EP2277783B1 - Process for controlling of rotating discs in labelling machines and labelling machine - Google Patents

Description

The invention relates to a method for controlling turntables, as well as a labeling machine, in which this method is used, a control program for controlling turntables and a machine-readable storage medium, on which the control program is stored.

Turntables are often part of devices for loading or labeling of objects (eg bottles). The turntables, which can perform rotational movements by means of suitable drive elements (eg servomotors), are mounted on a conveyor belt or on a turntable, so that a turntable can be moved on the one hand and on the other hand can rotate about the longitudinal axis passing through the center of the turntable. With the aid of such a device, objects located on turntables can, on the one hand, be moved past various stations (such as labeling modules) and, on the other hand, rotated about an axis (for example the longitudinal axis of a bottle).

Such devices are known from the prior art, which, however, have comparatively simple possibilities for controlling the rotational movements of the turntable. For example, each turntable follows the same pattern of movement. A conversion of the rotation during operation is, if at all, difficult, since typically only a maximum of five milliseconds are available for such a change during a labeling process.

Further, controls known in the art quickly reach their limits in the case of more complex situations. A more complex situation can, for example, come about by the fact that a labeling system has several labeling modules and thereby either already carry a label or still have to be labeled on a bottle passing by a specific labeling module. Other difficult situations are, for example, cases in which not every turntable is filled with a bottle or when different types of bottles are to be labeled with the same system (in one pass).

Systems known from the prior art can often not respond quickly enough or flexibly enough to the situations mentioned above, with the result that the Turntable need to perform unnecessary rotational movements, even if, for example, a label is already on the bottle or a bottle of another type or no bottle on the turntable. As a result, such systems are on the one hand less efficient and, on the other hand, slower. Furthermore, unnecessary turntable movements lead to higher wear and higher energy consumption.

EP 1 864 910 A1 shows a rotatable labeling machine.

document EP 1 174 345 A1 shows a machine for orienting bottles, cans or the like containers.

document DE 10 2007 031 218 A1 shows an apparatus, a labeling machine and a method for operating a device.

document EP 0 717 703 shows a computer-controlled, karrelellartige labeling machine.

document US 2005/0265881 A1 shows a machine for aligning and furnishing articles.

document DE 198 11 522 A1 shows a labeling machine.

The invention has for its object to make the rotational movements of turntables more flexible, so that the above-mentioned disadvantages can be prevented.

This object is achieved with a method for controlling at least one turntable according to claim 1, with a labeling machine according to claim 12, with a control program according to claim 13 and with a machine-readable storage medium according to claim 14.

Further embodiments are disclosed in the dependent claims.

The method relates to the control of at least one turntable, which is mounted on a transport element (eg a turntable or a conveyor belt) and can be moved away by the transport element. Each turntable can be rotated relative to the transport element by means of a drive element (eg a servomotor). The method corresponds to claim 1.

If the nodes are defined only spatially, the special case can occur that the two nodes agree with each other, so that effectively only one node point is present.

With the above-mentioned method for controlling a turntable is achieved that the rotational movement of the turntable can be made more flexible. For example, it is possible (as needed) to define multiple nodes and rotations. The defined and interconnected by nodes points of rotation curves can be combined in different ways with each other, which can lead to different sequences of rotational movements of the turntable. Unnecessary rotational movements of the turntable can For example, be avoided by the fact that when passing a node, a rotation is activated, which leads only to the rotational movements that are desirable in a given situation. There are also application examples in which the turntable over a certain time or distance should not be rotated at all. In such a case, it is advantageous to activate a rotational course when passing through a specific node, which temporarily leads to the stoppage of the rotary movement of the turntable. Such a standstill can then be canceled when passing another node by activating another rotation course. The flexibility can also be increased by the fact that it is possible with the above control method when passing one and the same node as needed to activate different rotation profiles, whereby the execution of different rotational movements of the turntable is enabled, depending on the state (eg the turntable is currently empty or the turntable is currently occupied by an object) the turntable is currently located.

Furthermore, the method may include activating a second defined rotation profile at the second node. In this way, when passing through nodes, a plurality of rotation patterns can be sequentially connected to each other, thereby forming a total rotation profile. If the case occurs that the first node is passed several times, it is possible that the first defined rotation curve is activated several times at periodic intervals. In addition, it is possible that when passing through the same node several times, the above-mentioned total rotation is repeated several times.

