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1 1  {{html wiki="false" clean="true"}}
2 -<body>
3 -<table border="0" cellpadding="0" cellspacing="0" >
4 4  
5 - <tbody>
6 - <tr>
7 - <td align="left" valign="top" ><b><font face="Verdana, Helvetica, sans-serif" size="2">Mini Inline Hexapod
8 -Body Assembly Instructions Rev. 1.2.</font></b>
9 - <p><b><font face="Verdana, Helvetica, sans-serif" size="2">Updated
10 -February 2015.</font></b></p>
11 - <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
12 -protection and never touch a powered robot!</font></p>
13 - <p><font face="Verdana, Helvetica, sans-serif" size="2">The
14 -purpose of this guide is to construct the chassis, attach the legs, and
15 -install the electronics. </font><font face="Verdana, Helvetica, sans-serif" size="2">There are currently the following versions of the
16 -MH2 kit available:</font></p>
17 - <ul>
18 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2U
19 -with BotBoarduino microcontroller and SSC-32<br>
20 - </font></li>
21 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2U
22 -with BotBoarduino microcontroller and SSC-32U</font></li>
23 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2F
24 -with SSC-32 and Bluetooth (FlowBotics)</font></li>
25 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2F
26 -with SSC-32U and Bluetooth (FlowBotics)</font></li>
27 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2
28 -with SSC-32 and Bot Board 2 microcontroller (old model)<br>
29 - </font></li>
30 - </ul>
31 - <font face="Verdana" size="2"><strong><span style="font-weight: normal;">Take
32 -note of which version you have
33 -and follow each step accordingly, as the connections and configuration
34 -are different. Since the Bot Board 2 + Basic Atom is an older model,
35 -please follow the BotBoarduino procedure unless indicated otherwise. </span></strong></font>
36 - <p><font face="Verdana" size="2">Note: Loctite / thread lock
37 -can be used on the construction of the aluminum components, though it
38 -is not necessary if the nuts are properly tightened. However,
39 -don't use thread lock with Lexan or plastic, as they are not necessary
40 -and may
41 -cause
42 -damage.</font><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;
43 - </font></p>
44 - </td>
45 - <td align="center" valign="top" width="320"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/mini-inline-hexapod-body/WebHome/mh2-assembly-6.jpg" border="2" hspace="10" ><br>
46 - <font size="2"><b>Image of completed Robot.<br>
47 - <br>
48 - </b></font></font></td>
49 - </tr>
50 - <tr>
51 - <td style="vertical-align: top;"><br>
52 - </td>
53 - <td style="vertical-align: top;"><br>
54 - </td>
55 - </tr>
56 - <tr>
57 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Lexan
58 -Preparation.<br>
59 - </b></font><font face="Verdana" size="2">The lexan pieces have a
60 -protective covering that needs to be
61 -removed before assembly. When the laser cuts, the covering melts into
62 -the cut edge which can make removal difficult. If you gently scrape the
63 -cut edge with a flat blade screwdriver, the covering can easily be
64 -lifted and peeled off.</font>
65 - <p><font face="Verdana" size="2">On smaller pieces the coverings
66 -can be more difficult to remove. If you have trouble you can gently
67 -scrape the cut edge, then use duct tape to lift the covering off.</font></p>
68 - <p><font face="Verdana" size="2">For further information on
69 -lexan, see <a href="http://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
70 -page</a>.</font></p>
71 - <br>
72 - </td>
73 - <td style="vertical-align: top; text-align: center;"><img src="./mh2-body-assembly_files/lexan01.jpg" border="2" hspace="10" ><br>
74 - <font face="Verdana, Helvetica, sans-serif"> <font size="2">Lexan
75 -preparation</font></font></td>
76 - </tr>
77 - <tr>
78 - <td style="vertical-align: top;"><br>
79 - </td>
80 - <td style="vertical-align: top;"><br>
81 - </td>
82 - </tr>
83 - <tr>
84 - <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 1.
85 -Electronics User Guides<br>
86 - </font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2">If you have the SSC-32 serial servo controller, please read
87 -through and understand the <a href="http://www.lynxmotion.com/images/html/build136.htm">SSC-32
88 -User Guide</a>.<br>
89 -If you have the SSC-32U USB servo controller, please read through and
90 -understand the <a href="http://www.lynxmotion.com/images/data/lynxmotion_ssc-32u_usb_user_guide.pdf%22" target="_blank">SSC-32U User Guide</a>.<br>
91 - </font></font><font face="Verdana, Helvetica, sans-serif"><font size="2"><br>
92 -If you purchase the version with the
93 -BotBoarduino, read and understand the <a href="http://www.lynxmotion.com/images/html/build185.htm">BotBoarduino
94 -User Guide</a>.</font></font><br>
95 - <font face="Verdana, Helvetica, sans-serif"><font size="2">The MH2 + BotBoarduino uses the arduino software downloadable from <a href="http://www.lynxmotion.com/images/html/www.arduino.cc" target="blank" rel="nofollow">www.arduino.cc</a>. <br>
96 -This guide does not teach you how to use the Arduino programming
97 -language.<br>
98 -The sample code available from GitHub uses a Lynxmotion PS2 controller as input (sold separately).<br>
99 -</font></font></td>
100 - <td style="vertical-align: top; text-align: center;"><img src="./mh2-body-assembly_files/SSC-32U.jpg" border="2" hspace="10" ><br>
101 - <font face="Verdana, Helvetica, sans-serif"> <font size="2">Figure
102 -1 (SSC-32U shown as example)</font></font><br>
103 - </td>
104 - </tr>
105 - <tr>
106 - <td style="vertical-align: top;"><br>
107 - </td>
108 - <td style="vertical-align: top;"><br>
109 - </td>
110 - </tr>
111 - <tr>
112 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 2a.
