Npaq MR Drive Rack
Dieses Produkt wird für neue Designs nicht empfohlen. Ziehen Sie stattdessen bitte Automation1-Antriebe und Antriebsracks für alle neuen Designs in Betracht. Automation1-Antriebe und Antriebsracks sind Teil der Automation1 Precision Motion Control Plattform, die den neuen Automation1 Software-basierten Maschinencontroller und das Automation1 Motion Development Kit umfasst. Das Npaq® MR ist ein kostengünstiges, hochleistungsfähiges Antriebsrack mit 4 oder 8 Achsen. Alle Versionen haben eine Größe von 3 HE, sind rack-montierbar und kompatibel mit der A3200-Motion-Plattform. Ausgestattet mit leistungsstarken Doppelpräzisions-DSPs führt die Npaq MR-Familie sowohl Stromschleifen- als auch Servoschleifenabschlüsse digital aus, um ein Höchstmaß an Positioniergenauigkeit und Wiederholbarkeit zu gewährleisten.
Description
Specifications
Dimensions
Ordering Info
Downloads
Description
Description
Specifications
Dimensions
Ordering Info
Downloads
Description
Gestaltungsmerkmale
- 3U, 19-Zoll-Rackmount-Design mit integrierten Antrieben
- Flexibles Design bietet die Möglichkeit, bürstenbehaftete, bürstenlose oder Schrittmotoren mit demselben Verstärker anzutreiben
- 5 A Dauer-, 10 A Spitzenausgangsstrom
- PWM- oder Linear-Verstärker
- Integrale Netzteile
- IEEE-1394 FireWire-Schnittstelle
- Digitale Strom-, Geschwindigkeits- und Positionsschleifen für verbesserte Bewegungsstabilität
- Optionales Ethernet für E/A-Erweiterung
- Integrierter Encoder-Multiplikator für höheren Durchsatz und reduzierten Verdrahtungsaufwand
- CE zugelassen, NRTL Sicherheitszertifizierung, EU 2015/863 RoHS 3 Richtlinie
Ausgestattet mit leistungsstarken Doppelpräzisions-DSPs führt die Npaq MR-Familie sowohl die Stromschleifen- als auch die Servoschleifen-Schließung digital durch, um ein Höchstmaß an Positioniergenauigkeit und Ratenstabilität zu gewährleisten. Dank dieser Verarbeitungsfähigkeit kann der Npaq MR Schleifenschlussraten von bis zu 20 kHz bieten und sowohl digitale als auch analoge E/A-Verarbeitung, Datenerfassung, Laserzündung und Encoder-Multiplikationsaufgaben in Echtzeit bewältigen.
Die Standardoptionen der Npaq MR-Familie sind
Zu den Standardoptionen für den Npaq MR gehören eine integrierte Encoder-Multiplikation, eine Bremssteuerungslogik pro Achse, eine E/A-Erweiterung und eine integrierte Not-Aus-Schaltung.
Der Npaq MR verwendet integrierte Verstärker, die sowohl lineare als auch PWM-Topologien unterstützen, um bürstenlose, bürstenbehaftete oder Schrittmotortypen zu steuern. Der Npaq MR unterstützt eine integrierte Motorbetriebsspannung mit Netz-Einschaltstrombegrenzung.
Der Npaq MR unterstützt einen positionssynchronisierten Ausgang (PSO) für die präzise Synchronisierung externer Geräte und unterstützt E/A-Optionen pro Achse mit bis zu 64 opto-isolierten Ein- und Ausgängen, die dem Anwender zur Verfügung stehen.