In an advantageous embodiment of the invention, at least one defined rotation profile is stored directly at the drive element (eg in a memory of the electronics of the drive element). The storage of rotational gradients directly in or at the drive element of the turntable has the advantage that the locally stored rotational profiles can be accessed very quickly, so that these locally stored rotational profiles are particularly quickly activated, creating a fast switching between successive rotational gradients is possible. If several turntable with respective drive elements present, so can be stored in each drive element of the corresponding turntable all possible rotation curves. Since normally each turntable (driven by the same transport element) traverses the same distance, each drive element of the corresponding turntable has the same (typically all defined ones) Turning curves saved. However, it is also possible that different or different combinations of rotational characteristics are stored in the drive elements of different turntable. Last case makes z. B. sense, if different types of turntables are used, or if z. B. the sequence of bottles to be labeled is already known in advance (eg on every other turntable is a bottle, and the other turntable are not occupied).

According to the invention, a plurality of rotational profiles are defined between two nodal points. This makes it possible that a rotation course can be selected when passing a node. The selection of a rotation profile from a plurality of rotational profiles is based on one or more predefined criteria. Said criteria may for example relate to the objects that are located on the corresponding turntable. For example, depending on the diameter of the bottle different rotational curves are used, or if there is no object on the corresponding turntable, typically a rotation profile is selected in which the turntable performs no rotational movement. Furthermore, the predefined criteria may relate to operating parameters such as the speed of the transport element. Is z. As the speed of the transport element higher, so it is often useful to select rotation characteristics that lead to faster rotational movements of the turntable. In addition, in many cases it is necessary to coordinate among themselves the following rotational profiles, which may mean that there are predefined criteria which take into account the boundary conditions of other rotational profiles (for example, a rotation course should start with an orientation ending the corresponding preceding rotation course). ,

According to the invention, it is also recognized whether there is an object on the turntable. If an object is located on the turntable on this turntable, the type of the corresponding object is determined according to a further embodiment of the invention. Detection of articles is typically accomplished by means of cameras or other suitable detection means (e.g., tinfoil sensor, matrix laser). The data collected by the detectors are preferably automatically processed so that the entire detection process is automatic.

Furthermore, it is advantageous to take into account the state (eg angle of rotation, rotational speed, rotational acceleration) of the turntable at the end of the preceding rotation course. In addition, it makes sense, the state of the turntable at the beginning of one or more possible subsequent rotational courses to be considered. In this way it can be ensured that it does not jump in the state parameters of the corresponding turntable when changing between two rotational curves (a drive element of a turntable can be spared, for example, that at the end of a first rotation curve, the rotational speed is the same as the rotational speed at the beginning of a second rotation course, so that a jump in the rotation speed is avoided when changing between the first rotation profile and the second rotation profile).

A rotation course preferably describes the time profile of the rotation angle α of a turntable. (The angle α is defined in the main plane of a turntable with the apex of the angle at the center of the turntable, it is irrelevant at which orientation of a turntable the zero point of α is defined, as long as the zero point of α is consistent for the different rotation gradients is used.). The rotational angle (the orientation), the rotational speed (or angular velocity) and the rotational acceleration (or angular acceleration) of the turntable can be derived from the time profile of the rotational angle α for each defined in the course of time. Turning processes are also possible in which the angle of rotation or the rotational speed or the rotational acceleration are constant or identically zero (for example, when the turntable is not intended to carry out a rotational movement). Preferably, a defined rotation pattern is a control sequence that can be used to control a drive element. In a further preferred embodiment, a control sequence is stored locally in the memory of a corresponding drive element of a turntable. In this way, it is possible that a defined rotation history can be retrieved in a relatively short time (less than five milliseconds). A short access time is particularly advantageous when frequently switching between different rotational gradients.

The invention further relates to a labeling machine for labeling objects (eg bottles or other containers), wherein the labeling machine has at least one control element in order to carry out the steps explained above. In a preferred embodiment of the invention, a labeling machine has a central control, which decides, for example, which rotation profile should be used when passing a specific node. In addition, a labeling machine preferably comprises a plurality of local controls, each local control each controls a drive element of a turntable (further, it is possible that a local control is located in the corresponding drive element of a turntable). Preferably the rotation curves (or at least one rotation curve) are stored in the local control elements, whereby the access time to the corresponding rotation curves can be shortened.

