Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 54.1 >
edited by Coleman Benson
on 2019/09/16 13:35
To version < 129.1 >
edited by Eric Nantel
on 2019/10/18 10:16
< >
Change comment: There is no comment for this version

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1 +xwiki:XWiki.ENantel
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1 -[[image:LSS-FlowArm.png||width="350"]]
1 +{{lightbox image="LSS-FlowArm.png" width="400"/}}
2 2  
3 -[[image:wiki-download.png]]
3 +[[[[image:lynxmotion-wiki-attachments.WebHome@DownloadNow.png]]>>https://www.lynxmotion.com/tools/LSS_FlowArm.zip]]
4 4  
5 5  **Page Contents**
6 6  
... ... @@ -28,11 +28,7 @@
28 28  
29 29  Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
30 30  
31 -* Base: 1
32 -* Shoulder: 2
33 -* Elbow: 3
34 -* Wrist: 4
35 -* Gripper: 5
31 +{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-articulated-arm/lss-articulated-arm-servo-setup/WebHome/SESV2-LSS-ARTICULATED-ARM-IDS.PNG" width="350"/}}
36 36  
37 37  To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Follow the procedure outlined here: [[doc:lynxmotion-smart-servo.lss-configuration-software.lss-config-configure-ids.WebHome]]
38 38  
... ... @@ -40,14 +40,33 @@
40 40  * Servos have been assembled in correct orientation (as per assembly manual)
41 41  * Servo offsets have been updated if necessary (see procedure below).
42 42  
43 -The next important step is "STORE OFFSETS" explained below.
39 +== Connecting via USB ==
44 44  
41 +The simplest way to connect is directly using the [[LSS-Adapter>>doc:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome]] (or any RS232 to USB interface). Here are the steps you need to follow in order to set this up. Follow the steps below:
42 +
43 +1. Connect the USB cable to the LSS Adapter board on your robot
44 +1. Plug the USB connector into the PC
45 +1. Connect your LSS to the LSS-Adapter with the Lynxmotion cable
46 +1. Connect the power to the LSS Adapter via the yellow XT60 plug
47 +1. Power on the robot (On/Off switch)
48 +1. Start the LSS FlowArm software
49 +1. Select the appropriate COM port from the drop-down list & the baudrate (115200)
50 +1. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established.
51 +
52 +== Connecting via Bluetooth ==
53 +
54 +If you have purchased a Bluetooth module which is in XBee format, ensure to have the right baudrate on your bluetooth adapter, the default is 115 200 for the LSS.
55 +
45 45  = Interface =
46 46  
47 47  == Header ==
48 48  
49 -[[image:lss-flowarm-header.jpg]]
60 +[[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
50 50  
62 +**EMERGENCY STOP**
63 +
64 +At any given time you can click this button to stop the arm. This will send a "LIMP" command directly to all servos.
65 +
51 51  **STORE OFFSETS**
52 52  
53 53  The "STORE OFFSETS" button configures all of the servo offsets (this makes use of the CO command as part of the [[LSS Communication Protocol>>doc:lynxmotion-smart-servo.lss-communication-protocol.WebHome]]). Before pressing the button, orient the arm as shown below (with the gripper closed), and only then click the STORE OFFSETS button.
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58 58  * Wrist servo along R axis (parallel to elbow to wrist)
59 59  * Gripper servo closed
60 60  
61 -[[image:lss-flowarm-offsets.jpg]]
76 +(% style="width:700px" %)
77 +|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" height="300" width="300"]]
62 62  
63 63  **LIMP**
64 64  
65 -Causes all servos to immediately go LIMP (i.e. lose torque). The arm will collapse. It's important to note that the software will not constantly query all servos for their position, and as such the virtual arm on screen will not update frequently if at all. If you want the virtual arm on screen to update as you move the real arm, use TEACH mode described below.
81 +Causes all servos to slowly go LIMP (i.e. lose torque), gradually loosing torque until hitting the ground. It's important to note that the software will not constantly query all servos for their position, and as such the virtual arm on screen will not update frequently if at all. If you want the virtual arm on screen to update as you move the real arm, use TEACH mode described below.
66 66  
67 67  **STOP**
68 68  
... ... @@ -98,7 +98,7 @@
98 98  
99 99  A the top right of the window, there are three dark rectangles allowing you to change the application's window size.
100 100  
101 -== Virtual Arm ==
117 +== Simulator ==
102 102  
103 103  (% class="wikigeneratedid" id="HArmConfiguration" %)
104 104  The arm shown on screen is based on the assembly guide. The aesthetics of the arms will be changing for the next release version of the LSS Flowarm software.
