KR100987290B1 - Apparatus for controlling inverter by electronic control unit - Google Patents

Abstract

The present invention generates a starting torque to the motor 3 by the inverter 2 controlled by the electronic control unit 1, and drives the inverter 2 to a normal frequency and voltage after the load body 4 is driven. • By switching to the current control, the speed control of the motor 3 is performed. The inverter control device controls the rotational drive of the motor 3 and the motor 3 which are driven to rotate in order to vertically operate the spindle 5 for supporting the load body 4 so as to be movable up and down through the inverter 2. Has an electronic control unit 1 and an encoder 8 for detecting rotation of the motor 3. The electronic control unit 1 outputs a command for applying a high voltage to the inverter 2 when the motor 3 starts up, and detects the rotation of the motor 3 by the encoder 8, and detects the rotation of the motor 3. In response to the start-up, the inverter 2 performs normal frequency, voltage, and current control.

Electronic control unit, inverter, motor, load body, frequency, voltage, current, control, spindle, starting torque, encoder.

Description

Inverter controller by electronic control unit {APPARATUS FOR CONTROLLING INVERTER BY ELECTRONIC CONTROL UNIT}

1 is an explanatory diagram showing an embodiment of an inverter control apparatus for a motor at the time of starting a load body according to the present invention;

2 is an explanatory diagram showing a relationship between an electronic control unit, an inverter, and a motor in an inverter control apparatus of this motor;

3 is a cross-sectional view showing an example of a valve actuator in which an inverter control device of a motor is assembled when the load body starts up;

Fig. 4 is a process flow diagram showing the operation of the inverter controller of the motor when the load body is started.

[Explanation of simple symbols for the main parts of the drawings]

1 electronic control unit, 2 inverter,

3 motors, 4 load bodies,

5 spindles, 6 worm wheels,

7, worm, 8 encoder,

11, rotating shaft, 12 gates,

13 valves, 14 male threads,

20 casings, 21 reduction gears.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator for vertically moving a load body such as a water gate, a door body, a gate, a valve body, and the like, which is installed to open and close a flow path. An inverter control apparatus by an electronic control unit at the time of starting a motor for driving a load body up and down.

Background Art Conventionally, a synchronous switching method of the same power source is known when driving the motor by a constant current inverter while driving the motor with a commercial power source. In the synchronous switching method, when the load motor is driven with a commercial power supply and the drive is switched to a constant current inverter, the phase coincides with the phase after the voltage of the current inverter is substantially equal to the commercial frequency in the process of increasing the frequency of the current inverter. A pulse signal having a width from the time of generating the pulse to the time when the power factor angle of the load motor has elapsed is obtained, and the reverse conversion control of the current type inverter is performed when the phase coincidence detection signal is generated. Then, the electric power is obtained in parallel from the commercial power source and the current inverter for the motor, and then the commercial power source is separated from the motor (see, for example, Japanese Patent Application Laid-Open No. 58-39276).

In addition, AC electric valves or gates used to open and close various pipe lines and various water channels are known. The AC motor valve or gate includes a valve or gate, an AC motor driving the valve or gate, an inverter of the AC motor, an opening / closing speed detecting means for obtaining an opening / closing speed of the valve or gate, and the opening / closing speed of the valve or gate An inverter control section is provided to increase or decrease the inverter frequency of the inverter so as to have a designated opening and closing speed for each opening section. The inverter is provided in a drive mechanism of a valve or gate including an AC motor (see, for example, Japanese Patent No. 3079426).

Background Art Conventionally, it has been known to disclose watertight holding and protection of watertight rubber with respect to the watertight structure of a hydrological door door installed in a waterway. The watertight structure of the water gate has a door hall having an opening disposed on the front wall of the intake port, a door body for opening and closing the opening, and a driving means for moving the door up and down to maintain watertightness when the water passage is closed. For this purpose, the watertight rubber provided at the periphery of the position facing the opening on the inner side of the door, and the projections that separate the door from the support plate during opening and closing operation of the door, A body is provided to protect the watertight rubber, and a sinking hole of the protrusion is provided to maintain watertightness at the time of closing (see, for example, Japanese Patent Laid-Open No. 2003-206523).