113 -(BotBoarduino and SSC-32 / SSC-32U)<br>
114 - </font></b><font size="2">If you have a kit which uses both the
115 -BotBoarduino and either the SSC-32 or SSC-32U, you will need to install
116 -both boards to the top Lexan plate using eight 4-40 x 1/4" hex socket
117 -screws
118 -to attach the spacers. </font></font><font face="Verdana, Helvetica, sans-serif" size="2">The "top" plate of the robot has a cutout for
119 -the servo (t</font><font face="Verdana, Helvetica, sans-serif" size="2">he servo cutout is the
120 -"front" of the robot) </font><font face="Verdana, Helvetica, sans-serif" size="2">while the bottom only has cutouts and is symmetric. </font><br>
121 - <font face="Verdana, Helvetica, sans-serif"><font size="2">
122 -&nbsp;</font></font>
123 - <table border="0" >
124 - <tbody>
125 - <tr>
126 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>8 x</b></font></td>
127 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>8 x</b></font></td>
128 - </tr>
129 - <tr>
130 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
131 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4375hns.gif" border="2" ></font></td>
132 - </tr>
133 - </tbody>
134 - </table>
135 - </td>
136 - <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/mh2-assembly-1.jpg" border="2" hspace="10" ><br>
137 - <font size="2">Figure 2a.</font></font></td>
138 - </tr>
139 - <tr>
140 - <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
141 - </tr>
142 - <tr>
143 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 2b.
144 -(SSC-32 or SSC-32U only)<br>
145 - </font></b><font size="2">If you have a kit which includes only
146 -the SSC-32 or SSC-32U (as is the case with FlowBotics), use eight 4-40
147 -x 1/4" hex socket screws
148 -to attach the spacers to the top body plate.<br>
149 -&nbsp;</font></font>
150 - <table border="0" >
151 - <tbody>
152 - <tr>
153 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
154 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
155 - </tr>
156 - <tr>
157 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
158 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4375hns.gif" border="2" ></font></td>
159 - </tr>
160 - </tbody>
161 - </table>
162 - </td>
163 - <td style="vertical-align: top;">
164 - <div style="text-align: center;"><img src="./mh2-body-assembly_files/hexapod-1.jpg" border="2" hspace="10" ><br>
165 - <font face="Verdana, Helvetica, sans-serif"> <font size="2">Figure
166 -2b. (top of top plate)<br>
167 -</font></font></div>
168 - </td>
169 - </tr>
170 - <tr>
171 - <td style="vertical-align: top;"><br>
172 - </td>
173 - <td style="vertical-align: top;"><br>
174 - </td>
175 - </tr>
176 - <tr>
177 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 3a.</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">
178 -(BotBoarduino and SSC-32 / SSC-32U)</font></b></font><br>
179 - <font face="Verdana, Helvetica, sans-serif"><b><font size="2"> </font></b><font size="2">Flip
180 -the plate over and use eight 4-40 x 1/4" hex socket screws to attach
181 -the long aluminum spacers to the underside of the top body plate.<br>
182 -&nbsp;</font></font>
183 - <table border="0" >
184 - <tbody>
185 - <tr>
186 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>8 x</b></font></td>
187 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>8 x </b></font></td>
188 - </tr>
189 - <tr>
190 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
191 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/41875hns.gif" border="2" ></font></td>
192 - </tr>
193 - </tbody>
194 - </table>
195 - </td>
196 - <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/mh2-assembly-2.jpg" border="2" hspace="10" ><br>
197 - <font size="2">Figure 3a. underside of top plate)<br>
198 -</font></font></td>
199 - </tr>
200 - <tr>
201 - <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb">
202 - </font></td>
203 - </tr>
204 - <tr>
205 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 3b.</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">
206 -(SSC-32 or SSC-32U only)</font></b></font><br>
207 - <font face="Verdana, Helvetica, sans-serif"><font size="2">Flip
208 -the plate over and use eight 4-40 x 1/4" hex socket screws to attach
209 -the long aluminum spacers to the underside of the top body plate.<br>
210 -&nbsp;</font></font>
211 - <table border="0" >
212 - <tbody>
213 - <tr>
214 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>8 x</b></font></td>