Features |
Units |
Description |
Number of Axes | 1 to 8 | |
Encoder Inputs | 1 Primary and 1 Auxiliary Per Axis | |
Motor Style | Brush, Brushless, Stepper | |
Power Supply | VAC | Single-Phase 100-240 VAC; 50/60 Hz (Factory Configured) |
Bus Voltage | VDC | 10-80 |
Peak Output Current (1 sec)(1) | Apk | 10 |
Continuous Output Current(1) | Apk | 5 |
Digital Inputs | Optional(2) | |
Digital Outputs | Optional(2) | |
Analog Inputs | One 12-bit Differential Per Axis | |
Analog Outputs | Optional(2) | |
Dedicated Axis I/O on Feedback Connector | Three Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three High-Speed differential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature Input | |
Dedicated I/O on Auxiliary Feedback Connector | sin, cos, mkr for Aux Enc; mkr can be used for PSO Output | |
I/O Expansion Board(2) | One 12-bit Differential Analog Input; One 16-bit Analog Output; Eight Digital Inputs, Optically Isolated, Sinking or Sourcing; Eight Optically Isolated Digital Outputs per Axis | |
High Speed Data Capture | Yes | |
High Speed Digital Outputs | No | |
BiDirectional Lines | No | |
Automatic Brake Control | Optional | |
Emergency Stop (ESTOP) | Optional | |
Position Synchronized Output (PSO) | Single Axis Standard | |
Can Output Multiplied Encoder | Only With MXH Option | |
Can Output Square Wave Encoder | Yes | |
Primary Encoder Input Frequency with Multiplication | 200 kHz sine wave (MXU); 450 kHz sine wave (MXH) | |
Primary Encoder Input Frequency Square Wave | 10 MHz square wave frequency/40 MHz count rate | |
Secondary Encoder Input Frequency | 10 MHz square wave frequency/40 MHz count rate | |
Laser Feedback Support | No | |
Encoder Multiplication(3) | x4096 (MXU); x65536 (MXH) | |
Resolver Interface | No | |
Internal Shunt Resistor | No | |
External Shunt | No | |
Ethernet | No | |
USB | No | |
RS-232 | No | |
FireWire | Yes | |
Fieldbus | Modbus TCP on PC | |
Joystick | Yes | |
Current Loop Update Rate | kHz | 20 |
Servo Loop Update Rate | kHz | 8 |
Power Amplifier Bandwidth | kHz | Selectable Through Software |
Minimum Load Inductance | mH | 0.1 mH with PWM; 0 with Linear |
Operating Temperature | °C | 0 to 50 |
Storage Temperature | °C | -30 to 85 |
Weight | kg (lb) | 16 (35) |
Package | Amplifiers Installed at Factory | |
Compliance | CE approved, NRTL safety certification, EU 2015/863 RoHS 3 directive |
Units |
MP |
ML |
|
Output Voltage | VDC | 10, 20, 30, 40, 80 | 10, 20, 30, 40 |
Peak Output Current | A | 10 | 10(1) |
Continuous Output Current | A | 5 | 5(1) |
PWM Switching Frequency | kHz | 20 | N/A |
Power Amplifier Bandwidth | kHz | Software Selectable | Software Selectable |
Minimum Load Inductance | mH | 0.1 | 0.1 |
Operating Temperature | °C | 0 to 50 | 0 to 50 |
Storage Temperature | °C | -20 to 85 | -20 to 85 |
Weight | kg | 0.5 | 0.5 |
Ordering Information
Ordering Options
Base | Package | Line Voltage | Bus Power Supply | Axis 1 Amp | Axis 2 Amp | Axis 3 Amp | Axis 4 Amp | Axis 5 Amp | Axis 6 Amp | Axis 7 Amp | Axis 8 Amp | Line Cord | Brake Options |
Npaq MR | /4AXIS-BOX /8AXIS-BOX |
-A -B -C -D |
-4-40LP -4-80LP -4-40 -4-80 -4-10B -4-20B -4-30B -4-40B -8-40LP -8-80LP -8-40 -8-80 -8-10B -8-20B -8-30B -8-40B |
/1-MP10 /1-MP10I /1-MP10M /1-MP10MI /1-MP10HB /1-MP10IHB /1-MP10MHB /1-MP10MIHB /1-ML10 /1-ML10I /1-ML10M /1-ML10MI /1-ML10H /1-ML10HI |
/2-MP10 /2-MP10I /2-MP10M /2-MP10MI /2-MP10HB /2-MP10IHB /2-MP10MHB /2-MP10MIHB /2-ML10 /2-ML10I /2-ML10M /2-ML10MI /2-ML10H /2-ML10HI |
/3-MP10 /3-MP10I /3-MP10M /3-MP10MI /3-MP10HB /3-MP10IHB /3-MP10MHB /3-MP10MIHB /3-ML10 /3-ML10I /3-ML10M /3-ML10MI /3-ML10H /3-ML10HI |
/4-MP10 /4-MP10I /4-MP10M /4-MP10MI /4-MP10-HB /4-MP10I-HB /4-MP10M-HB /4-MP10MI-HB /4-ML10 /4-ML10I /4-ML10M /4-ML10MI /4-ML10H /4-ML10HI |
/5-MP10 /5-MP10I /5-MP10M /5-MP10MI /5-MP10-HB /5-MP10I-HB /5-MP10M-HB /5-MP10MI-HB |
/6-MP10 /6-MP10I /6-MP10M /6-MP10MI /6-MP10-HB /6-MP10I-HB /6-MP10M-HB /6-MP10MI-HB |
/7-MP10 /7-MP10I /7-MP10M /7-MP10MI /7-MP10-HB /7-MP10I-HB /7-MP10M-HB /7-MP10MI-HB |
8-MP10 /8-MP10I /8-MP10M /8-MP10MI /8-MP10-HB /8-MP10I-HB /8-MP10M-HB /8-MP10MI-HB |
/ENGLAND /GERMANY /ISRAEL /INDIA /AUSTRALIA /US-115VAC /US-230VAC /NO-LINECORD |
/BRAKE-1 /BRAKE-2 /BRAKE-3 /BRAKE-4 /BRAKE-5 /BRAKE-6 /BRAKE-7 /BRAKE-8 |
Npaq MR
Option | Description |
Npaq MR | Rack-mount digital amplifier chassis with integral DC power supply and FireWire® interface. Supports 4 or 8 axes of brush, brushless, or stepper motor amplifiers. Dedicated I/O per axis includes: CW, CCW, and home limits, sin, cos, mkr, Hall effect sensors, motor over-temperature, ext fault User defined I/O included on I/O option board: 8 opto-isolated inputs (sinking or sourcing), 8 outputs (sinking or sourcing), one 12-bit analog input, one 16-bit analog output and brake relay |
