AEG Identifikationssysteme AREK1-1 RFID Reader User Manual ARE K1 set of comands englisch
AEG Identifikationssysteme GmbH RFID Reader ARE K1 set of comands englisch
Contents
- 1. user manual
- 2. User manual II
- 3. user manual ext antenna
user manual
Set of Commands for ARE K1 / RS232 Inhalt INTRODUCTION ............................................................................................................ 5 MODES OF OPERATING ............................................................................................... 5 2.1 Change of Operating mode ........................................................................................................................5 2.2 Operating mode 0 - continuous mode .........................................................................................................6 2.3 Operating mode 1 - running externally triggered........................................................................................6 2.4 Operating mode 2 - reading triggered by the serial interface .....................................................................8 PROTOCOL FORMAT ..................................................................................................... 8 3.1 Echo function ............................................................................................................................................8 3.2 Entering of commands...............................................................................................................................9 3.3 Output format............................................................................................................................................9 3.3.1 Command specific response.................................................................................................................9 3.3.2 Response to a parameter change .........................................................................................................9 3.3.3 Response to a parameter query .........................................................................................................10 3.4 Parameters .............................................................................................................................................10 3.4.1 Set of parameters.............................................................................................................................10 3.5 Blank input line.......................................................................................................................................10 3.6 Erroneous entering of commands - error codes ........................................................................................11 3.7 Boot message..........................................................................................................................................11 3.8 Use of capital letters ...............................................................................................................................11 3.9 Line feed ................................................................................................................................................11 3.10 Output format for the transponder number ...........................................................................................11 3.10.1 Output format for the NoRead information .......................................................................................12 3.10.2 Output of a reader number................................................................................................................12 COMMAND SET SPECIFICATION............................................................................... 12 4.1 ALGO......................................................................................................................................................12 4.2 BD ..........................................................................................................................................................12 4.3 CID .........................................................................................................................................................13 4.4 CN ..........................................................................................................................................................14 --------------------------------------------------------------------------------2/26-------------------------------------------------------------------------------- 4.5 DIAG ......................................................................................................................................................14 4.6 EC ..........................................................................................................................................................15 4.7 GT ..........................................................................................................................................................15 4.8 INIT .......................................................................................................................................................15 4.9 MD .........................................................................................................................................................16 4.10 NID .....................................................................................................................................................16 4.11 NRD ....................................................................................................................................................17 4.12 QR1.....................................................................................................................................................17 4.13 QN1.....................................................................................................................................................17 4.14 RNR ....................................................................................................................................................18 4.15 RST.....................................................................................................................................................18 4.16 TOR.....................................................................................................................................................18 4.17 VER ....................................................................................................................................................19 4.18 VS.......................................................................................................................................................19 4.19 VSAVE................................................................................................................................................19 DESCRIPTION OF HARDWARE NEAR FUNCTIONS .................................................. 