215 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>8 x </b></font></td>
216 - </tr>
217 - <tr>
218 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
219 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/41875hns.gif" border="2" ></font></td>
220 - </tr>
221 - </tbody>
222 - </table>
223 - </td>
224 - <td style="vertical-align: top;">
225 - <div style="text-align: center;"><img src="./mh2-body-assembly_files/hexapod-2.jpg" border="2" hspace="10" ><br>
226 - <font face="Verdana, Helvetica, sans-serif"> <font size="2">Figure
227 -3b. (underside of top plate)<br>
228 -</font></font></div>
229 - </td>
230 - </tr>
231 - <tr>
232 - <td style="vertical-align: top;"><br>
233 - </td>
234 - <td style="vertical-align: top;"><br>
235 - </td>
236 - </tr>
237 - <tr>
238 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4a. </font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">(BotBoarduino
239 -and SSC-32 / SSC-32U)</font></b></font><br>
240 - <font face="Verdana, Helvetica, sans-serif"><b><font size="2"> </font></b>
241 - <font size="2">Mount the bottom of the robot to the
242 -top using eight 1/4" hex screws.<br>
243 - <br>
244 -Note, it would be a good idea to install the battery into the chassis
245 -at this point before you connect the bottom plate. Place the battery in
246 -the center of the chassis with the wire closest to the rear of the bot.
247 -You can use velcro, double sided tape or tie-wraps to hold it in place.
248 - </font></font><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;<br>
249 - </font>
250 - <table border="0" >
251 - <tbody>
252 - <tr>
253 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>8 x</b></font></td>
254 - <td ><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></td>
255 - </tr>
256 - <tr>
257 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
258 - <td ><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></td>
259 - </tr>
260 - </tbody>
261 - </table>
262 - </td>
263 - <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/mh2-assembly-3.jpg" border="2" hspace="10" ><br>
264 - <font size="2">Figure 4a (Mounting for BotBoarduino w/ SSC-32 / 32U).</font></font></td>
265 - </tr>
266 - <tr>
267 - <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
268 - </tr>
269 - <tr>
270 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4b. </font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">(SSC-32 or
271 -SSC-32U only)</font></b></font><br>
272 - <font face="Verdana, Helvetica, sans-serif"><b><font size="2"> </font></b>
273 - <font size="2">Mount the bottom of the robot to the
274 -top using eight 1/4" hex screws.<br>
275 - <br>
276 -Note, it would be a good idea to install the battery into the chassis
277 -at this point before you connect the bottom plate. Place the battery in
278 -the center of the chassis with the wire closest to the rear of the bot.
279 -You can use velcro, double sided tape or tie-wraps to hold it in place.
280 - </font></font><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;<br>
281 - </font>
282 - <table border="0" >
283 - <tbody>
284 - <tr>
285 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>8 x</b></font></td>
286 - <td ><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></td>
287 - </tr>
288 - <tr>
289 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
290 - <td ><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></td>
291 - </tr>
292 - </tbody>
293 - </table>
294 - </td>
295 - <td style="vertical-align: top;">
296 - <div style="text-align: center;"><img src="./mh2-body-assembly_files/hexapod-3.jpg" border="2" hspace="10" ><br>
297 - <font face="Verdana, Helvetica, sans-serif"> <font size="2">Figure
298 -4b (SSC-32 / 32U alone).</font></font></div>
299 - </td>
300 - </tr>
301 - <tr>
302 - <td style="vertical-align: top;"><br>
303 - </td>
304 - <td style="vertical-align: top;"><br>
305 - </td>
306 - </tr>
307 - <tr>
308 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 5. Install the Legs<br>
309 - </font></b><font size="2">Attach the legs which you assembled in
310 -the <a href="http://www.lynxmotion.com/images/html/build79b.htm">Mini 2DoF Leg guide</a>
311 -as shown, making sure
312 -to use right or left legs as indicated. If a servo horn from the leg
313 -assembly moved from center during assembly, be sure to re-center it as
314 -close as possible before installing it. Orientation is important, so
315 -pay close attention to the photo.