Package
Option | Description |
/4AXIS-BOX | Supports up to 4 axes of motion |
/8AXIS-BOX | Supports up to 8 axes of motion |
Line Voltage
Option | Description |
-A | 115 VAC line |
-B | 230 VAC line |
-C | 100 VAC line |
-D | 200 VAC line |
Bus Power Supply
Option | Description |
-4-40LP | Four-axis rack with 40 VDC bus; up to 300 watts |
-4-80LP | Four-axis rack with 80 VDC bus; up to 300 watts |
-4-40 | Four-axis rack with 40 VDC bus; up to 600 watts |
-4-80 | Four-axis rack with 80 VDC bus; up to 600 watts |
-4-10B | Four-axis rack with ±10 VDC bus; up to 400 watts |
-4-20B | Four-axis rack with ±20 VDC bus; up to 400 watts |
-4-30B | Four-axis rack with ±30 VDC bus; up to 400 watts |
-4-40B | Four-axis rack with ±40 VDC bus; up to 800 watts |
-8-40LP | Eight-axis rack with 40 VDC bus; up to 500 watts |
-8-80LP | Eight-axis rack with 80 VDC bus; up to 500 watts |
-8-40 | Eight-axis rack with 40 VDC bus; up to 500 watts |
-8-80 | Eight-axis rack with 80 VDC bus; up to 1000 watts |
-8-10B | Eight-axis rack with ±10 VDC bus; up to 400 watts |
-8-20B | Eight-axis rack with ±20 VDC bus; up to 400 watts |
-8-30B | Eight-axis rack with ±30 VDC bus; up to 400 watts |
-8-40B | Eight-axis rack with ±40 VDC bus; up to 600 watts |
Axis 1 Amplifier Options
Option | Description |
/1-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/1-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/1-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/1-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option |
/1-MP10-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option |
/1-MP10I-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option |
/1-MP10M-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option |
/1-MP10MI-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option |
/1-ML10 | Linear amplifier, 10 A peak, 5 A continuous |
/1-ML10I | Linear amplifier, 10 A peak, 5 A continuous with I/O option |
/1-ML10M | Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/1-ML10MI | Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/1-ML10H | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) |
/1-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 2 Amplifier Options
Option | Description |
/2-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/2-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/2-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/2-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option |
/2-MP10-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option |
/2-MP10I-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option |
/2-MP10M-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option |
/2-MP10MI-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option |
/2-ML10 | Linear amplifier, 10 A peak, 5 A continuous |
/2-ML10I | Linear amplifier, 10 A peak, 5 A continuous with I/O option |
/2-ML10M | Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/2-ML10MI | Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/2-ML10H | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) |
/2-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 3 Amplifier Options
Option | Description |
/3-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/3-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/3-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/3-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option |
/3-MP10-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option |
/3-MP10I-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option |
/3-MP10M-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option |
/3-MP10MI-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option |
/3-ML10 | Linear amplifier, 10 A peak, 5 A continuous |
/3-ML10I | Linear amplifier, 10 A peak, 5 A continuous with I/O option |
/3-ML10M | Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/3-ML10MI | Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/3-ML10H | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) |
/3-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 4 Amplifier Options
Option | Description |
/4-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/4-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/4-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/4-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option |
/4-MP10-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option |
/4-MP10I-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option |
/4-MP10M-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option |
/4-MP10MI-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option |
/4-ML10 | Linear amplifier, 10 A peak, 5 A continuous |
/4-ML10I | Linear amplifier, 10 A peak, 5 A continuous with I/O option |
