waveshare Modbus RTU аналогии Вуруди 8CH дастури корбар
Modbus RTU Analog Input 8CH
Барview
Тавсифи сахтафзор
- Each channel can be individually configured for its range, making it more convenient for users.
“AIN+” is the positive input, and “AIN-” is the negative input. The module supports both differential and single-ended input. When used as a single-ended input, “AIN-” is connected to the ground.
Дастгирии ҷилдиtage and current simultaneous acquisition
Note: When inputting the different powers, it is important to connect the ground wire to establish a common ground. Otherwise, the collected data may be inaccurate. - Opening the device case, you can see jumpers are near the device terminals, corresponding to the eight channels Al1~Al8. You need to select the jumper mode based on the measurement signal; otherwise, the measurement data will be inaccurate.
- Ҳангоми чен кардани ҳаҷtage signals, the jumper wire for the corresponding channel should be disconnected.
- When measuring current signals, the jumper wire for the corresponding channel should be connected.
- Modbus RTU Analog Input 8CH defaults to current mode with the jumper wire connected. Modbus RTU Analog Input 8CH (B) defaults to voltage mode with the jumper wire disconnected.
Version Comparision
- Currently, there are two versions of the analog input series, one defaults to current input, and the other defaults to voltagвуруди электронӣ.
- Modbus RTU Analog Input 8CH
Supports four ranges (configurable) 0-5V/1-5V 0-20mA (default) /4-20mA
- Modbus RTU Analog Input 8CH (B)
Supports four ranges (configurable): 0-10V (default)/2-10V 0~20mA/4~20mA
- Modbus RTU Analog Input 8CH Configurable range
- Modbus RTU Analog Input 8CH (B) Configurable range
Версия Modbus RTU Analog Input 8CH Modbus RTU Analog Input 8CH (B) Ҳолати пешфарз 8-ch current mode, 0~20mA 8-ch voltage mode, 0~10V Диапазони андозагирӣ 0~5V/1~5V0~20mA/4~20mA 0~10V/2~10V0~20mA/4~20mA Резолюция 12-бит 12-бит ҷорӣ сampмуқовимати бадан 249 Ом 499 Ом Амалиёт amplifier ratio 32.4/49.9 10/32.4 Канал 8-АИ 8-АИ Each version has five range modes from 0 to 4.
Режим Модбус РТУ Аналогӣ Вуруд 8CH Модбус РТУ Аналогӣ Вуруд 8CH (Б) 0 0~5V voltagрежими e 0~10V voltagрежими e 1 1~5V voltagрежими e 2~10V voltagрежими e 2 0~20mA current mode 0~20mA current mode 3 4~20mA current mode 4~20mA current mode 4 4096-scale code mode 4096-scale code mode - The scale code is the data collected by the AD converter and needs to undergo a linear transformation to obtain voltage or current data. The conversion formula is as follows.
- Ҷилдиtage = Scale Code 3300/4095/Operational Ampтаносуби баландбардорӣ
- ҷорӣ = Ҷилдиtage/Sampling Resistor
Пайвастагии сахтафзор
- Connect the USB TO 485 to the target boards via cables, A-A and B-B connected as shown below:
Санҷиши нармафзор
SSCOM Serial Port Debugging Assistant
- Зеркашӣ кунед SSCOM serial port debugging assistant and open it on the computer. Open the corresponding port number, set the baud rate as 9600, and select SendHEX and HEXshow.
Send the following command, and it will return the 8-channel analog input data normally.
01 04. 00 00 00 08 F1 CC
- If you need to send other commands, choose SendHEX. For checksum validation, select ModbusCRC16. After entering the first six bytes of the command, clicking SEND will automatically add the CRC check code. For example, send the following command, you can set channel 1 to 4-20mA current input mode.
- For more control commands, you can refer to the development protocol.