21 5.1 Cold start ................................................................................................................................................21 5.2 Interface to the master ...........................................................................................................................21 5.3 Digital trigger input.................................................................................................................................21 5.3.1 Logical level.....................................................................................................................................21 5.3.2 Timing characteristics ......................................................................................................................21 5.4 Digital trigger outputs .............................................................................................................................21 5.4.1 Logical level.....................................................................................................................................22 5.4.2 Logical function ...............................................................................................................................22 5.5 Indicating elements (LEDs).....................................................................................................................22 5.6 DIP-switches...........................................................................................................................................22 APPENDIX .................................................................................................................. 24 6.1 Glossary ..................................................................................................................................................24 --------------------------------------------------------------------------------3/26-------------------------------------------------------------------------------- 6.2 list of control characters..........................................................................................................................24 6.3 List of error messages .............................................................................................................................25 6.4 List of system commands.........................................................................................................................25 6.5 List of parameters and default values ......................................................................................................25 --------------------------------------------------------------------------------4/26-------------------------------------------------------------------------------- 1 Introduction The individual command set of a readers or decoders manufactured by AEG ID base on standardized command sets, that are specific to each class of readers/decoders. This standardized command sets are designated as ASB, which means AEG ID Standardized Command Set. The standardized command sets make it possible to use different hardware components (within a class of readers/decoders) without modification of the software application. The command set of the ARE K1 is compatible to the ASB 1.0. Beyond it the ARE K1 RS232 is provided with a special command for self-diagnosis and extended parameter settings as well. The difference between the command set of the ARE K1 and the ASB 1.0 is made quite clear at the relevant subjects in this description. Modes of operating Three basic modes of operating are defined: • Operating mode 0 (continous mode) - reader is automatically triggered • Operating mode 1(external mode) - reader is externally triggered • Operating type 2 (command mode)- reader is triggered by serial interface 2.1 Change of Operating mode The operation mode of the ARE K1 can be changed out of each operation mode using the MD command1. this behaviour is not universally applicable at ASB 1.0 --------------------------------------------------------------------------------5/26-------------------------------------------------------------------------------- 2.2 Operating mode 0 - continuous mode When operating continuously the exciter is switched on permanently. The reading cycles are initiated periodically. After an accomplished reading cycle the reading information is evaluated. After that data (either transponder number or NoRead code) is output to the serial interface. exciter processor reading cycle interface reading cycle ID reading cycle ID ID Figure 2.1: continuous operation 2.3 Operating mode 1 - running externally triggered In operation mode 1 the exciter is turned off. As soon as the external triggered signal rises from logic 0 to 1, the exciter is started and a reading process is initiated. trig_in exciter processor interface reading cycle ID Figure 2.2: external triggering -limitation of the switch period through a successful reading After a successful reading cycle, the exciter is turned off immediately (irrespective of the trigger signal). The next reading cycle starts at the next leading edge (0 to 1) of the trigger signal. If a reading cycle is not successful, the reading process is controlled by the state