/4-ML10M | Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/4-ML10MI | Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/4-ML10H | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) |
/4-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 5 Amplifier Options
Option | Description |
/5-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/5-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/5-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/5-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option |
/5-MP10-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option |
/5-MP10I-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option |
/5-MP10M-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option |
/5-MP10MI-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 6 Amplifier Options
Option | Description |
/6-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/6-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
6-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/6-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/6-MP10-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option |
/6-MP10I-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option |
/6-MP10M-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option |
/6-MP10MI-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 7 Amplifier Options
Option | Description |
/7-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/7-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/7-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/7-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option |
/7-MP10-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option |
/7-MP10I-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option |
/7-MP10M-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option |
/7-MP10MI-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 8 Amplifier Options
Option | Description |
/8-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/8-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/8-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/8-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option |
/8-MP10-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option |
/8-MP10I-HB | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option |
/8-MP10M-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option |
/8-MP10MI-HB | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Line Cord (must select one)
Option | Description |
/ENGLAND | UK compatible line cord |
/GERMANY | German compatible line cord |
/ISRAEL | Israel compatible line cord |
/AUSTRALIA | Australia compatible line cord |
/US-115VAC | US 115 VAC line cord |
/US-230VAC | US 230 VAC line cord |
/NO-LINECORD | No line cord |
Brake Options (up to 4 selections allowable)
Option | Description |
/BRAKE-1 | Axis 1 wired for 24 V, 1 A brake |
/BRAKE-2 | Axis 2 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-3 | Axis 3 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-4 | Axis 4 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-5 | Axis 5 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-6 | Axis 6 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-7 | Axis 7 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-8 | Axis 8 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
Options (multiple selectons allowable)
Option | Description |
-ESTOP1 | Controller stops motion, then disables servo control. Internal positive guided relay with monitor contact disconnects AC power source from motor. Operator risk assessment is the responsibility of the end user or integrator. |
-ESTOP2 | Same as ESTOP1 but uses two relays |
-ESTOP3 | Same as ESTOP2 but contains 1 second bus discharge resistors |
-SLIDE | Rack-mount slides |
Integration (Required)
Aerotech offers both standard and custom integration services to help you get your system fully operational as quickly as possible. The following standard integration options are available for this system. Please consult Aerotech if you are unsure what level of integration is required, or if you desire custom integration support with your system.
Option | Description |
-TAS | Integration - Test as system Testing, integration, and documentation of a group of components as a complete system that will be used together (ex: drive, controller, and stage). This includes parameter file generation, system tuning, and documentation of the system configuration. |
-TAC | Integration - Test as components Testing and integration of individual items as discrete components that ship together. This is typically used for spare parts, replacement parts, or items that will not be used together. These components may or may not be part of a larger system. |