316 -Use twelve #2 x .250" tapping
317 -screws. Once again, the "front" of the robot has the cutout for a servo
318 -(sold separately).<br>
319 -&nbsp;</font></font>
320 - <table border="0" >
321 - <tbody>
322 - <tr>
323 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">12 x</font></b></td>
324 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></b></td>
325 - </tr>
326 - <tr>
327 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/2250phts.gif" border="2" ></font></td>
328 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/holes.gif" border="2" ></font></td>
329 - </tr>
330 - </tbody>
331 - </table>
332 - </td>
333 - <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/mh2-assembly-5.jpg" border="2" hspace="10" ><br>
334 - <font size="2">Figure 5.</font></font></td>
335 - </tr>
336 - <tr>
337 - <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
338 - </tr>
339 - <tr>
340 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6. Using Screw Terminals</font></b><font size="2"><br>
341 -Here are some general guidelines when inserting the wires into the
342 -SSC-32, SSC-32U and/or BotBoarduino. Use a 2mm wide flat blade screw
343 -driver. Rotate
344 -the screw both directions looking into the end of the terminal. When
345 -you see it opening (moving downwards), keep turning until it is open
346 -completely. Wrap / twist the wires by hand to ensure they are aligned
347 -as in Figure 6. Be sure that the wires are fully inserted into the
348 -terminals and that <b>no stray wires are able to touch each other</b>
349 -as this is a short and can cause the battery to discharge rapidly,
350 -causing heat and possibly fire. </font></font><font face="Verdana" size="2">&nbsp;</font>
351 - <p>&nbsp; </p>
352 - </td>
353 - <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/wiring.jpg" border="2" hspace="10" ><br>
354 - <font size="2">Figure 6.</font></font></td>
355 - </tr>
356 - <tr>
357 - <td style="vertical-align: top;"><br>
358 - </td>
359 - <td style="vertical-align: top;"><br>
360 - </td>
361 - </tr>
362 - <tr>
363 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7a.
364 -(Bot Board + SSC-32 + PS2 V1)<br>
365 - </font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">Install both boards into the chassis using eight 1/4" hex
366 -screws. Orient the board with the
367 -connector facing the servo cutout is best, but not required. Connect
368 -the loose power cable from the SSC-32's VL terminal to the Bot Board
369 -II's VL terminal. Finally, attach the BotBoarduino and secure it using
370 -four 1/4" hex screws. You can install the power switch(es) to the body
371 -in the holes at the rear of the robot.&nbsp; Do not connect the servos yet.<br>
372 - <br>
373 -</font>
374 - <table border="0" >
375 - <tbody>
376 - <tr>
377 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">8 x</font></b></td>
378 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></b></td>
379 - </tr>
380 - <tr>
381 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
382 - <td ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
383 - </tr>
384 - </tbody>
385 - </table>
386 - </td>
387 - <td align="center" valign="top" ><img src="./mh2-body-assembly_files/mh2-boards.JPG" border="2" hspace="10" ><br>
388 - <font face="Verdana, Helvetica, sans-serif">
389 - <font size="2">Figure 7. (SSC-32 + BotBoarduino shown as example)<br>
390 -</font></font></td>
391 - </tr>
392 - <tr>
393 - <td style="vertical-align: top;"><br>
394 - </td>
395 - <td style="vertical-align: top;"><br>
396 - </td>
397 - </tr>
398 - <tr>
399 - <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2">Double
400 -check your connections against the image below. Be sure that red
401 -wires go to positive (+) and black wires go to negative (-). Also be
402 -sure that your jumpers are connected the exact same way as detailed
403 -below. Note that the VL=VS jumper on the SSC-32 is removed, as are the
404 -Tx and Rx jumpers. Depending on the code used, you may also need to
405 -change the baud rate jumpers. The sample code provided uses 38.4,
406 -so the jumper on the left also needs to be removed. Note that the
407 -wiring from the SSC-32's Tx / Rx pinsto the BotBoarduino's pins are NOT
408 -in line - the red / center / power pin needs to be removed and
409 -connected to pin 12 on the BotBoarduino.<br>
410 - <div align="center">
411 - <center>
412 - <table border="1" bordercolor="#ffffff" >
413 - <tbody>
414 - <tr>
415 - <td bordercolor="#808080" colspan="3" bgcolor="#c0c0c0" >
416 - <p align="center"><font face="Verdana, Helvetica, sans-serif" size="1">Servo Letter Definitions</font></p>
417 - <p align="center"><font face="Verdana, Helvetica, sans-serif" size="1">(Bot Board + SSC-32 +
418 -PS2 V1).</font></p>
419 - </td>
420 - </tr>
421 - <tr>
422 - <td bordercolor="#C0C0C0" align="left" valign="middle" ><font face="Verdana, Helvetica, sans-serif" size="1"><b>&nbsp;L</b>eft<br>
423 -&nbsp;<b>R</b>ight</font></td>
424 - <td bordercolor="#C0C0C0" align="left" valign="middle" ><font face="Verdana, Helvetica, sans-serif" size="1"><b>&nbsp;R</b>ear<br>
425 -&nbsp;<b>M</b>iddle / Center<br>
426 -&nbsp;<b>F</b>ront</font></td>
427 - <td bordercolor="#C0C0C0" align="left" valign="middle" ><font face="Verdana, Helvetica, sans-serif" size="1"><b>&nbsp;V</b>ertical<br>