of the external trigger signal: further reading cycles are started as long as either a successful cycle has occurred or the external trigger signal is logic 0 again. In the latter case the identification NoRead code is output. --------------------------------------------------------------------------------6/26-------------------------------------------------------------------------------- trig_in exciter processor reading cycle reading cycle interface reading cycle NoRead reading process Figure 2.3: external triggering - limitation of the switch period through the Trig_In signal Please note: In the course of the reading process no NoRead message will be output! --------------------------------------------------------------------------------7/26-------------------------------------------------------------------------------- 2.4 Operating mode 2 - reading triggered by the serial interface In operating mode 2, the exciter is always turned off. Triggered by the command GT, the exciter is activated. After successful reading of a transponder number the exciter is turned off automatically. exciter processor reading cycle GT interface ID Figure 2.4: software triggered reading operation If the first reading cycle yields no result (NoRead), the on-time of the exciter is limited by the parameter TOR (time out reader): Reading cycles are continuously started until either a transponder is read successfully or the time span corresponding to the value of the parameter TOR has expired. The reader will not interrupt the last running readout cycle. If no transponder number has been read, a NoRead is output. TOR exciter processor interface reading cycle reading cycle reading cycle GT NoRead reading process Figure 2.5: software triggered reading operation with TOR>0 Please note: Within the time span defined by the value of TOR no NoRead will be output on the interface! Protocol format The command set described in this chapter defines the transfer of data on the serial interface. The commands consist of a command code and of a parameter value optionally. Commands are terminated by the control character(13H). The control character terminates the command line. Command codes and parameters, that means all letters and numerical values, are principally transmitted as a sequence of ASCII characters (the value 255 (decimal) consequently as 32H, 35H, 35H; the command RST as 52H, 53H, 54H). 3.1 Echo function The echo function can be switched on or off. --------------------------------------------------------------------------------8/26-------------------------------------------------------------------------------- If the echo function is activated using the EC command, every signal sent to the reader is immediately sent back (echoed) after receipt. Thus the echo function can be used as life indication. If the reader is controlled by a terminal, the echo function should normally be activated. If an echo function is not intended, e.g. in automation applications where the reader might be connected to an PLC, the echo function should be deactivated. 3.2 Entering of commands The protocol format is as follows command parameter The space character separates the commands from the parameter value. The character terminates the command line. For commands without parameter values (e.g. GT or RST) the character and parameter values are omitted. The command line is as short as this: command . 3.3 Output format Generally, every input terminated by is acknowledged by the reader. The following response protocols are different: 3.3.1 Command specific response After a correct command without parameter value is sent to the reader, the reader answers using a format, which is specific for the submitted command. Example: Command: GT Output: transponder number or NoRead-code2 3.3.2 Response to a parameter change After entering a valid command together with a parameter value, the system answers by sending the parameter value and . Example: Command: MD 1 Output: 1 see chapter3.10.1 --------------------------------------------------------------------------------9/26-------------------------------------------------------------------------------- After entering an invalid parameter value, the system answers with the corresponding error code (see chapter 3.6 ). 3.3.3 Response to a parameter query Parameter settings can be queried by sending the command without adding an parameter value. Example: Command: MD Output: 1 3.4 Parameters Generally a command comes with one parameter value at the most. Command code and paramter value are separated by SP>. 3.4.1 Set of parameters The ARE K1 is provided with three independent sets of parameters: • the set of parameters ex work • the set of parameters specific to the application plus • the actual set of parameters The set of parameters ex work enclose all original reader settings. This set is stored in the EPROM and can’t be changed. The set of parameters specific to the application is stored in an EEPROM. This set defines the configuration after a cold start. The actual set of parameters defines the actual function of the decoder. It is stored in the RAM. All changes of the parameter values have an effekt to the actual set of parameters only. This set is temporary, that means all values are lost after switching off the decoder. Using the VSAVE command (see chapter 4.19) the actual set can be stored permanently as set of parameters specific to the application. Then all values are loaded back automatically after a cold start. 3.5 Blank input line If a single is input, the reader answers with a single . Example: Command: Output: --------------------------------------------------------------------------------10/26-------------------------------------------------------------------------------- Please note: If echo mode is active, a single forces the reader to output (echo plus output). 3.6 Erroneous entering of commands - error codes If a command is not entered correctly, the reader sends one of the following error codes: 3.7 Wrong command: #00 Wrong parameter: #02 Boot message After booting the system (cold and warm start) the software version is output as described for the VER command (see chapter 4.17), if echo is active. If echo is disabled, no boot message will appear. 