With respect to the watertight structure of the hydroponic door, it is known to prevent the occurrence of guillotine damage of the rubber packing which occurs when the door closes all the waterproof openings. The watertight structure of the water gate is arranged with watertight rubber arranged along the water gate side door facing the lower inner surface of the door, and at the time of closing, the dam pressure passes through the water pressure introduction hole as back pressure to the watertight rubber. The door is closed to the watertight by introducing water and pressing the mountain-shaped protrusions against the door (see, for example, Japanese Patent Laid-Open No. 7-42138).

In addition, the present applicant has developed an intelligent valve actuator. The intelligent valve actuators can be used for detecting valve position limits, torque limits, etc., detecting temperature and humidity inside the housing, detecting wear of female threads of stem bushes, predicting deterioration by state data of motors and electronic components, and driving system components. Deterioration of wear and the like, electric current of the driving current of the motor, and the like are detected and monitored, and self-diagnostics are performed. It is possible to display parts replacement, alarms, and the like. The intelligent valve actuator displays the measured values from various sensors, processes the measured values of the state data in response to information deviating from the set values, and generates a state output such as parts replacement repair or alarm by processing the control circuit. In response to the measured value, the opening and closing operation of the flow path by the valve is self-controlled. The controller controls the set value in response to the measured value through a communication unit connected to the control circuit (see, for example, Japanese Patent Laid-Open No. 2004-257420).

By the way, the balcon torque motor provided in the conventional valve actuator rotates the motor by the magnet switch etc. in order to acquire initial torque, ie, starting torque. Moreover, in the conventional valve actuator, as mentioned above, various means are taken in order to obtain the watertight structure at the time of the closing of the channel of the door, and the starting torque is large to open and close the door. It is. In recent years, valve actuators have been equipped with inverters to control valves by inverters. However, in the rated vector inverter, since the starting torque required for the torque motor cannot be generated, there is a problem in employing inverter control for valve control.

An object of the present invention is to further develop the intelligent valve actuator described above, for example, in an actuator for driving a spindle for operating a load body such as a water gate, a door, a valve, a gate, and the like so as to operate up and down. In response to various information on the motor, the drive is controlled by using an inverter to drive the spindle up and down. Especially, when the load is overloaded, for example, the starting torque is 200 to 400% compared to the normal load. In order to ensure, at start-up of the load body, start processing data for shaping predetermined voltage waveforms, current waveforms and frequencies from the electronic control unit is input to the inverter, and a high voltage is applied from the inverter to the motor, Start torque is generated at the motor.After starting the motor, input the normal processing data to the inverter and check the movement state of the load body. It is to provide an inverter control device by an electronic control unit that operates at a desired speed smoothly.

The present invention provides a motor for rotationally driving to move a load body, a power transmission device for converting and transmitting rotational drive of the motor into movement drive of the load body, and an encoder for detecting a movement state of the load body. In the actuator having:

An electronic control unit for generating start processing data for shaping a voltage waveform, a current waveform and a frequency to generate a starting torque in the motor, and the starting processing from the electronic control unit for rotationally driving the motor. An inverter controlled by the input of data, the electronic control unit inputs the start processing data to the inverter at the start of the load body and outputs a command for applying a high voltage to the motor, An electronic control unit which detects the rotation of the motor and switches the inverter to frequency, voltage, and current control by normal processing data in response to starting of the motor, and controls the moving state of the load body. It relates to an inverter control device.

The start processing data created by the electronic control unit is the same as the processing data generated when a commercial power source is directly input. The start processing data is input to the inverter and applied to the motor. Generate starting torque.

Moreover, the said electronic control unit can detect and confirm the movement position of the said load body by the said encoder.

In addition, the inverter control device is configured to input signals from the inverter and the encoder to the electronic control unit, and the electronic control unit controls the inverter in response to the signal to control the operating state of the load body. It is.

In this inverter control apparatus, the command time of the start processing data input from the electronic control unit to the inverter is a short time within an allowable range originally owned by the inverter.

In addition, in this inverter control apparatus, a pulse value of a movement limit position of the load body and a predetermined setting position is registered in the electronic control unit, and the electronic control unit has a speed up to the setting position of the load body. To select and control the inverter.