... ... @@ -107,70 +107,248 @@
107 107  
108 108  The left view is a representation of the arm, where the orange circles represent the location of each axis of rotation. You can move the arm in this view by clicking on and dragging the wrist rotation servo.
109 109  
110 -[[image:lss-flowarm-side-view.jpg]]
126 +[[image:lss-flowarm-left.png||width="300"]]
111 111  
112 112  **Top View**
113 113  
114 114  The top view shows the arm top down. You can move the arm within this view by clicking on and dragging the wrist rotation servo.
115 115  
116 -**[[image:lss-flowarm-top-view.jpg]]**
132 +**[[image:lss-flowarm-top.png||width="300"]]**
117 117  
134 +== Shortcuts ==
135 +
136 +**Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
137 +
138 +**Wrist Tilt**: You can tilt the hand by right-clicking and fragging the mouse up and down.
139 +
140 +**Gripper:** By holding the CTRL key whilst right-clicking and dragging you can open and close the gripper
141 +
142 +Just above the sequencer, you can find the following:
143 +
144 +[[image:lss-flowarm-keyboard-liveupdate.jpg]]
145 +
146 +**Keyboard: **When active (orange), the keyboard keys W/A/S/D and four arrows can fine tune the position of the arm. Note however that LSS FlowArm will respond to any of these keys being pressed even in another window, and for this reason, it is turned off by default.
147 +
148 +**Live Update: **When activate (orange), dragging the virtual arm on screen will send updated positions to the arm with a small time delay in between. With this option off, dragging the arm on screen will not cause any motion until the mouse is released.
149 +
118 118  == Left Menu ==
119 119  
120 120  **Gripper**
121 121  
122 -Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. In order to grasp an object, DO NOT have the servo rotate to a position which it cannot reach. In order to ensure the gripper servo does not go into error mode, the gripper should not exert much force on the object.
154 +Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. We added a feature where the servo stop when it feel a current raising, this allows the user to ask for a full close and have a good grip on the item picked.
123 123  
124 -1. Close the gripper to a position just slightly larger than the object
125 -1. Using the arrows, close the gripper until friction between the foam and the object prevent the object from falling out or moving.
126 -1. DO NOT apply too much pressure, or else the servo's current will spike and it will go into error mode and need to be reset.
127 -1. Use the last position as the "fully closed" position for the gripper for that object, in that specific orientation.
156 +[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
128 128  
129 -[[image:lss-flowarm-gripper-view.jpg]]
130 -
131 131  **Wrist**
132 132  
133 133  The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
134 134  
135 -[[image:lss-flowarm-wrist-view.jpg]]
162 +[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
136 136  
137 137  **End Effector Position**
138 138  
139 139  The position of the end effector can be controlled either by manually entering the information for R (radius), or the Cartesian x, y, z coordinates, or using the arrows.
140 140  
141 -[[image:lss-flowarm-positioning.jpg]]
168 +When in keyboard mode, there is an overlay indicating which keys do what motion.
142 142  
170 +[[image:lss-flowarm-positioning.png||alt="lss-flowarm-positioning.jpg"]]
171 +
143 143  == **Data Log** ==
144 144  
145 -The optional Data log can be toggled on or off and allows the user to see all commands being sent to and received from the smart servos. The data can be saved to a file in a Comma Separated Values (.csv) format.
174 +The optional Data log (normally hidden) can be toggled on or off and allows the user to see all commands being sent to and received from the smart servos. The data can be saved to a file in a Comma Separated Values (.csv) format.
146 146  
147 -[[image:lss-flowarm-data-log.jpg]]
176 +[[image:lss-flowarm-data-log.png||alt="lss-flowarm-data-log.jpg"]]
148 148  
149 -== Sequencer ==
178 += Sequencer =
150 150  
151 -[[image:lss-flowarm-sequencer.jpg]]
180 +[[image:lss-flowarm-sequencer.png||alt="lss-flowarm-sequencer.jpg"]]
152 152  
153 -LSS FlowArm has a powerful pattern sequencer component (normally found only in the full version of FlowBotics Studio) that is used to create reusable patterns within minutes, instead of hours or days. From left to right:
182 +LSS FlowArm has a powerful pattern sequencer component (normally found only in the full version of FlowBotics Studio) that is used to create reusable patterns within minutes, instead of hours or days.