Modbus Poll Software
- It is not convenient to use the SSCOM software for observing the data, you can select Modbus Poll software to read the data. Download and install the Modbus Poll software.
- Open the software, select Setup -> Read/Write Definition. Select the actual device address for Slave ID, 04 Read Input Registers (3x) for Function, and 8 channels for Quantity, and click “OK” to confirm.
- Select Connection->Connect…, choose the corresponding serial port, set the baud rate to 9600, and select 8 Data bits and None Parity. Click OK to connect.
- After successful connection, it can display the analog input data for channels 1-8.
- Modbus RTU Analog Input 8CH (A) displays the current by default, and the unit is uA.
Modbus RTU Analog Input 8CH (B) displays the voltage by default, and the unit is mV. - Интихоб кунед File-> New to create a new window, select Setup->Read/Write Definition. Select the actual device address for Slave ID, 16 Write Multiple Registers for Function, Hex for Address Mode, 1000 for Address, and 8 channels for Quantity, and then click “OK” to confirm.
- The new window 2 can set up the measuring modes for different channels. For example, you can set the channel 1 mode as 2, that is, 0~20mA current mode. And channel 1 of the window 1 will display the current.
Note: The internal jumper wires should be modified when changing the current and voltage mode, otherwise, the measurement data will not be accurate.
Санҷиши намоишӣ
Note: RS485 can not be directly connected to the serial port of the Raspberry Pi, otherwise it may burn the device, you need to add 485 level conversion. For Raspberry Pi, it is recommended to work with the RS485 CAN HAT module. For NUCLEO-F103RB and Arduino, it is recommended to work with the RS485 CAN Shield module.
Raspberry Pi
Open the Raspberry Pi terminal and enter the following command to enter the configuration interface
sudo raspi-конфигуратсия
Select Interfacing Options -> Serial, disable shell access, and enable the hardware serial port
Then restart Raspberry Pi:
sudo аз нав бор кунед
/boot/config.txt -ро кушоед file, find the following configuration statement to enable the serial port, if not, you can add it to the end of the file.
enable_uart-1
For Raspberry Pi 3B users, the serial port is used for Bluetooth and needs to be commented out:
#dtoverlay-pi3-miniuart-bt
Then restart Raspberry Pi:
sudo аз нав бор кунед
Insert the RS485 CAN HAT into the Raspberry Pi, and connect the Modbus RTU Relay module to the RS485 CAN HAT through A and B.
If you are using other 485 devices, make sure to connect A-A, B-B.
Run the following commands to run the demo:
sudo apt-get install unzip.
sudo apt-get насб кардани python3-pip
pip install modbus_tk
wget https://files.waveshare.com/wiki/Modbus RTU-Analog-Input-8CH/Modbus RTU Ana log_Input_Code.zip
unzip Modbus_RTU_Analog_Input_Code.zip
cd Modbus_RTU_Analog_Input_Code/Python3
sudo python3 modbus.py
STM32
Шарҳ: The STM32 demo is based on the NUCLEO-F103RB and RS485 CAN Shield module.
- Зеркашӣ кунед Demo, find the STM32 project file Modbus.uvprojx in the path Modbus_RTU_Analog_Input_Code\STM32\MDK-ARM, and double-click to open the STM32 project file. Note that you should ensure Keil5 software is installed on your computer before using it.
- Connect the STM32 to a computer via the STM32 download and debug probe. Compile and download the program to the development board.
- Install the RS485 CAN Shield module on the STM32. Connect the RS485_A on the RS485 CAN Shield module to the RS485_A on the Modbus RTU Analog Input 8CH via a wire, and connect the RS485 B on the RS485 CAN Shield module to the RS485 B on the Modbus RTU Analog Input 8CH via a wire. Then power on the Modbus RTU Analog Input 8CH and the STM32 sequentially.
- After the program runs normally, you can observe through the serial port assistant that the device prints the collected results
Arduino
Шарҳ: The Arduino demo is based on the UNO PLUS and RS485 CAN Shield module.