Moreover, the invention relates to a control program for controlling at least one turntable, wherein a turntable is mounted on a transport element (eg a turntable or a conveyor belt) and can be moved away by the transport element. Each turntable can be rotated by means of a drive element relative to the transport element. The control program comprises instructions that control the execution of a method according to claim 1.

The control program is preferably stored on a machine-readable storage medium.

• Fig. 1 einen Graphen mit Knotenpunkten und Drehverläufen;
• Fig. 2a-2e Beispiele von verschiedenen Drehverläufen;
• Fig. 3a-3d schematische Ansichten von Etikettiermaschinen mit Drehtellern; und
• Fig. 4 ein Flussdiagramm mit möglichen Verfahrensschritten.

Further aspects of possible embodiments of the invention will be apparent from FIGS. 1, 2a, 2b, 2c, 2d, 2e, 3a, 3b, 3c, 3d and 4. Showing:

• Fig. 1 a graph with nodes and rotation curves;
• Fig. 2a-2e Examples of different rotation processes;
• Fig. 3a-3d schematic views of labeling machines with turntables; and
• Fig. 4 a flowchart with possible process steps.

In Fig. 1 a graph is shown which consists of nodes (represented by circles) and rotation curves (represented by arrows). There are nodes that are not directly connected to each other directly (eg K ₂ with K ₄ ), or via one (eg K ₁ and K ₂ ) or via several (eg K ₂ and K _3a ) rotation profiles are.

A node defines the location and / or time at which a turntable is located. Nodes can also be defined relative to other nodes (eg over distances or over time differences). For example, it is possible that the nodes K ₁ and K _{2 are} spatially separated. In addition, a certain amount of time is required to get from K ₁ to K ₂ . Therefore, K ₁ and K _{2 are} also separated in time. Consequently, a node may be defined over the location or over time or over a combination of location and time. In the event that a turntable z. B. is attached to a rotating turntable, the turntable comes at certain intervals over and over again in the same place. Therefore, it is possible that two nodes (eg, K ₁ and K ₅ ) differ only in time but not in spatial position. (Therefore, nodes are also conceivable that are defined only by time coordinates.)

Revolutions describe the time course of rotation of a turntable (ie rotation angle or orientation of the turntable as a function of time), wherein a rotation curve begins at a first node, and ends at a node. For example, the rotational course D _1.2 begins at node K ₁ and ends at node K ₂ . A rotation profile is preferably used to control a drive element of a corresponding turntable.

The graph of Fig. 1 is essentially traversed from above (K ₁ ) down (K ₅ ). Several different paths from K ₁ to K _{5 are} possible. Is it such as in Fig. 1 shown to a cycle in which the point K ₁ is repeatedly (spatially) passed, so the graph is closed in itself (here by D _5.1 ), so that the graph can be traversed multiple times. However, it is also possible graphs that are not self-contained.

At node K ₄ only one rotation profile, namely rotation D _{4,5 is} possible. However, there are nodal points where multiple rotation curves are possible, such. B. at node K _2nd Here there are two rotational curves to get to the node K _3a , and another rotation curve to get to the node K _3b . Furthermore, it is possible to skip certain nodes (for example, you can get directly from K ₁ to K ₄ through the rotation curve D _1.4 ). This option is particularly useful when a turntable for a long time or distance should not perform any rotational movement, as by switching nodes, less change between rotational profiles are necessary, which simplifies the control of a turntable (it requires less computing time). Node K ₄ is a node at which meet three rotational gradients, and of which only a rotation course leads away. Such a configuration is useful, for example, when a turntable is first brought back into a uniform state of rotation (when reaching K ₄ ) and then through the rotation curve D _4.5, for example, back into his Starting position (at K ₅ ) is rotated. At branching points (eg K ₁ and K ₂ ) there are several turning profiles available. The decision as to which path is taken or which rotation course is selected can be made on the basis of predefined criteria or of detected measurement data (eg type of container currently located on the corresponding turntable).