In addition, the power transmission device is a female screw threaded to a male screw installed on the spindle provided with the load body, a stem bush provided with the female screw and rotatably supported by a housing, a worm wheel fixed to the stem bush, the And a worm that engages with the worm wheel to transmit rotation, and a rotation shaft which drives the worm in rotation and is connected to the motor. In addition, the electronic control unit and the inverter are housed in a casing that is detachably arranged in the housing of the actuator and can be treated as a kind of kit.

EMBODIMENT OF THE INVENTION Hereinafter, with reference to drawings, embodiment of the inverter control apparatus by the electronic control unit by this invention is described. The inverter control apparatus by this electronic control unit is preferable to be mounted and applied to a valve actuator, for example, As the valve actuator is shown to FIG. 1 and FIG. 3, for example, a water channel and a water purification plant A load body 4 such as a flow path tube 19 fixed to a housing 17 connected to a flow path such as a), a gate, a water gate, a door body, etc. arranged to open and close the flow path 18 of the flow path pipe 17. And a housing (17) provided with a spindle (5) provided with a valve (13) and supported by the housing (17) so as to be movable upward and downward, and with a female thread (15) screwed into a male thread (14) installed on the spindle (5). In order to rotate the stem bush 16 and the female screw 15 which are rotatably supported on the stem bush 15 to move the spindle 5 up and down, rotation from the motor 3 which is a drive device to the stem bush 16 is carried out. It has a power transmission device 10 for transmitting. The power transmission device 10 is engaged with the worm wheel 6 fixed to the stem bush 16 and the worm wheel 6 in order to rotate the female screw 15 to move the spindle 5 up and down from the driving means. It has the worm 7 which the rotation of is transmitted.

The valve actuator further develops the intelligent valve actuator disclosed in Japanese Patent Laid-Open No. 2004-257420, which can be controlled by the inverter 2, particularly when the motor 3 is started. Like the intelligent valve actuator, the torque detection potentiometer 9 and the load body 4 for detecting the torque loaded on the various sensors, for example, the spindle 5, in order to detect various data of the operation state of the valve. Humidity to detect the humidity inside the valve actuator, a temperature sensor made from an encoder 8 that detects the movement state of the motor) or the number of revolutions of the motor 3, a thermistor which detects the temperature of the motor 3 as a driving means, and the like. Sensor, valve opening sensor for detecting the opening degree of the flow path 18 of the valve 13, vibration sensor for detecting the vibration of the valve actuator, female thread for detecting the wear of the female thread 15 of the stem bush 16All sensors, and detects the starting current for driving the motor 3 is provided with a current sensor, etc. for detecting the operating times.

As shown in FIG. 3, the valve actuator includes a spindle 5 and a spindle 5 that support the load body 4 such as the valve 13 and the gate 12 that open and close the flow path 18 so as to be movable up and down. Rotational drive of the motor (3) for rotational operation to operate the up and down, power transmission device (10) for converting and transmitting the rotation of the motor (3) to the up and down operation to operate the spindle (5) up and down Control unit, i.e., electronic control unit 1, and encoder 8 which detects the rotation of the motor 3 or the movement state of the load body 4 for controlling the control unit through the inverter 2. Generally, in the valve actuator, since the load body 4, such as the gate 12 and the valve 13, is provided with watertight rubber, the sealed state of the closed state using a metal piece etc. around the load body 4 is used. It is made to be strong, and it is comprised to endure water pressures, such as a water shock. Therefore, in the valve actuator, at the time of starting to raise the load 4, it is in an overload state, and becomes 200 to 400% of the normal load. This inverter controller controls the motor 3 which requires high torque at the time of starting smoothly using the inverter 2, for example, when starting at the time of gate opening / closing, it is 300% compared with the normal load. The motor 3 requiring torque is produced through the inverter 2 controlled by the electronic control unit 1.

In the inverter control device by the electronic control unit, the electronic control unit 1 and the inverter 2 are housed in a casing 20 arranged to be detachably installed in the housing 17 of the actuator, and are treated as a kind of kit. can do. In particular, the inverter control device performs the start control of the motor at the time of overload, in particular at the start using the inverter 2 controlled by the electronic control unit 1, as shown in FIGS. 1 and 2. Electronic control to perform rotational drive of the electronic control unit 1 and the motor 3 which produce startup processing data for shaping the voltage waveform, current waveform and frequency for generating the starting torque of (3). It is characterized by including the inverter 2 controlled by the input of the start process data from the unit 1. In addition, this inverter control device, in particular, at the time of startup of the load body 4, receives a command for inputting high-voltage voltage to the motor 3 by inputting start processing data from the electronic control unit 1 to the inverter 2. At the same time, the encoder 8 detects the rotation of the motor 3 and, in response to the motor 3 being started, switches the inverter 2 to the frequency, voltage, and current control based on the rated or normal processing data. The up and down movement of the load body 4 is controlled.

