30210 5 4th YIU02 board
Optional
IO Extension
30260 5 5th YIU02 Optional
board
IO Extension Max. 12 YIU02
…… x*5 …YIU02 board boards
Statusbyte
31910 1 Fieldbus Optional
Fieldbus
Slave Slave
Fieldbus Statusbyte
31920 ” Fieldbus Optional
Slave
Slave

NOTICE
The indicated addresses are valid only in combination with a General Ladder program. If a
special Ladder program is used, deviations may occur.

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Technical data

7 Technical data
Technical Data
PC Hardware PCI Express Specification Rev 1.1 single lane port
Dimension (mm) 64 x 105
Weight Approx. 52 g
Operating temperature 0° C to +70° C
Storage temperature -40° C to +85° C
Power supply Via PCIe socket (3.3/12 Vdc)
Current consumption Typ 3.3 Vdc/270 mA, 12 Vdc/110 mA
Galvanic isolation 1500 Vrms
Relative Humidity 1 % to 95 %, no condensation

Features
The interface for Ethernet based industrial communication is designed to fulfill the high
requirements of real time Ethernet protocols with big data volume. The interface supports
the most used real time industrial Ethernet protocols. The modular approach of the INpact
platform allows the interface to be customized, allowing the end product to appear as a
vendor-specific implementation rather than a generic INpact interface.
Common feature set:
• EMC compliance (CE certified)
• One common Ethernet platform for industrial Ethernet protocols
• Event based interface method enables easy access to input and output data at any time
• Fast data transfer: Up to 1500 bytes of process data in each direction with very low
latency
• Provides instant connectivity to all major industrial networks with only one development
• Transparent network service channel enables profile integration (Drive, Motion, Semi,
Other)
• Standardized hardware and software interface independent of network
• Continuous product maintenance by HMS Industrial Networks
• Pre-certified for full interoperability and network compliance
• Realtime 2-port switch
• 10/100 Mbit, Full/Half duplex
• 2 RJ45 Ethernet ports
Support:
Observe the following information in the support area on www.ixxat.com
• Information about products
• FAQ lists
• Installation notes
• Updated product versions
• updates

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Technical data

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