The combination of the rotational gradients D _2,3b and D _{3b, 4} connects the nodes K ₂ and K ₄ , without a branching possibility being given at node K _3b . It would therefore be possible to replace the rotational gradients D _2,3b and D _{3b, 4} by a single rotational course D _2,4 . The splitting of rotational profiles, however, makes sense in some cases, as this gives the possibility to reuse rotational profiles at different points (eg, the rotation D _{3b, 4} could be identical to the rotation D _2,3a ), so that the number of defined rotation profiles low can be held.

By juxtaposing several rotational gradients creates a total rotation. In periodically recurring processes, it is possible to store this total rotation profile and use it several times. In other - typically more complex - situations, it is more advantageous to recombine the rotation histories over and over again when repetitions of overall rotations are relatively rare.

A graph, as exemplified in Fig. 1 is shown, or a control program implementation of which can be made or changed together, for example, before commissioning a labeling machine. It is for example possible to completely redefine a graph before the actual use (including new node K and new rotation curves D), or you can reassemble existing nodes K and rotation D or graphs by removing and / or adding nodes K and Modify, or the rotational gradients D, wherein the nodes K and / or rotational gradients D are either at least partially redefined or at least partially already defined nodes K and / or rotational gradients D are reused. In particular, the reuse of already defined nodes K and / or rotational profiles D allows an efficient (time-saving) compilation of a graph for controlling rotational movements of a turntable. In the most general embodiment, each turntable is associated with an individual graph. Typically, however, the same graph is used for similar turntables.

The Fig. 2a-2e show examples of rotations. In the illustrated revolutions, the angle of rotation α is defined as a function of time t. However, there are other definitions of rotation processes conceivable, such. As the rotational speed as a function of time, or the angle of rotation as a function of the place. In the example of Fig. 2a the angle of rotation increases linearly up to a time t ₁ and then remains at a constant level. A linear increase in the angle of rotation also corresponds to a constant rotational speed and zero spin. In case of Fig. 2a the rotation begins at the starting point (α = 0 °) and ends at an angle of 360 ° (which in this case is again the starting point). However, it is also possible that a rotation course ends with an angle that does not correspond to the starting point of the turntable.

In Fig. 2b a rotation curve is shown, which initially increases linearly until time t ₁ and then linearly drops back to the starting point. In this example, the direction of rotation at time t _{1 changes} in the opposite direction. Fig. 2c shows a rotation curve in which the rotation angle first increases to a level α ₁ , then remains constant until a time t ₂ and then increases again up to a time t ₃ , to subsequently maintain a constant level α ₂ . It should also be noted that the rotation has no abrupt, but rounded slope changes. These roundings correspond to acceleration or deceleration phases, whereby jerky movements of the turntable can be prevented.

Fig. 2d shows a rotation course that unlike Fig. 2c ends again at the starting point. The rotation from Fig. 2d has constant phases between the times t ₁ and t ₂ and the times t ₃ and t ₄ , which means that the turntable is not rotated in these two time intervals, so that the rotation angle, the rotation speed and the spin are zero.

In Fig. 2e a rotation course is shown in which the turntable at the beginning of the rotation is not in the starting point (origin), but in a position α ₂ . In the further course of the turntable in two time intervals (from t ₁ to t ₂ and from t ₃ to t ₄ ) is rotated back to the zero position. Next are also possible rotations (not shown), in which at the beginning or at the end of the rotation, the rotational speed and the spin are not equal to zero.

In the Fig. 3a, 3b . 3c and 3d Labeling machines or parts thereof are shown schematically. In the embodiment 3a are turntables 1 on a turntable 2a (transport element 2) attached. The turntables 1 can be rotated in and / or counterclockwise (indicated by double arrows) around its center. The turntable 2a typically only rotates in one direction (eg arrow direction). Also shown are two labeling units 3, on which the turntables are moved past. The detectors 4 (for example, cameras 4a or matrix laser or Stannioldetektoren 4b) are used to detect whether or what kind of object is on a turntable 1.

An embodiment of a labeling machine with an alternative conveying element 2, namely a conveyor belt 2b is shown in FIG Fig. 3b shown. Again, the turntable 1 on detectors 4 and labeling 3 are moved past. Typically, a labeling machine with a conveyor belt 2b includes a return (not shown) so that the turntables 1 are moved past the respective components 3 and 4 at recurring intervals. An above-mentioned node may for example be defined at the position at which the corresponding turntable 1 reaches the labeling unit 3 or leaves. However, in general, nodes do not necessarily have to correspond to a particular location. Rather, it is also possible to define nodes over distances to other nodes or over times or over time intervals to other nodes.