As shown in FIG. 2, the electronic control unit 1 includes a predetermined predetermined frequency f, a voltage waveform of a predetermined voltage V, and a predetermined current I for starting the motor 3 at the inverter 2. The start processing data made up of the current waveform are input, a command for applying a high voltage V to the motor 3 through the inverter 2 is output, and the rotation speed of the motor 3 is detected by the encoder 8, In response to the start of (3), switching to the frequency, voltage, and current control of the inverter 2, that is, the normal frequency f, the voltage V, and the current I, and the operation of the vertical movement of the load body 4 are controlled. It is. The start processing data for shaping the voltage waveform, the current waveform and the frequency generated by the electronic control unit 1 are the same as the processing data generated when the commercial power source is directly input when driving the motor 3. In general, the waveform in the starting process data represents the displacement of a wave as a time function at a fixed point in space. In addition, the voltage state and the current state in the steady state of the inverter 2 loaded on the motor 3 are configured to feed back from the inverter 2 to the electronic control unit 1.

That is, the electronic control unit 1 which is a control unit inputs the start process data which can be started by the motor 3 to the inverter 2, applies it to the motor 3, and generates the torque which starts the motor 3, and starts. It is to let. The encoder 8 is connected to the motor 3 via the reduction gear 21 as shown in FIG. 2, for example, or the spindle 5 connected to the rotating shaft 11 as shown in FIG. Is installed on the worm wheel 6 for driving the motor, and the rotational speed of the motor 3 is detected. The encoder pulse is input to the inverter 2, and then the electronic control unit 1 rotates the motor 3. Speed, or speed, is checked. The encoder 8 can detect and confirm the operation position of the load body 4, and the signal is comprised so that it may be fed back to the electronic control unit 1. As shown in FIG.

In this inverter control apparatus, when the load body 4 is started, signals from the inverter 2 and the encoder 8 are input to the electronic control unit 1, and the electronic control unit 1 is an inverter 2. In response to a signal from the encoder 8, the inverter 2 can be controlled for frequency, voltage, and current, and is configured to control a smooth operating state such as vertical movement of the load 4.

In this inverter control apparatus, the command time of the high voltage input from the electronic control unit 1 to the inverter 2 is a short time within the permissible range which the inverter 2 originally has, for example, about tens of msec, and the inverter 2 In the control by the start process data, the time is almost negligible. Therefore, even if starting processing data is input from the electronic control unit 1 to the inverter 2, since it is a short time, the function of the inverter 2 is not impaired and durability is not impaired.

In addition, in this inverter control apparatus, the pulse value of the upper limit position, the lower limit position, and the predetermined setting position of the load body 4 is registered in the electronic control unit 1, and the electronic control unit 1 is negative. The speed up to the set position of the lower body 4 is instructed and selected for the inverter 2 to control the driving of the motor 3. Therefore, when the inverter control device is applied to the valve actuator, the valve 13 of the load body 4 can be adjusted at a desired vertical movement speed by the frequency, voltage, and current control of the inverter 2, The load 4 can be moved to a predetermined position precisely at a rapid or desired speed.

In addition, in the present embodiment, the power transmission device 10 includes a female screw 15 and a female screw 15 which are screwed to the male screw 14 provided on the spindle 5, and are rotatable in the housing 17. The stem stem 16 supported, the worm wheel 6 fixed to the stem bush 16, the worm 7 meshed with the worm wheel 6 to transmit rotation, and the worm 7 are rotationally driven and the motor ( It is provided with the rotating shaft 11 connected to 3).