428 -&nbsp;<b>H</b>orizontal</font></td>
429 - </tr>
430 - </tbody>
431 - </table>
432 - </center>
433 - </div>
434 - </font>
435 - <div style="text-align: center;"><img style="width: 600px; height: 696px;" alt="Bot Board + SSC-32" src="./mh2-body-assembly_files/2dofsch2.gif"><br>
436 -Bot Board 2 + Basic Atom + SSC-32<br>
437 - <ul style="text-align: left;">
438 - <li><font face="Verdana, Helvetica, sans-serif" size="2">SSC-32:
439 -VL
440 -terminal is connected to the 9V battery (ensure red wire to + and black
441 -wire to -). Ensure no loose wires touch each other.<br>
442 - </font></li>
443 - <li><font face="Verdana, Helvetica, sans-serif" size="2">SSC-32:
444 -VS1 terminal is connected to the switch (</font><font face="Verdana, Helvetica, sans-serif" size="2">ensure red wire to +
445 -and black wire to -). Ensure no loose wires touch each other.<br>
446 - </font></li>
447 - <li><font face="Verdana, Helvetica, sans-serif" size="2">SSC-32:
448 -VL = VS jumper is REMOVED</font></li>
449 - <li><font face="Verdana, Helvetica, sans-serif" size="2">SSC-32:
450 -VS1 = VS2 jumpers are left in place.</font></li>
451 - <li><font face="Verdana, Helvetica, sans-serif" size="2">Bot
452 -Board 2: Take note of the jumpers</font></li>
453 - <li><font face="Verdana, Helvetica, sans-serif" size="2">Bot Board 2: </font><font face="Verdana, Helvetica, sans-serif" size="2">Power the Bot Board from the SSC-32 using the extra wires in the kit (ensure red wire to + and black
454 -wire to -)</font></li>
455 -
456 - </ul>
457 - </div>
458 - </td>
459 - </tr>
460 - <tr>
461 - </tr>
462 - <tr>
463 - <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><b>Step 7b (SSC-32 +
464 -Bluetooth)<br>
465 - </b></font><font face="Verdana, Helvetica, sans-serif" size="2">Double
466 -check your connections against the image below. Be sure that red
467 -wires go to positive (+) and black wires go to negative (-) of each terminal. Also be
468 -sure that your jumpers are connected the exact same way as detailed
469 -below. Note that the VL=VS jumper on the SSC-32 is removed, as are the
470 -Tx and Rx jumpers. Depending on the code used, you may also need to
471 -change the baud rate jumpers. The sample code provided uses 38.4,
472 -so the jumper on the left also needs to be removed. Verify this with whichever software you are using. <br>
473 - <table border="0" >
474 - <tbody>
475 - <tr>
476 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">8 x</font></b></td>
477 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></b></td>
478 - </tr>
479 - <tr>
480 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
481 - <td ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
482 - </tr>
483 - </tbody>
484 - </table>
485 - </font>
486 - <div style="text-align: center;"><img alt="SSC-32 + Bluetooth" src="./mh2-body-assembly_files/ssc-32-bluetooth.jpg" ><br>
487 -SSC-32 + Bluetooth Bee<br>
488 - <ul style="text-align: left;">
489 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VL
490 -terminal is connected to the 9V battery (ensure red wire to + and black
491 -wire to -). Ensure no loose wires touch each other.<br>
492 - </font></li>
493 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VS1
494 -terminal is connected to the switch (</font><font face="Verdana, Helvetica, sans-serif" size="2">ensure red wire to +
495 -and black wire to -). Ensure no loose wires touch each other.<br>
496 - </font></li>
497 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VL =
498 -VS jumper is REMOVED</font></li>
499 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VS1 =
500 -VS2 jumpers are left in place.</font></li>
501 - <li><font face="Verdana, Helvetica, sans-serif" size="2">Baud
502 -rate jumpers set to 9600</font></li>
503 - <li><font face="Verdana, Helvetica, sans-serif" size="2">Bluetooth
504 -Bee connected to breakout board, powered as shown<br>
505 - </font></li>
506 - </ul>
507 - </div>
508 - </td>
509 - </tr>
510 - <tr>
511 - <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><b>Step 7c (SSC-32U +
512 -Bluetooth).</b><br>
513 - </font> <font face="Verdana, Helvetica, sans-serif" size="2">Double
514 -check your connections against the image below. Note that the VL=VS
515 -jumper on the SSC-32U is in place, as are the VS1=VS2 jumpers. Depending on the code used, you may need to
516 -change the baud, but for now we suggest leaving it as default. The sample code provided here uses 38.4,
517 -so the jumper on the left also needs to be removed. <br>
518 - <table border="0" >
519 - <tbody>
520 - <tr>
521 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">8 x</font></b></td>
522 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></b></td>
523 - </tr>
524 - <tr>
525 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
526 - <td ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
527 - </tr>
528 - </tbody>
529 - </table>
530 - </font>
531 - <div style="text-align: center;"><img alt="SSC-32 + Bluetooth" src="./mh2-body-assembly_files/ssc-32u-bluetooth.jpg" ><br>
532 -SSC-32U + Bluetooth Bee<br>
533 - <ul style="text-align: left;">
534 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VS1