Fig. 3c shows a detailed view of a turntable 1, on which an object 7 (eg a bottle) is located. The turntable 1 is rotated by a drive member 5 (such as a servomotor). The drive element 5 preferably comprises an electronic component 6 with a memory, on which rotational characteristics can be stored. The local storage of rotation curves allows a quick retrieval or activation of the corresponding rotation curves. Next is in Fig. 3c a transport element 2 indicated, on which the turntable 1 is fixed with drive element 5. Rotational movements of the turntable 1 are carried out relative to the transport element 2. The axis of rotation of the turntable 1 is typically perpendicular to the main plane of the transport element 2. However, it is also possible configurations with inclined axes of rotation.

In Fig. 3d Various control components for controlling turntables 1 are shown schematically. A central control unit 8 is connected to one or more local control units 6, wherein a local control unit 6 is assigned to a turntable 1 or its drive element 5. The local control units 6 can either all be constructed identically or they can be at least partially different. In the local control elements 6, the above-mentioned rotational characteristics D are preferably stored, so that they are available as quickly as possible. As a result, a transmission of the rotational profiles D from the central control unit 8 to a local control unit 6 is not necessary. Instead, it is sufficient to transmit only the identifiers (or activation commands for specific rotational gradients D _i ) of the corresponding rotational characteristics D. Data transmission paths are shown by dashed lines. The data can be transmitted electrically via cable. However, other data transmission paths (eg infrared or radio signals) are also conceivable.

The central control unit 8 is typically responsible for the overall coordination of the rotary operations of the turntable 1. In the central control unit 8, one or more graphs are typically of the type of Fig. 1 (or control program implementations thereof) stored, depending on whether all turntables 1 are to be controlled using the same graph, or whether different turntables 1 are to be controlled by means of different graphs. Preferably, said graphs can be defined or modified via a user interface 9. Furthermore, it is possible to redefine or modify rotational profiles D and / or nodal points K via this user interface 9. Newly defined or changed rotational profiles can then be transmitted from the central control unit 8 to the corresponding local control units 6.

In the operation of, for example, a labeling machine, the definitions of graphs, node points K or rotational profiles D are typically not changed (although possible in principle) for a particular labeling operation. Rather, when passing the turntable 1 of nodes K corresponding rotation curves D are selected (optional) and activated. These steps are preferably carried out by the central control unit 8. When activating a rotational course D _i , a corresponding activation signal for said rotational course D _{i is sent} to the corresponding local control unit 6 by the central control unit 8. Preferably said rotation D _{i is} already stored on the local control unit, so that only the activation command, but not the rotation D _i itself, must be transmitted. An activated rotation curve D is used by a local control unit 6 to control (between passing a first node K _i and passing a second node K _j ) the rotational movements of a turntable 1. The rotational movement of a turntable 1 is formed by driving a turntable 1 associated drive element 5, which can turn said turntable 1 in a rotational movement.

The selection of a rotational course D is preferably carried out in the central control unit 8. This can be done taking into account measurement data of corresponding detectors 4. In addition, the central control unit 8 is preferably configured to recognize the passing of nodes K. The recognition of the passing of account points K is typically carried out by recognizing and / or by tracking the temporal or spatial information of a corresponding turntable.

For another ev. Then later running other labeling (other bottle, other label or the like) then other movements can be entered and retrieved accordingly or from the large number of previously stored processes then the appropriate selected.

Fig. 4 shows a flowchart of a typical method for controlling a turntable, which comprises method steps, which can also be used in a method according to the invention. It is noted that not every method step necessarily has to be performed, and that the order of the method steps may be different in other embodiments of the invention.

At the beginning 10 of the method, nodes are defined in step 11. These definitions relate to the spatial and / or temporal positions or distances of a turntable. In step 12, multiple rotations are defined. A rotation profile is defined between a first and a second node, wherein the rotation course describes a rotational movement of a turntable. Steps 11 and 12 are typically performed only once. Furthermore, it is also possible to reuse already existing definitions of nodal points or of rotational profiles, as a result of which the expenditure for steps 11 and 12 can be at least partially saved.