3.8 Use of capital letters The standard operating system is not case-sensitive, that means capital- and small letters are treated the same. 3.9 Line feed A line feed character is not sent by the decoder. If the decoder is controlled by a terminal, a line feed can be added by the terminal software (option: replace CR by CR LF at receipt). 3.10 Output format for the transponder number The location of the transponder bits in the ASCII characters is shown in Table 3.1: D38 ... D32 ASC9 ASC8 D31 ... D24 ASC7 ASC6 D23 ... D16 ASC5 ASC4 D15 ... D8 ASC3 ASC2 D7 ... D0 ASC1 ASC0 1011 1101 BDH 42H 44H 1001 0010 92H 39H 32H Table 3.1: data format of the transponder number 000 0000 00H 30H 30H 0001 1111 1FH 31H 46H 0011 0111 37H 33H 37H Table 3.2: example of a transponder number --------------------------------------------------------------------------------11/26-------------------------------------------------------------------------------- The transponder ID 001F37BD92 will be transmitted on the interface using the characters 30H, 30H, 31H, 46H, 33H, 37H, 42H, 44H, 39H, 32H and . 3.10.1 Output format for the NoRead information An unsuccessful reading cycle is represented by the NoRead character sequence (see CN command in chapter 4.3). Normally the NoRead is coded by the number FFFFFFFFFF, which can never appear as transponder code. Alternativly at the ARE K1 a NoRead information can be output using the error messages #09 . For this the parameter value of CN has to be set to 23. 3.10.2 Output of a reader number For readers connected by a network the output of an individual reader identification is necessary, to assign a message with the belonging sender device. This identification can be made activating the RNR function (see chapter 4.14 - reader number). If the RNR function is active, each reader answer is preceded by a reader number and a space character as well (i.e 15 ). Command set specification 4.1 ALGO Algo defines the type of chip used. Input format: Parameter value 4.2 ALGO Parameter Function Trovan read only PSK output (example): 1 note: After correct parameter setting, Algo defines chip type used. BD The BD command enables the change of the baud rate. not compatible down to ASB 1.0 --------------------------------------------------------------------------------12/26-------------------------------------------------------------------------------- Input format: BD Parameter Parameter value 24 4.3 Function 4800 baud 9600 baud 19200 baud 38400 baud output (example): 2 note: The settings are effective after a warm start using the RST command. CID With CID=1 only the first of in succession identical transponder numbers is output on the serial interface. The possibly following identical transponder numbers are suppressed, as long as no new valid transponder number is received, processed and output. NoReads do not influence the data filtering input format: Parameter CID parameter Function no filter function suppression of repeatedly read IDs output (example): 0 Example: A, B, C are specific different transponder numbers, N is NoRead: Sequence of reading cycles Output sequence after Output sequence after filtering with CN=0 filtering with CN=1 and CID=1 and CID=1 N, N, ......,N, A, A, A, ....A, N,N, ......... N, N, ......,N, A, N, N, ....... N. N, N, A, A, A, N, A, A, B, A, C, C, C, ....... N. N, N, A, N, B, A, C, ..... N, N, B, B, B, B, B, N, N, N, B, B, B, B, N, N, N, B, N, N, N, N, N,... N,... N, N, N, B, B, B, B, B, N, B, B, B, B, N, N, N, N, N, B, N, N, N, N, N, .... .... A, B, A, C Table 4.1: example for the effect of the CID function annotation: The internal reference number is cleared at the following conditions: • after a cold start • after a warm start default values are underlined --------------------------------------------------------------------------------13/26-------------------------------------------------------------------------------- • after entering the command line CID 1 This causes that the next transponder code is output definitely. The filter function CID picks up the results of the complete reading cycles, while the parameter NID proceeds from the results of single readings! The filter function CID has effect on the serial interface only. The digital output QR1 is not effected by CID. caution: 4.4 CN The CN parameter defines the type of NoRead output. input format: Parameter CN parameter Function issue NoReads on serial interface using FFFFFFFFFF suppress NoReads on serial interface issue NoReads on serial interface using #09 5 output (example): 4.5 0 DIAG A self-diagnosis is executed. An antenna test is included. input format: DIAG function: A test of the antenna is executed . After this either the message #99 (o.k.) is output on the interface or the message #10 (anntenna failure). annotation: With an antenna failure the Error-LED is set. parameter value 2 is not compatible down to ASB 1.0 --------------------------------------------------------------------------------14/26-------------------------------------------------------------------------------- 4.6 EC The EC parameter changes of the echo function setting. input format: Parameter output (example): 4.7 EC parameter Function echo on echo off 0 GT The reading command code is GT. For details to this function see chapter 2. input format: GT output: Dependent of the parameter settings and the actual antenna input signal, three different responses are possible in operating mode 2: • Transponder number, e.g. 001F37BD92 • NoRead, e.g. FFFFFFFFFF • as command acknowledge, if a filter function is active, which cut the transponder code or the NoRead result. annotation: 4.8 In mode 2 the GT command triggers a reading process. In mode 1 the GT command is effectiv too6. In mode 0 the GT command has no effect. INIT With INIT a warm start with default values is executed. input format: INIT output: Version number if EC=1, otherwise only course: not compatible down to ASB 1.0 --------------------------------------------------------------------------------15/26-------------------------------------------------------------------------------- EPROM