- Download Demo, find the Arduino project file Modbus_RTU_Analog_Input.ino in the path Modbus_RTU_Analog_Input_Code\Arduino\Modbus_RTU_Analog_Input, and double-click to open the Arduino project file. Note that you should ensure Arduino IDE software is installed on your computer before using it.
- Connect the Arduino to the computer via a USB cable. In the Arduino IDE software, select the Arduino board model under Tools-> Board. Choose the COM port that the Arduino is connected to under Tools->Port.
- After seeing the prompt to connect to the computer in the lower right corner, click to compile and flash the program, and wait for the flashing to complete.
- Install the RS485 CAN Shield module on the Arduino. Connect the RS485_A on the RS485 CAN Shield module to the RS485_A on the Modbus RTU Analog Input 8CH via a wire, and connect the RS485_B on the RS485 CAN Shield module to the RS485_B on the Modbus RTU Analog Input 8CH via a wire. Then power on the Modbus RTU Analog Input 8CH and the Arduino sequentially.
- After the program runs normally, you can observe through the serial port assistant that the device prints the collected results
Development Protocol V2
Муқаддимаи рамзи функсия
| Функсия Кодекс | Тавсифи |
| 03 | Феҳристи нигоҳдорӣ хонед |
| 04 | Феҳристи вурудро хонед |
| 06 | Феҳристи ягонаи нигоҳдорӣ нависед |
| 10 | Write multiple holding register |
Register Address Introduction
| Address (HEX) | Address storage content | Сабти ном арзиш | Иҷозат | Модбус Функсия Кодекс |
| 3×0000…… 3×0007 | Channels 1~8 input data | Read values as unsigned hexadecimal | Хондан | 0х04 |
| 4×1000…… 4×1007 | Channels 1~8 data types | 0x0000~0x0004 five ranges | Хондан/навиштан | 0х03,0х06,0х10 |
| 4×2000 | UARTParameter | The high eight bits indicate the parity mode: 0x00~0x02The low eight bits indicate the baud rate mode: 0x00~0x07 | Хондан/навиштан | 0x03, 0x06 |
| 4×4000 | Суроғаи дастгоҳ | Directly store Modbus address Device address: 0x0001-0x00FF | Хондан/навиштан | 0x03, 0x06 |
| 4×8000 | Версияи нармафзор | Converting to decimal and then shifting the decimal point two places to the left will represent the software version0x0064 = 100 = V1.00 | Хондан | 0х03 |
Operation Command Introduction
Read Analog Input Command
Рамзро ирсол кунед: 01 04 00 00 00 08 F1 CC
| Майдон | Тавсифи | Шарҳ |
| 01 | Суроғаи дастгоҳ | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 04 | 04 command | Феҳристи вурудро хонед |
| 00 00 | Бақайдгирӣ оғоз кунед | 0x0000 – 0x0007 correspond to 1~8 input channels |
| Адрес | ||
| 00 08 | Рақами бақайдгирӣ | The number of the registers to be read, which must not exceed the maximum number of the channels |
| F1 CC | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Рамзи бозгашт: 01 04 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 55 2C
| Майдон | Тавсифи | Шарҳ |
| 01 | Суроғаи дастгоҳ | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 04 | 04 command | Read input register |
| 10 | Byte Number | Data length |
| 00 00…… 00 00 | Бақайдгирии маълумот | Indicates the values of analog inputs from channels 0 – 7An unsigned 16-bit identifier for a channel, with the higher bits first and the lower bits last The data range is determined by the output data type |
| 552С | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Барои мисолampле: [Address 1 device]
Read 1-8 channels 01 04 00 00 00 08 F1 CC
Read 1 channel 01 04 00 00 00 01 31 CA
Read 2 channel 01 04 00 01 00 01 60 DA
Read 3-5 channels 01 04 00 02 00 03 11 св