Next, with reference to the process flow diagram shown in FIG. 4, operation | movement of the inverter control apparatus by this electronic control unit is demonstrated. First, the encoder 8 confirms the position of the gate opening / closing operation, for example, when the load 4 closes the flow path 18. This inverter control device is a startup formed when the motor 3 is started by the control of the inverter 2 by the electronic control unit 1 and is directly input from a commercial power source (not shown) as in the prior art. The start processing data identical to the data, that is, start processing data for shaping the voltage waveform, the current waveform and the frequency, is created in the electronic control unit 1, and the start processing data created in the electronic control unit 1 is transferred to the inverter 2. Input and data command (step S1). In this inverter control apparatus, start processing data from the electronic control unit 1 is input to bias the inverter 2, and the output by the start processing data from the inverter 2 is sent to the motor 3. It is output (step S2). The motor 3 is started by the output from the inverter 2 (step S3). The load body 4 is driven by the start of the motor 3, and the encoder 8 is rotated (step S4). The rotational speed of the encoder 8 is confirmed by feeding back to the electronic control unit 1 by the pulse (step S5). Therefore, the electronic control unit 1 determines whether or not the encoder pulse from the encoder 8 is a predetermined predetermined pulse number (step S6). In this embodiment, the encoder 8 is, for example, 32 pulses per revolution, and the start of the load body 4 is 4 pulses of the number of pulses of the encoder 8, whereby the electronic control unit 1 Check the starting of the motor (3). Here, four pulses correspond to 1/8 rotation of the encoder 8.

In this inverter control apparatus, the process data command at startup by the inverter 2 is set to, for example, not too long for 2 seconds. The reason for this is that the transmission time by the electronic control unit 1 with respect to the inverter 2 is a very short time, and the processing data at the start of the inverter 2 by the electronic control unit 1 is very short. If the instruction is repeatedly performed on the inverter 2 over a too long period of time, the durability of the inverter 2 may be impaired or damaged. In this embodiment, for example, a short time of about 2 seconds is used. This is because if it is set to and is performed for a short time of about 2 seconds, the adverse effect on the inverter 2 can be prevented to a minimum. The inverter controller stops the processing data from the encoder 8 to the inverter 2 by the electronic control unit 1 when there is no feedback of 4 pulses from the encoder 8 for 2 seconds (step). S13) It is assumed that damage to the inverter 2 is prevented, and the processing command is newly issued again. In this inverter controller, the electronic control unit 1 is always controlled by comparing the starting process data from the electronic control unit 1, that is, the start data command and the output of the inverter 2 (step S14).

The inverter control device starts the load within 4 seconds, that is, when the electronic control unit 1 confirms the 4 pulses from the encoder 8, the encoder pulse of the encoder 8 is predetermined. In the case of the number of pulses, since the motor 3 starts up reliably and the load body 4 drives up and down movement, since the high voltage required for starting is not required for the motor 3, the electronic control unit ( An instruction is issued to the inverter 2 from 1), and the control of the inverter 2 by the electronic control unit 1 is switched to the normal data command, that is, the normal frequency, voltage, and current control (step S7). The normal data command is input from the electronic control unit 1 to the inverter 2 (step S8), and the load body 4 is moved to a predetermined predetermined position (step S9). Subsequently, the electronic control unit 1 determines whether or not the load body 4 has reached a predetermined predetermined position by moving it while counting and confirming the number of pulses of the encoder 8 (step S10). When the load 4 reaches a predetermined position, the data command from the electronic control unit 1 to the inverter 2 is stopped (step S11), and the load 4 reaches the predetermined position. If not, the process subsequently repeats step S9, and the inverter 2 performs the movement control of the load 4. When the data command from the electronic control unit 1 to the inverter 2 is stopped, the movement of the load body 4 is stopped to complete the driving process (step S12).

The inverter control device by the electronic control unit according to the present invention is applied to a valve actuator for vertically moving a load body such as a water gate, a door body, a gate, a valve body, etc. installed to open and close a flow path, and the starting torque of the motor is electronic. The motor can be started by the control of the inverter by the control unit.