535 -terminal is connected to the 6V battery switch (</font><font face="Verdana, Helvetica, sans-serif" size="2">ensure red wire to +
536 -and black wire to -). Ensure no loose wires touch each other.<br>
537 - </font></li>
538 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VL =
539 -VS jumper is in place<br>
540 - </font></li>
541 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VS1 =
542 -VS2 jumpers are left in place.</font></li>
543 - <li><font face="Verdana, Helvetica, sans-serif" size="2">Baud
544 -rate is set to 9600</font></li>
545 - <li><font face="Verdana, Helvetica, sans-serif" size="2">Bluetooth
546 -Bee connected to board as shown<br>
547 - </font></li>
548 - </ul>
549 - <br>
550 - </div>
551 - </td>
552 - </tr>
553 - <tr>
554 - <td colspan="2" align="left" valign="top" >
555 - <p align="left"><font face="Verdana, Helvetica, sans-serif" size="2"><b>Step 7d (SSC-32U + BotBoarduino + Optional PS2v3).</b><br>
556 - </font> <font face="Verdana, Helvetica, sans-serif" size="2">Install
557 -both boards into the chassis using eight 1/4" hex screws. </font><font face="Verdana, Helvetica, sans-serif" size="2">Double
558 -check your connections against the schematic below. Be sure that red
559 -wires go to positive (+) and black wires go to negative (-). Also be
560 -sure that your jumpers are connected the exact same way as detailed
561 -below. Note that the VL=VS jumper on the SSC-32 is removed, as are the
562 -Tx and Rx jumpers. Depending on the code used, you may also need to
563 -change the baud rate jumpers. The sample code provided here uses 38.4,
564 -so the jumper on the left also needs to be removed. Note that the
565 -wiring from the SSC-32's Tx / Rx pins to the BotBoarduino's pins are NOT
566 -in line - the red / center / power pin needs to be removed and
567 -connected to pin 12 on the BotBoarduino.<br>
568 - </font></p><table border="0" >
569 - <tbody>
570 - <tr>
571 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">8 x</font></b></td>
572 - <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></b></td>
573 - </tr>
574 - <tr>
575 - <td ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/4250hscs.gif" border="2" ></font></td>
576 - <td ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
577 - </tr>
578 - </tbody>
579 - </table><font face="Verdana, Helvetica, sans-serif" size="2">
580 - </font><p></p>
581 - <div style="text-align: center;"><img alt="SSC-32U + BotBoarduino" src="./mh2-body-assembly_files/ssc-32u-botboarduino-ps2.png" ><font face="Verdana, Helvetica, sans-serif" size="2"> <br>
582 -BotBoarduino + SSC-32U + PS2v3<br>
583 - </font>
584 - <ul style="text-align: left;">
585 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VL
586 -terminal is connected to the 9V battery (ensure red wire to + and black
587 -wire to -). Ensure no loose wires touch each other.<br>
588 - </font></li>
589 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VS1
590 -terminal is connected to the switch (</font><font face="Verdana, Helvetica, sans-serif" size="2">ensure red wire to +
591 -and black wire to -). Ensure no loose wires touch each other.<br>
592 - </font></li>
593 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VL =
594 -VS jumper is REMOVED</font></li>
595 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VS1 =
596 -VS2 jumpers are left in place.</font></li>
597 - <li><font face="Verdana, Helvetica, sans-serif" size="2">Baud
598 -rate jumpers set to 9600</font></li>
599 - <li><font face="Verdana, Helvetica, sans-serif" size="2">Bluetooth
600 -Bee connected to breakout board, powered as shown<br>
601 - </font></li>
602 - </ul>
603 -
604 - </div>
605 - <p style="text-align: left;"><font face="Verdana, Helvetica, sans-serif" size="2"><b>Step 7e (SSC-32 +
606 -BotBoarduino + Optional PS2v2).</b><br>
607 - </font> <font face="Verdana, Helvetica, sans-serif" size="2">Install
608 -both boards into the chassis using eight 1/4" hex screws. </font><font face="Verdana, Helvetica, sans-serif" size="2">Double
609 -check your connections against the schematic below. Be sure that red
610 -wires go to positive (+) and black wires go to negative (-). Also be
611 -sure that your jumpers are connected the exact same way as detailed
612 -below. Note that the VL=VS jumper on the SSC-32 is removed, as are the
613 -Tx and Rx jumpers. Depending on the code used, you may also need to
614 -change the baud rate jumpers. The sample code provided here uses 38.4,
615 -so the jumper on the left also needs to be removed. Note that the
616 -wiring from the SSC-32's Tx / Rx pinsto the BotBoarduino's pins are NOT
617 -in line - the red / center / power pin needs to be removed and
618 -connected to pin 12 on the BotBoarduino.</font></p>
619 - <p align="center"><img src="./mh2-body-assembly_files/botboarduino-ssc-32-ps2-connections.jpg" border="0" hspace="10" ></p>
620 - <p align="center">BotBoarduino + SSC-32 + PS2v2<br>
621 - </p>
622 - <ul style="text-align: left;">
623 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VL
624 -terminal is connected to the 9V battery (ensure red wire to + and black
625 -wire to -). Ensure no loose wires touch each other.<br>
626 - </font></li>
627 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VS1