RAM INIT set of parameter ex work (default values) actual set of parameter Figure 4.1: function of INIT 4.9 MD The command MD changes the operating mode. input format: MD parameter Parameter Function continuous operation externally triggered triggered via serial interface output(example): 0 4.10 NID NID specifies the number of identical transponder numbers, which have to appear for the result ”successful reading” within a reading cycle. In the setting NID = 1, two successive readings have to show the same transponder number. input format: Parameter NID parameter Function one out of one (no effect) two out of two output (example): 1 Sequence of readings NoRead 0000125ED1, 0000125ED1 0000125ED1, 0000126ED1 Length of the reading cycle 1 reading 2 readings 2 readings Result of the reading cycle NoRead 0000125ED1 NoRead --------------------------------------------------------------------------------16/26-------------------------------------------------------------------------------- table 4.2: example for a reading cycle with NID=1 4.11 NRD For improvement of the signal to noise ratio, a number of telegrams can be superimposed. The number of superimpositions is determined by the value NRD. input format: Parameter NRD parameter Function no superimposition - evaluation of one telegram only superimposition of 2 telegrams superimposition of 4 telegrams output (example): 1 4.12 QR1 The command QR1 changes the parameters of the digital port QR1. input format: Parameter output (example): 4.13 QR1 parameter Function port turned off port turned on port controlled by previous reading process 0 QN1 The command QN1 changes the parameters for the digital port QN1. input format: Parameter QN1 parameter Function port turned off port turned on port controlled by previous reading process output (example): 0 --------------------------------------------------------------------------------17/26-------------------------------------------------------------------------------- 4.14 RNR Setting RNR not to 0 activtes the RNR fuction. Then each reader answer is preceded by a reader number and a space character as well (i.e 15 ). input format: RNR parameter Parameter 1 ... 9 Function RNR function not active the one-digit reader number and is preceded to each reader answer the two-digit reader number and is preceded to each reader answer 10 ... 99 output (example): 99 after entering RNR 99 NAK#02 after entering RNR 1A 4.15 RST With RST a warm start is executed. All changed parameter values (i.e. BD) become effecive. The relays and error LEDs are cleared. input format: RST output: Version number if EC=1, otherwise is output only 4.16 TOR Timeout for the reader. TOR is used in operation mode 2 as maximum gating time for a reading process (see chapter 2.4). The length of the maximum gating time results from the equation gating_time = TOR * TB. The time constant TB (Time Base) has always the default value 100ms. input format: TOR parameter --------------------------------------------------------------------------------18/26-------------------------------------------------------------------------------- Parameter7 ... ... 255 Function limits the reading process duration to exactly one reading cycle Tmax = 100ms Tmax = 200ms Tmax = 500ms Tmax = 25,5s output (example): 2 , this means 200ms. 4.17 VER The command VER outputs the software version of the reader. The software version is permanently stored in the program memory together with the firmware. input format: VER output: AEG ID - V1.4E 4.18 VS The command VS lists all current parameter settings. input format: VS output (example): EC 0 BD 2 MD 2 ..... 4.19 VSAVE All operating parameters temporarily stored are saved permanently using VSAVE. input format: VSAVE output: ok oder error message course: values > 9 are not compatible down to ASB 1.0 --------------------------------------------------------------------------------19/26-------------------------------------------------------------------------------- RAM actual set of parameter EEPROM VSAVE set of parameter specific to the application figure 4.2: function of VSAVE function: While storing the parameter values the EEPROM is tested by „write and verify“. On EEPROM-error the message #03 is transmitted. --------------------------------------------------------------------------------20/26-------------------------------------------------------------------------------- 5 Description of hardware near functions 5.1 Cold start After a cold start the system is initialized using the parameter values out of the EEPROM. The indicating elements (relays / LEDs) are cleared. 5.2 Interface to the master The serial interface permits communication between the reader and a master (e.g. terminal or PC). The basic configuration of the interface is 19200baud and 8N1 (8 bit, no parity and 1 stop bit). With the command BD the reader can be set to a different baud rate. Changing the data format (8 data bits, no parity, 1 start- and stop bit) is not possible. The same applies to hardware-handshaking, e.g. Xon/Xoff or RTS/CTS. 5.3 Digital trigger input For the operating mode 1 - externally triggered - a digital input channel is required. The following logical function is defined: 5.3.1 Logical level If the digital input is open (not connected), then it is in the logical state zero (0). By feeding the defined input voltage the digital input has one-level (1). 5.3.2 Timing characteristics When triggered externally, the first reading process is initiated by a change from 0 to 1 (leading edge) see chapter 2.3. 