Read Channel Data Type Command
Рамзро ирсол кунед: 01 03 10 00 00 08 40 CC
| Фиреld | Тавсифи | Шарҳ |
| 01 | Суроғаи дастгоҳ | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 03 | 03 Фармон | Феҳристи нигоҳдорӣ хонед |
| 10 00 | Суроғаи оғозро сабт кунед | 0x1000 – 0x1007 correspond to 1~8 input channels |
| 00 08 | Рақами бақайдгирӣ | The number of the registers to be read, which must not exceed the maximum number of the channels |
| 40CC | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Рамзи бозгашт: 01 03 10 00 02 00 02 00 02 00 02 00 02 00 02 00 02 00 02 09 C3
| Майдон | Тавсифи | Шарҳ |
| 01 | Суроғаи дастгоҳ | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 03 | 03 Фармон | Read holding register |
| 10 | Byte Number | The number of all bytes of the returned status information |
| 00 02…… 00 02 | Навъи маълумот | Indicates data types of 0-7 channels, 0x0000~0x0004 represents five ranges 0x0000: Range 0~5V, output range 0~5000 or 0~10000, unit mV;0x0001: Range 1~5V, output range 1000~5000 or 2~10V, output range 2000~10000, unit mV;0x0002: Range 0~20mA, output range 0~20000, unit uA; 0x0003: Range 4~20mA, output range 4000~20000, unit uA;0x0004: Direct output of numerical code, output range 0~4096, requires linear conversion to obtain actual measured voltagд ва ҷорӣ; |
| 09C3 | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Барои мисолample: [Address 1 device]
Read data types for channels 1-8: 01 03 10 00 00 08 40 CC
Read data type for channel 1: 01 03 10 00 00 01 80 CA
Read data type for channel 2: 01 03 10 01 00 01 DI CA
Read data type for channels 3-5: 01 03 10 02 00 03 АО СВ
Set Single-channel Data Type Command
Рамзро ирсол кунед: 01 06 10 00 00 03 CD OB
| Майдон | Тавсифи | Шарҳ |
| 01 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 06 | 06 Фармон | Write single register |
| 10 00 | Register Start Address | 0x1000 – 0x1007 correspond to data types of 1~8 input channels |
| 0003 | Channel Data Type | Channel data types, 0x0000~0x0004 represents five ranges 0x0000: Range 0~5V, output range 0~5000 or 0~10000, unit mV;0x0001: Range 1~5V, output range 1000~5000 or 2~10V, output range 2000~10000, unit mV;0x0002: Range 0~20mA, output range 0~20000, unit uA; 0x0003: Range 4~20mA, output range 4000~20000, unit uA;0x0004: Direct output of numerical code, output range 0~4096, requires linear conversion to obtain actual measured voltagд ва ҷорӣ; |
| CD 0B | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Рамзи бозгашт: 01 06 10 00 00 03 CD 0B
| Майдон | Тавсифи | Шарҳ |
| 01 | Суроғаи дастгоҳ | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 06 | 06 Фармон | Реестри ягона нависед |
| 10 00 | Channel Data Type Address | 0x1000 – 0x1007 correspond to data types of 1~8 input channels |
| 00 03 | Channel Data Type | Channel data type, 0x0000~0x0004 represents five ranges |
| CD 0B | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Барои мисолampле: [Address 1 device]
Set data type to 0-20mA for channel 1: 01 06 10 00 00 02 ОС СВ
Read data type 4-20mA for channel 2: 01 06 10 01 00 03 9C CB
Set Multi-channel Data Type Command
Рамзро ирсол кунед: 01 10 10 00 00 08 10 00 03 00 03 00 03 00 03 00 03 00 03 00 03 00 03 91 2B
| Майдон | Тавсифи | Шарҳ |
| 01 | Суроғаи дастгоҳ | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 10 | 10 Фармон | Якчанд регистрро нависед |
| 10 00 | Суроғаи оғозро сабт кунед | 0x1000 – 0x1007 correspond to data types of 1~8 input channels |
| 00 08 | Рақами бақайдгирӣ | Set register number, which must not exceed the maximum number of the channels |