154 154  
155 155  (% style="width:1303px" %)
156 -|(% style="width:257px" %)[[image:lss-flowarm-association.jpg]]|(% style="width:306px" %)Keyboard Association|(% style="width:758px" %)Patterns can be associated to keyboard keys F1 to F12, and keys E, F, G, and H
157 -|(% style="width:257px" %)[[image:lss-flowarm-pattern-list.jpg]]|(% style="width:306px" %)Active Pattern Name|(% style="width:758px" %)Click on the text to change the pattern name. Use the arrows to navigate between patterns
158 -|(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Pattern Options|(% style="width:758px" %)Add, remove, copy, save, open and delete patterns.
185 +|(% style="width:257px" %)[[image:lss-flowarm-association.jpg]]|(% style="width:306px" %)Assign Input|(% style="width:758px" %)Patterns can be associated to keyboard keys F1 to F12, and keys E, F, G, and H
186 +|(% style="width:257px" %)[[image:lss-flowarm-pattern-list.jpg]]|(% style="width:306px" %)Sequence List|(% style="width:758px" %)The sequence list is the first control on the sequencer.
187 +|(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Sequence Management|(% style="width:758px" %)(((
188 +Add, remove, duplicate, save, load and clear all patterns.
189 +)))
159 159  |(% style="width:257px" %)[[image:lss-flowarm-frames.jpg]]|(% style="width:306px" %)Frame Options|(% style="width:758px" %)Adding a frame adds a blank frame to the list. The drop-down list gives "useful" pre-made frames. Recording a frame copies the arm's current on-screen position. The X removes a selected frame.
160 160  |(% style="width:257px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:306px" %)Copy / Paste Frame|(% style="width:758px" %)Copy and paste a frame
161 -|(% style="width:257px" %)[[image:lss-flowarm-settings.jpg]]|(% style="width:306px" %)Settings|(% style="width:758px" %)Useful features include: Toggle pause before frame; Remove gaps between frames; Reverse frames
162 -|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)
192 +|(% style="width:257px" %)[[image:lss-flowarm-settings.jpg]]|(% style="width:306px" %)Operations / Settings|(% style="width:758px" %)Useful features include: Toggle pause before frame; Remove gaps between frames; Reverse frames
193 +|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)Timeline locking
163 163  |(% style="width:257px" %)[[image:lss-flowarm-loop.jpg]]|(% style="width:306px" %)Repeat / Loop Pattern|(% style="width:758px" %)Play once or loop; Set the playback speed using the up and down arrows.
164 -|(% style="width:257px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:306px" %)Playback Options|(% style="width:758px" %)Restart sequence, play or stop
195 +|(% style="width:257px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:306px" %)Sequence Playback|(% style="width:758px" %)Restart sequence, play or stop
196 +|(% style="width:257px" %)[[image:lss-flowarm-inspector.png]]|(% style="width:306px" %)Frame Inspector|(% style="width:758px" %)Allows to modify the values sent in a particular frame manually.
165 165  
166 -[[image:lss-flowarm-keyboard-liveupdate.jpg]]
198 +**Sequences**
167 167  
168 -Just above the sequencer, you can find the following:
200 +The sequencer allows you to make your robot move over time by transitioning from one position to another. Each transition we call a frame and a sequence of frames we call a sequence. You can create as many sequences as you like. You can play sequences back manually or using the keyboard inputs mentioned below. This section describes the sequence management functions of the Sequencer.
169 169  
170 -Keyboard: {More to come}
202 +**Sequence List**
171 171  
172 -Live Update:{More to come}
204 +[[image:lss-flowarm-pattern-list.jpg]]
173 173  
206 +The sequence list is the first control on the sequencer. If you click on the arrow on the right-hand edge you'll see a list of the sequences that have been created and by selecting one you can move to that sequence. You can also scroll through the list one-by-one using the up and down arrow buttons. Clicking on the name of a sequence will allow you to change this. Simply type in the box then press the Return key or click away.
207 +
208 +== Sequence Management ==
209 +
210 +[[image:lss-flowarm-patterns.jpg]]
211 +
212 +**Add a Sequence**
213 +
214 +To add a sequence click the add button. A new sequence will appear in the list and its name will open for editing.
215 +
216 +**Remove a Sequence**
217 +
218 +Click the remove sequence button to delete the currently selected sequence from the list. This action is irreversible so you will be asked for confirmation.
219 +
220 +**Duplicate a Sequence**
221 +
222 +If you want to make a new sequence based on an existing one then you can duplicate it.
223 +
224 +**Saving Sequences**
225 +
226 +IMPORTANT: If you want to keep any sequences you create then you must export them otherwise they will be lost when you return to the project browser. 