5.4 Digital trigger outputs Two specified digital outputs are defined as follows: --------------------------------------------------------------------------------21/26-------------------------------------------------------------------------------- Output QR1 QN1 Function trigger output - transponder read (QREAD) trigger output - NoRead (QNoREAD) Table 5.1: definition of the digital output channels 5.4.1 Logical level At rest all digital outputs are logical 0. This means the rest contact is closed and the working contact is open. 5.4.2 Logical function The logical function of the digital outputs is determined by the particular parameter setting. If QR1 = 2 resp. QN1 = 2, the logical function is defined as follows: After cold- and warm start all trigger outputs are set to logical zero. After processing the reading result, the corresponding output is set to logical 1 according to Table 5.1. If both trigger outputs QR1 and QN1 are set to parameter value 2, therefore only one of the trigger outputs can be at logical 1 at a time. The result of each reading cycle is displayed at the corresponding digital output until the end of the next reading process. The data filtering functions for the serial interface (e.g. CN - suppression of the NoRead output or CID) do not influence on the digital outputs. 5.5 Indicating elements (LEDs) LED1: LED2: LED3: LED4: LED5: LED6: LED7: LED8: LED9: 5.6 on when antenna is operated on when last read was not successful on when last read was a success on as long as the digital input is high on when a hardware error was detected flashing as long as the reader is powered and the microprocessor is working properly on as long as commands were received on the RS 232 interface on as long as information is transmitted from the RS.232 interface not used DIP-switches In normal condion (ex work) all DIP-switches are set OFF (down). --------------------------------------------------------------------------------22/26-------------------------------------------------------------------------------- On DIP-Switch If switch 1 is in position ON, the default values (see chapter 3 - firmware) are loaded out of the EPROM at a cold start (when reader is put in operation). DIP-switches 2 ... 8 have no function. --------------------------------------------------------------------------------23/26-------------------------------------------------------------------------------- 6 Appendix 6.1 Glossary 6.2 Telegram: Sequence of 64 data bits transferred from the transponder to the reader. Superimposition: Number of superimposed telegrams for an improved signal to noise ratio adjusted by the parameter NRD. Reading: Interval of several telegrams, whose number is fixed by NRD. The result of a reading is a transponder number or NoRead. In contrast to the reading process a reading does not appear at an external interface, that means the result is processed within the reading algorithm only. NoRead: If it is not possible to determine a transponder number (no header, wrong parity, ...), then the reader operates for the next internal operations with the transponder number FF FFFF FFFF (Hex) as NoRead information. NID: This parameter sets the number of readings with identical transponder number, which have to appear within one reading cycle for the result ”successful reading cycle”. Reading cycle: Interval of several readings. The maximum length of intervals is fixed by the values of NRD and NID. A reading cycle is successful if within the reading cycle the number of readings specified by NID yields the same result. Reading process: Interval of several readings. A reading process is started with occurrance of the trigger condition. The reading process is either terminated by occurrence of a successful reading cycle or through a break (time out, falling edge of the external trigger signal)8. At the end of a reading process appears always a result on the interface9. list of control characters Steuerzeichen SP CR NAK DEL Hexcode 20H 0DH 15H 23H 7FH Bezeichnung space character carriage return negative acknowledge number sign delete Funktion separates commands from parameters terminates command line error code error number change of operation mode after a cold start table 6.1: List of the control symbols used In operating mode 0 is a reading process equal to a reading cycle. The result will not appear when a data filter suppresses the result (e.g. NoRead suppression). --------------------------------------------------------------------------------24/26-------------------------------------------------------------------------------- 6.3 List of error messages error number #00 #01 #02 #03 #04 #05 #06 #07 #08 #09 #10 #99 function command code not known, wrong code stack-error (under- / overflow) parameter value not valid error in EEPROM function not supportet reserved reserved reserved reserved kein Code gelesen (NoRead) antenna error system o.k. (DIAG state messages) error-LED no no no no no no no no no no yes no Table 6.2: List of error messages 6.4 List of system commands commandcode DIAG GT INIT RST VER VS VSAVE function action on interface diagnosis / state of the reader read transponder (get tag) load basic configuration warm start Output version number Output of all parameter values store current configuration state or error message transponder number boot message / boot message / version number List of parameters ok Compability with ASB1.0 no yes yes yes yes yes yes Table 6.3: List of system commands 6.5 List of parameters and default values comfunction mandcode MD BD EC CN CID NID NRD RNR mode of operation baud rate echo suppression of NoRead filter function for multiply read IDs number of identical IDs per reading cycle superimposition of telegrams reader identification number universally defined parameters (ASB 1.0) 0 .. 2 0 .. 3 0, 1 0, 1 0, 1 0,1 0 .. 2 valid parameter values for ARE K1 0 .. 2 0 .. 3 0, 1 0 .. 2 0, 1 0,1 0 .. 2 0 .. 9, 10.. 99 default-values 2 (triggered by interface) 2 (19200baud) 0 (off) 0 (output FFFFFFFFFF) 0 (filter off) 1 (two out of two) 1 (two telegrams) 0 (not active) --------------------------------------------------------------------------------25/26-------------------------------------------------------------------------------- QN1 digital output QN1 0 .. 2 0 .. 2 QR1 digital output QR1 0 .. 2 0 .. 2 timeout parameter for unsuccessfull reading 0...9 0...255 TOR 2 (controlled by reading process) 2 (controlled by reading process) 5 (500ms) Table 6.4: List of parameters --------------------------------------------------------------------------------26/26--------------------------------------------------------------------------------
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