| 10 | Рақами байт | Set the number of bytes to be output |
| 00 03…… 00 03 | Фармон | Corresponding to data types of 0-7 channels, 0x0000~0x0004 represents five ranges0x0000: Range 0~5V, output range 0~5000 or 0~10000, unit mV; 0x0001: Range 1~5V, output range 1000~5000 or 2~10V, output range 2000~10000, unit mV;0x0002: Range 0~20mA, output range 0~20000, unit uA; 0x0003: Range 4~20mA, output range 4000~20000, unit uA;0x0004: Direct output of numerical code, output range 0~4096, requires linear conversion to obtain actual measured voltagд ва ҷорӣ; |
| 912B | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Рамзи бозгашт: 01 10 10 00 00 08 C5 0F
| Майдон | Тавсифи | Шарҳ |
| 01 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 10 | 10 Фармон | Write multiple registers |
| 10 00 | Register Start Address | 0x1000 – 0x1007 correspond to data types of 1~8 input channels |
| 00 08 | Register Number | Set register number, which must not exceed the maximum number of the channels |
| C5 0F | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Барои exampле: [Address 1 device]
Read data type 4-20mA for channels 1-8: 01 10 10 00 00 08 10 00 03 00 03 00 03 0 0 03 00 03 00 03 00 03 00 03 91 2B
Read data type 1-5V for channels 3-5 01 10 10 02 00 03 06 00 01 00 01 00 01 BE 4A
Set Baudrate Command
Рамзро ирсол кунед: 00 06 20 00 00 05 43 D8
| Майдон | Тавсифи | Шарҳ |
| 00 | Суроғаи дастгоҳ | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 06 | 06 command | Set the baud rate and device address |
| 20 00 | Феҳристи фармон | 0x2000: set the baud rate; 0x4000: set the device address |
| 00 | Parity Method | 0x00: no parity, 0x01: even parity; 0x02: odd parity |
| 05 | Baud Rate Value | Correspondence of baud rate values 0x00: 48000×01: 96000×02: 192000×03: 384000×04: 576000×05: 1152000×06: 1280000×07: 256000 |
| 43 Д8 | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Рамзи бозгашт: 00 06 20 00 00 05 43 D8
| Майдон | Тавсифи | Шарҳ |
| 00 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 06 | 06 command | Set the baud rate and device address |
| 20 00 | Command Register | 0x2000: set the baud rate; 0x4000: set the device address |
| 00 | Parity Method | 0x00: no parity, 0x01: odd parity; 0x02: even parity |
| 05 | Меъёри интиқол | Correspondence of baud rate values 0x00: 48000×01: 96000×02: 192000×03: 384000×04: 576000×05: 1152000×06: 1280000×07: 256000 |
| 43 Д8 | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Барои мисолampле: [Address 1 device]
Set the baud rate as 4800: 00 06 20 00 00 00 83 DB
Set the baud rate ав 9600: 00 06 20 00 00 01 42 18
Set the baud rate as 115200: 00 06 20 00 00 05 43 D8
Set Device Address Command
Рамзро ирсол кунед: 00 06 40 00 00 01 5C 1B
| Майдон | Тавсифи | Шарҳ |
| 00 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 06 | 06 command | Set the baud rate and device address |
| 40 00 | Command Register | 0x2000: set the baud rate; 0x4000: set the device address |
| 00 01 | Device Address | Set the device address, 0x0001-0x00FF |
| 5C 1B | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Рамзи бозгашт: 00 06 40 00 00 01 5C 1B
| Майдон | Тавсифи | Шарҳ |
| 00 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 06 | 06 command | Set the baud rate and device address |
| 40 00 | Command Register | 0x2000: set the baud rate; 0x4000: set the device address |
| 00 01 | Device Address | Set the device address, 0x0001-0x00FF |
| 5C 1B | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Барои мисолampле: [Address 1 device]