227 +To do this click the export button. You can choose whether to export all your sequences or just the currently selected one. Sequences are saved to files so you'll need to pick a filename and folder to save to. If a sequence uses sub sequences these will be saved even if you choose only to save the selected sequence.
228 +
229 +**Loading Sequences**
230 +
231 +If you have saved sequences that you want to restore then click the Import button. You will be asked to choose a previously saved sequence file.
232 +The sequences in the file will be added to the list. They do not replace the sequence list. Also it doesn't
233 +matter how many sequences the file contains, all of them will be imported.
234 +
235 +**Clear All Sequences**
236 +
237 +If you want to start from scratch you can clear all the sequences from the list using the clear all button.
238 +
239 +== **Frames** ==
240 +
241 +**[[image:lss-flowarm-frame.jpg]]**
242 +
243 +We now know how to manage sequences now lets see how you build one. As we said earlier a sequence is made up of frames. A frame represents a transition between robot states over time.
244 +In addition to frames, you can also add other sequences to a sequence. This allows quite complex series of movements to be built up very quickly and easily.
245 +
246 +[[image:lss-flowarm-frames.jpg]]
247 +
248 +**Adding Frames**
249 +
250 +To add a frame click the Add button. A new frame will be added at the end of the sequence. The duration of the frame will be whatever the last frame duration was. The frame will record whatever position the robot is currently set to. You can add a sub sequence to the sequence by clicking the arrow to the right of the Add button. A drop list of the available sequences will appear. Select one and it will be added to the end of the sequence.
251 +
252 +**Recording to a Frame**
253 +
254 +When you add a frame it will record the state that the robot is currently in. If you want to change this state first select the frame by clicking on it. Next move the robot to the position you want to record. When you're happy press the record button. The frame will flash to indicate that it has been updated.
255 +
256 +**Deleting Frames**
257 +
258 +To delete a sequence or frame from a sequence, click the Delete button.
259 +
260 +**Naming Frames**
261 +
262 +To name a frame, simply double-click the top blue part of it. You will then be able to enter a name by typing text directly. Save the new name by pressing the [Enter] key once donce. Warning: please note that when double-clicking a frame to name it, it will play the frame which may move your robotic arm suddenly. You may want to activate the STOP button first to prevent movement when naming frames.
263 +
264 +**Timeline Locking**
265 +
266 +[[image:lss-flowarm-lock.jpg]]
267 +
268 +The timeline is locked by default. This means that frames will automatically run from one to the next – you cannot create space in between. Moving a frame past another one will move it along the order in the timeline. If the timeline is unlocked then you can move frames independently of each other and also create gaps of time in between.
269 +
270 +**Moving and Resizing**
271 +
272 +To move a frame on the timeline, simply click on it and drag it to the time you want it to start. The start time will be displayed as you drag. How frames move relative to each other is determined by whether the timeline is locked (see previous section). To resize a frame grab the right-hand edge and drag it. When moving or resizing the mouse snaps to the nearest unit on the timeline. If you hold SHIFT while moving or resizing no snap will be applied. When the timeline is unlocked then if you hold CTRL while dragging or resizing a frame all frames to
273 +the right of the selected frame will be moved so that the time interval between the selected frame and the next one is maintained.
274 +
275 +**Auto Record**
276 +
277 +If you want changes you make to be automatically recorded you can lock the record button in place by double-clicking on it. Now whenever you change the robot position the currently elected frame will be updated. The record button will light up to show that auto record is on. To switch auto record off, double-click on the record button again.
278 +
279 +**Copy and Paste**
280 +
281 +[[image:lss-flowarm-copy-paste.jpg]]
282 +
283 +Sometimes you might want to copy the robot state from one frame to another. To do this we have copy and paste. To copy the data from a frame, select it then click the Copy button.
284 +To duplicate the data on another frame, select the target frame and click the Paste button.
285 +
286 +**Pause Before Frame**
287 +
288 +You can insert a pause before a frame commences. This is useful if you want the sequencer to stop and wait for some external event before continuing. First select the frame then click the Operations button and select Toggle Pause Before Frame. A red line will show at the start of the frame to show the pause. To remove the pause select the frame again and select Toggle Pause Before Frame after clicking on the Operations button.
289 +
290 +**Remove Gaps Between Frames**
291 +
292 +[[image:lss-flowarm-settings.jpg]]
293 +
294 +If the timeline is unlocked then you can instantly remove all the gaps between frames and push them up against each other by clicking the Operations button and choosing Remove Gaps Between Frames from the menu.