628 -terminal is connected to the switch (</font><font face="Verdana, Helvetica, sans-serif" size="2">ensure red wire to +
629 -and black wire to -). Ensure no loose wires touch each other.<br>
630 - </font></li>
631 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VL =
632 -VS jumper is REMOVED</font></li>
633 - <li><font face="Verdana, Helvetica, sans-serif" size="2">VS1 =
634 -VS2 jumpers are left in place.</font></li>
635 - </ul>
636 - </td>
637 - </tr>
638 - <tr>
639 - <td style="vertical-align: top;"><br>
640 - </td>
641 - <td style="vertical-align: top;"><br>
642 - </td>
643 - </tr>
644 - <tr>
645 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 8. Plug
646 -the Servos In (SSC-32 / SSC-32U)<br>
647 - </font></b><font size="2">Plug the servos into the SSC-32 or
648 -SSC-32U as
649 -indicated in Table 8. Simply plug in the servo
650 -associated with the function to the corresponding pin. Be sure the
651 -black wire is near the outside of the board and the yellow wire is near
652 -the center of the board. Proper cable routing can be done later.</font></font></td>
653 - <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"> <br>
654 - <table border="1" bordercolor="#000000" >
655 - <tbody>
656 - <tr>
657 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >0</td>
658 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right
659 -Rear Vertical</td>
660 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >16</td>
661 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left
662 -Rear Vertical</td>
663 - </tr>
664 - <tr>
665 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >1</td>
666 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right
667 -Rear Horizontal</td>
668 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >17</td>
669 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left
670 -Rear Horizontal</td>
671 - </tr>
672 - <tr>
673 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >2</td>
674 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right
675 -Center Vertical</td>
676 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >18</td>
677 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left
678 -Center Vertical</td>
679 - </tr>
680 - <tr>
681 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >3</td>
682 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right
683 -Center Horizontal</td>
684 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >19</td>
685 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left
686 -Center Horizontal</td>
687 - </tr>
688 - <tr>
689 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >4</td>
690 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right
691 -Front Vertical</td>
692 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >20</td>
693 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left
694 -Front Vertical</td>
695 - </tr>
696 - <tr>
697 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >5</td>
698 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right
699 -Front Horizontal</td>
700 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" >21</td>
701 - <td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left
702 -Front Horizontal</td>
703 - </tr>
704 - </tbody>
705 - </table>
706 - <font size="2">Table 8.<br>
707 - </font></font></td>
708 - </tr>
709 - <tr>
710 - <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
711 - </tr>
712 - <tr>
713 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 9a.
714 -Powering the Robot (All kits with SSC-32)<br>
715 - </font></b><font size="2">Connect a 9v battery to the 9V battery
716 -clip to power the electronics and turn this On/Off switch to ON. You
717 -should see the green LED in the upper right corner of the SSC-32 switch
718 -on, as well as the power LED associated with the Bot Board 2 or
719 -BotBoarduino if you have one of these kits.&nbsp;</font></font> <font face="Verdana, Helvetica, sans-serif" size="2"><b>If
720 -these LEDs do not switch on, immediately power off your robot and
721 -double check your connections.</b></font> <font face="Verdana, Helvetica, sans-serif"><font size="2"><br>
722 - <br>
723 -Turn
724 -the 9V swith to OFF. Connect
725 -the 6vdc battery pack to the
726 -battery harness to power the servos. Flip the switch to turn the servo
727 -power on. <b>The LEDs should NOT switch on this time. If they do, </b></font></font>
728 - <font face="Verdana, Helvetica, sans-serif" size="2"><b>immediately
729 -power off your robot and double check your connections.</b></font>
730 - <p><font face="Verdana, Helvetica, sans-serif" size="2">Note, our
731 -battery packs do NOT come charged. You will need to charge your battery
732 -before proceeding to the next tutorial. View <a href="http://www.lynxmotion.net/viewtopic.php?f=26&amp;t=5715#p57728">this
733 -page</a> for some tips.</font> </p>
734 - </td>
735 - <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/batteryc.jpg" border="2" hspace="10" ><br>
736 - <font size="2">Figure 9.</font></font></td>
737 - </tr>
738 - <tr>
739 - <td style="vertical-align: top;"><br>
740 - </td>
741 - <td style="vertical-align: top;"><br>
742 - </td>
743 - </tr>
744 - <tr>
745 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 9b.