Set the device address as 0x01:00 06 40 00 00 01 5C 1B
Set the device address as 0x02:00 06 40 00 00 02 10 1A
Set the device address as 0x03:00 06 40 00 00 03 DD DA
Read Device Address Command
Рамзро ирсол кунед: 00 03 40 00 00 01 90 18
| Майдон | Тавсифи | Шарҳ |
| 00 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 03 | 03 Фармон | Read the device address |
| 40 00 | Command register | 0x4000: read the device address, 0x8000: read software version |
| 00 01 | Byte Number | Fixed 0x0001 |
| 90 1В | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Рамзи бозгашт: 01 03 02 00 01 79 84
| Майдон | Тавсифи | Шарҳ |
| 01 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 03 | 03 Фармон | Read the software version and device address |
| 02 | Byte Number | The number of bytes returned |
| 00 01 | Device Address | Set the device address, 0x0001-0x00FF |
| 79 84 | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Барои мисолampле: [Address 2 device]
Send: 00 03 40 00 00 01 90 18
Return: 02 03 02 00 02 7D 85
// Address 0x02
Read Software Version Command
Рамзро ирсол кунед: 00.03 80 00 00 01 AC 18
| Майдон | Тавсифи | Шарҳ |
| 00 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 03 | 03 Фармон | Read the software version and device address |
| 80 00 | Command register | 0x4000: read the device address, 0x8000: read software version |
| 00 01 | Byte Number | Fixed 0x0001 |
| AC 1B | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Рамзи бозгашт: 01 03 02 00 64 B9 AF
| Майдон | Тавсифи | Шарҳ |
| 01 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 03 | 03 Фармон | Read the software version and device address |
| 02 | Byte Number | The number of bytes returned |
| 00 64 | Версияи нармафзор | Converting to decimal and then shifting the decimal point two places to the left will represent the software version0x0064 = 100 = V1.00 |
| B9 AF | CRC16 | The CRC16 checksum of the first 6 bytes of data |
Барои мисолampле:
Send: 00 03 80 00 00 01 AC 18
Return: 01 03 02 00 64 B9 AF
1/0x0064 100 -V1.00
Exception Function Code
When the received command is incorrect or the device is abnormal, an exception response will be returned in the following format:
Бозгашт: 01 85 03 02 91
| Майдон | Тавсифи | Шарҳ |
| 01 | Device Address | 0x00 indicates the broadcast address, 0x01-0xFF indicates the device address |
| 85 | Exception Function Code | Exception function code = Request function code + 0x80 |
| 03 | Byte Number | Кодекси истисно |
| 0291 | CRC16 | The CRC16 checksum of the first 6 bytes of data |
An exception code is a single-byte value that indicates the type of error. Several commonly used exception codes defined by the Modbus protocol:
| Истисно Кодекс | Ном | Тавсифи |
| 0х01 | Функсияи ғайриқонунӣ | The requested function code is not supported |
| 0х02 | Суроғаи маълумоти ғайриқонунӣ | The requested data address is incorrect |
| 0х03 | Арзиши маълумоти ғайриқонунӣ | The requested data value or operation cannot be executed |
| 0х04 | Server Failure | Server equipment failure |
| 0х05 | Ҷавоб | The request has been received and is being processed |
| 0х06 | Device Busy | The device is currently busy and cannot perform the requested operation |
Захираҳо
Намоиш
- Намоиш
Нармафзор
- Sscom serial port debugging assistant
- Modbus Poll software
- SecureCRT software
Сарчашмаҳои марбут
- Modbus Protocol Specification
- Modbus Series BootLoader Description
Ҳуҷҷатҳо / Сарчашмаҳо
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