In step 13, a node is passed, whereupon in step 14, an old rotation history (if any) is deactivated. However, deactivating an old rotation pattern can also be done by replacing or overwriting an old rotation profile with a new rotation pattern. Therefore, step 14 is optional. In step 15, a new rotation profile is selected if multiple rotation profiles are available for selection at a corresponding node. Therefore, step 15 is also optional. A selection of a rotational course typically takes place on the basis of predefined criteria which concern, for example, objects on a turntable and / or operating parameter of the transport element and / or boundary conditions (eg predetermined by other rotational characteristics). In step 16, the new spin history (selected in step 15) is activated. At position 17 is queried whether the procedure or program is to be ended (end 18), or whether the procedure should be continued. If the process continues, typically a (possibly different) node is again passed (step 13) so that steps 14, 15 and 16 (if necessary) are also performed. The steps 13 to 17 are typically run through several times, but depending on the nature of the node passed and current situation different rotation profiles can be selected or activated.

Claims (11)

1. Method for controlling at least one rotary plate (1) which is attached to a transporting element (2), such as for example a rotary table or a conveyor belt, and can be moved by the transporting element (2), and wherein each rotary plate (1) by means of a drive element (5) can be rotated in relation to the transporting element (2), the method having the following steps:

   (11) defining two or more nodes (K) which can be spatially and/or temporally passed by the rotary plate (1);

   (12) defining a plurality of rotational courses (D) between the first and the second nodes (K₁, K₂), wherein a rotational course (D) defines a rotational movement of the rotary plate (1) by means of the drive element (5);

   identifying whether an object (7) is on the rotary plate (1);

   (15) selecting a rotational course (D) based on one or a plurality of predefined criteria when a node (K) is passed,

   wherein the predefined criteria relate to objects (7) which can be on the rotary plate (1), and/or wherein the predefined criteria relate to operating parameters, such as for example the speed of the transporting element (2), and/or wherein the predefined criteria relate to one or a plurality of other rotational courses (D),

   (16) activating a first of the defined rotational courses (D_1,2) when the first node (K₁) is passed; and

   (14) deactivating the activated rotational course (D_1,2) when the second node (K₂) is passed.
2. Method according to Claim 1, wherein a second defined rotational course (D_2,3a) is activated when the second node (K₂) is passed.
3. Method according to Claim 1 or 2, wherein the first node (K₁) is passed a number of times, so that the first defined rotational course (D_1,2) is activated a number of times, preferably at periodic time intervals.
4. Method according to any one of Claims 1 to 3, wherein at least one defined rotational course (D) is stored with the drive element (5) of the rotary plate (1), and/or wherein if a plurality of rotary plates (1) with respective drive elements (5) are present, the total of all defined rotational courses (D) is stored with each drive element (5) of the respective rotary plate (1).
5. Method according to any one of Claims 1 to 4, having the following further step: if an object (7) is on the said rotary plate (1), identifying the type of object (7) on the rotary plate (1).
6. Method according to any one of Claims 1 to 5, wherein the state of the rotary plate (1) at the end of the preceding rotational course (D) is taken into account, and/or wherein the state of the rotary plate (1) at the beginning of one or a plurality of possible subsequent rotational courses (D) is taken into account.
7. Method according to any one of Claims 1 to 6, wherein a rotational course (D) describes the temporal course of the angle of rotation (α) of a rotary plate (1), so that the temporal course of the angle of rotation (α) gives information about the angle of rotation (α), about the rotational speed and about the rotational acceleration of the rotary plate (1).
8. Method according to any one of Claims 1 to 7, wherein a defined rotational course (D) is a control sequence for actuating a drive element (5), and/or wherein a defined rotational course (D) is stored locally in the memory (6) of one or a plurality of drive elements (5).
9. Labelling machine, for example for labelling bottles (7), having at least one control element with a control program, characterised in that the control program comprises instructions which control the implementation of a method according to any one of Claims 1 to 8.
10. Control program for controlling at least one rotary plate (1) which is attached to a transporting element (2), such as for example a rotary table or a conveyor belt, and can be moved by the transporting element (2), and wherein each rotary plate (1) by means of a drive element (5) can be rotated in relation to the transporting element (2), wherein the control program comprises instructions which control the implementation of a method according to Claim 1.
11. Machine-readable storage medium having the control program according to Claim 10.

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