746 -Powering the Robot (SSC-32U Only)</font></b></font> <font face="Verdana, Helvetica, sans-serif"><font size="2"><br>
747 -Connect
748 -the 6vdc battery pack to the
749 -battery harness to power both the servos and the electronics. Flip the
750 -switch to turn the servo
751 -power on. <b>The LEDs should NOT switch on this time. If they do, </b></font></font>
752 - <font face="Verdana, Helvetica, sans-serif" size="2"><b>
753 -immediately power off your robot and double check your connections.</b></font>
754 - <p><font face="Verdana, Helvetica, sans-serif" size="2">Note, our
755 -battery packs do NOT come charged. You will need to charge your battery
756 -before proceeding to the next tutorial. View <a href="http://www.lynxmotion.net/viewtopic.php?f=26&amp;t=5715#p57728">this
757 -page</a> for some tips.</font> </p>
758 - </td>
759 - <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="./mh2-body-assembly_files/batteryc.jpg" border="2" hspace="10" ><br>
760 - <font size="2">Figure 9.</font></font></td>
761 - </tr>
762 - <tr>
763 - <td style="vertical-align: top;"><br>
764 - </td>
765 - <td style="vertical-align: top;"><br>
766 - </td>
767 - </tr>
768 - <tr>
769 - <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 10. (Bot
770 -Board 2 / SSC-32 / SSC-32U)<br>
771 - </font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2">Now that the
772 -robot is assembled, you can proceed with the calibration and
773 -programming.</font></font><br>
774 - <ul>
775 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2F
776 -with SSC-32 and Bluetooth (FlowBotics): Install and open FlowBotics
777 -Studio and follow the instructions<br>
778 - </font></li>
779 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2F
780 -with SSC-32U and Bluetooth (FlowBotics)</font><font face="Verdana, Helvetica, sans-serif" size="2">: Install and open
781 -FlowBotics Studio </font><font face="Verdana, Helvetica, sans-serif" size="2">and follow the instructions*</font></li>
782 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2
783 -with SSC-32 and Bot Board 2 microcontroller (old model)</font><font face="Verdana, Helvetica, sans-serif" size="2">: <a href="http://www.lynxmotion.com/images/html/build165.htm">Programming
784 -Guide</a></font></li>
785 - </ul>
786 -* Note that the Bluetooth button within the project needs to be pressed
787 -in order to change the baud rate to 9600.<br>
788 - <br>
789 - </td>
790 - <td style="vertical-align: top; text-align: center;"><img src="./mh2-body-assembly_files/hexapod-4.jpg" border="2" hspace="10" ><br>
791 - <font face="Verdana, Helvetica, sans-serif"> <font size="2">Completed
792 -MH2<br>
793 -(SSC-32U shown as example)<br>
794 - </font></font></td>
795 - </tr>
796 - <tr>
797 - <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 11.
798 -(BotBoarduino)<br>
799 - </font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2">Now that the
800 -robot is assembled, you can proceed with calibration and programming.<br>
801 -onnect the 6vdc battery pack to the
802 -battery harness to power the servos. Flip the switch to turn the servo
803 -power on.</font></font><br>
804 - <ul>
805 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2U
806 -with BotBoarduino microcontroller and SSC-32<br>
807 - </font></li>
808 - <li><font face="Verdana, Helvetica, sans-serif" size="2">MH2U
809 -with BotBoarduino microcontroller and SSC-32U</font></li>
810 - </ul>
811 - <font face="Verdana, Helvetica, sans-serif" size="2">To
812 -calibrate the servos such that they are all on the ground in the
813 -default position, please use <a href="http://www.lynxmotion.com/p-567-free-download-lynxterm.aspx">Lynxterm</a> and connect to the SSC-32 / 32U directly.<br>
814 -Download and install the Arduino IDE from www.arduino.cc<br>
815 -Sample code for Arduino for the MH2 is available on the <a href="https://github.com/Lynxmotion/2DOF-Hexapods">Lynxmotion GitHub
816 -page</a>.<br>
817 -Alternatively, the MH2 can use the SSC-32&nbsp; / SSC-32U's built-in <a href="http://www.lynxmotion.com/images/html/build136.htm#hexseqcom">hexapod
818 -sequencer</a>.</font><br>
819 - <br>
820 - </td>
821 - <td style="vertical-align: top; text-align: center;"><img src="./mh2-body-assembly_files/mh2-assembly-6.jpg" border="2" hspace="10" ><br>
822 - <font face="Verdana, Helvetica, sans-serif"> <font size="2">Completed
823 -MH2<br>
824 - </font></font></td>
825 - </tr>
826 - </tbody>
827 -</table>
828 -
829 -</body>
830 830  {{/html}}
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