295 +
296 +**Frame Inspector**
297 +
298 +[[image:lss-flowarm-inspector-frame.png]]
299 +
300 +If any adjustments are required on a particular joint (servo) this function allows you to manually change them. Click on the particular frame and the commands can be edited.
301 +
302 +== Sequencer ==
303 +
304 +**Reverse Frames**
305 +
306 +[[image:lss-flowarm-settings.jpg]]
307 +
308 +It's useful to be able to reverse the order of frames in a sequence. To do this click the Operations button and choose Reverse Frames.
309 +
310 +**Sequence Playback**
311 +
312 +[[image:lss-flowarm-play.jpg]]
313 +
314 +Once you have some frames in a sequence you can try playing it. Click the Play button to start the sequencer playing the current sequence. The play button lights up in green when the sequencer is playing. To stop playing click the Play button again or click the Stop button. You can reset the play position to the star by clicking the Reset button. You can also move the play position manually. Click on the black handle at the top of the playback position line and drag to move it.
315 +
316 +[[image:lss-sequencer-handle.jpg||height="70" width="241"]]
317 +
318 +**Assign an input to a sequence**
319 +
320 +[[image:lss-flowarm-association.jpg]]
321 +
322 +You can assign an input to a sequence by choosing one in the drop-down list left of the sequence name. By default a sequence does not have a input associated with it. When you click on that box, you will be presented with a list of possible inputs. A sequence can only have one input associated with it. Similarly, an input can only be associated with one sequence at a time. If you choose an input in the list that is already associated, it will be removed from its previous sequence and assigned to the current one. By clicking on the sequence list, you will see which input is associated to each sequence to the right of their name:
323 +If a sequence is already playing when its associated input is triggered, it will ignore that input and continue playing as normal. If an input that is associated is triggered when a different sequence is playing, it will be stopped and the
324 +
325 +**Decision Frame**
326 +
327 +**[[image:lss-flowarm-decision-frame.jpg]]**
328 +
329 +At the end of every sequence there is a permanent frame called the decision frame (it is orange for easy identification). Click on the top part (orange) to change the last action of the sequence. There are 3 options:
330 +
331 +* STOP: once the sequence is completed, nothing else will happen
332 +* LOOP: once the sequence is completed, it will repeat a set amount of time
333 +* GOTO: once the sequence is completed, it will trigger the input selected
334 +
335 +If another sequence is associated with that input, it will then play Playback Control. You can change the speed of playback by changing the speed multiplier. Click the up and down arrows to alter this. Normally a sequence plays to the end then stops. However, sometimes you want a sequence to repeat. You can toggle this by clicking the Loop button.
336 +
337 += Notifications =
338 +
339 +
340 +|(% style="text-align:center; width:501px" %)**Displayed Error**|(% style="text-align:center; width:130px" %)**LED Status**|(% style="text-align:center" %)**Informations**
341 +|(% style="width:501px" %)[[image:lss-flowarm-notification-limp.png]]|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle; width:130px" %)(((
342 +[[image:LSS-UserColor.png||alt="LSS-Error-SafeMode.gif"]]
343 +
344 +User Defined
345 +)))|User clicked on the "LIMP" button or FlowArm noticed an error and put the arm in "LIMP" by himself.
346 +|(% style="width:501px" %)[[image:lss-flowarm-notification-firmware.png]]|(((
347 +FlowArm noticed an earlier firmware version which is not compatible (SERVO 1 in this example).
348 +
349 +* As suggested, use the LSS-Config software to update the servo(s)
350 +)))
351 +|(% style="width:501px" %)[[image:lss-flowarm-notification-current.png]]|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle; width:130px" %)(((
352 +[[image:LSS-Error-SafeMode.gif]]
353 +
354 +Red Flashing
355 +)))|(((
356 +FlowArm noticed a high current error on the specified servo (SERVO 4 in this example)
357 +
358 +* Verify that noting is in the way of the servo that can block it's movement.
359 +* Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
360 +)))
361 +|(% style="width:501px" %)[[image:lss-flowarm-notification-temperature.png]]|(((
362 +FlowArm noticed a high temperature error on the specified servo (SERVO 5 in this example).
363 +
364 +* Let it cool down for a minute.
365 +* Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
366 +)))
367 +
174 174  = Troubleshooting =
175 175  
176 176  If you encounter any bugs or issues when installing or using the LSS FlowArm application, please submit a new post on the Lynxmotion community sub-forum here: [[https:~~/~~/www.robotshop.com/community/forum/c/lynxmotion/electronics-software>>url:https://www.robotshop.com/community/forum/c/lynxmotion/electronics-software]]
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