Since the inverter control apparatus by this electronic control unit is comprised as mentioned above, the process for shaping the voltage waveform, current waveform, and frequency which generate | occur | produce at the time of directly inputting a power supply with a commercial power supply when starting a motor using an inverter. Same as the data, start processing data is created by the control unit, or electronic control unit, input to the inverter to start the motor, generate a starting torque to the motor, and after the motor starts, the inverter is rated, that is, frequency according to normal processing data. It is configured to switch to voltage and current control to perform motor speed control and the like. In other words, only the normal frequency, voltage, and current control of the inverter can secure the starting torque for driving the motor, and thus requires a commercial power supply at the time of starting the motor. In this case, by simply inputting start processing data such as a start waveform to the inverter from the electronic control unit, a high voltage can be instantaneously generated in the inverter, a start torque can be generated in the motor, and the motor can be driven. It is possible to use a cheaper rated capacity, that is, a normal capacity, without exhibiting a large capacity for starting the motor, and to exhibit a characteristic of generating a desired starting torque, whereby the device itself can be manufactured at low cost. Can be. In addition, the time for inputting start processing data such as a start waveform from the electronic control unit to the inverter is a very short time which can be ignored, and there is no such thing as destroying the function of the inverter, and sufficient durability can be ensured in the inverter.

In addition, when the inverter control device is applied to, for example, a valve actuator, the control of the motor is inverter control. Therefore, the function of the inverter control device can check status monitoring maintenance, maintenance maintenance time, etc., and easily set various devices such as sensors. It is possible to make sure that it can be set, and that an encoder or a reversible device can be installed to reduce the number of parts, to reduce the cost, to reduce the failure rate, and to open the case or the like. The torque limit can be easily adjusted, intrusion of water into the switch section can be prevented, and the failure rate can be reduced. In addition, in the conventional valve actuator, the limit switch transmission part and the transmission part to the opening meter according to the instructions are constituted by mechanical gear transmission, which increases the number of parts, and is special for adjusting each limit, that is, the set value. Although a technique is required and periodic inspections have to be carried out to check for abnormalities, the inverter control device using this electronic control unit is not required for the above-described parts and operations when applied to a valve actuator. Although the combination of the gears of the reduction gear is complicated in the open meter, it can be configured by a digital liquid crystal display, which makes the conventional gear device unnecessary.

Claims (8)

Electronic control for creating start processing data for shaping voltage waveforms, current waveforms and frequencies to generate starting torque to a motor that transmits rotational drive to a power transmission device for moving a load body. A unit, and an inverter controlled by the input of the start processing data from the electronic control unit for rotationally driving the motor, The start processing data is created by the electronic control unit so as to be start processing data acquired in advance when the input side of the motor is directly connected to a commercial power source. The electronic control unit inputs the start processing data to the inverter at the time of starting that requires a high torque for raising the load which is in an overload state of 200 to 400% of the normal load of the load. When the motor is started by detecting that the motor has rotated by outputting a command for applying a high voltage to the encoder and detecting a moving state of the load body, the electronic control unit is configured to output from the inverter and the encoder. And an inverter control apparatus for controlling the movement state of the load body by switching the inverter to frequency, voltage, and current control based on normal processing data in response to a signal of. The method of claim 1, And the start processing data is input to the inverter and applied to the motor to generate the start torque to the motor. Inverter control apparatus according to an actuator electronic control unit. delete The method of claim 1, The rotational speed of the encoder detecting the rotational speed of the motor is fed back to the electronic control unit and confirmed by a pulse, and the electronic control unit determines that the encoder pulse from the encoder is a predetermined predetermined number of pulses and loads the load. Inverter control device by the electronic control unit of the actuator, characterized in that the position of the chain gate opening and closing operation can be confirmed. The method of claim 1, The command time of the start process data input from the electronic control unit to the inverter is a short time within an allowable range which does not exceed the range that may impair the durability of the inverter or damage the inverter. Inverter control device by the electronic control unit of the actuator. The method of claim 1, The electronic control unit registers a pulse value of a movement limit position of the load body and a predetermined setting position, and the electronic control unit instructs to control the inverter by instructing and selecting a speed to the setting position of the load body. Inverter control apparatus by the electronic control unit of the actuator. The method of claim 1, The power transmission device includes a female screw screwed into a male screw installed on a spindle on which the load body is installed, a stem bush provided with the female screw and rotatably supported by a housing, a worm wheel fixed to the stem bush, and the worm wheel. And a worm which engages with and transmits rotation, and a rotation shaft which drives the worm in rotation and is connected to the motor. The method of claim 7, And the electronic control unit and the inverter are housed in a casing which is arranged to be detachably arranged in the housing of the actuator.

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