@zaber/motion 2.15.0 → 2.15.2

package/dist/lib/ascii/setting_constants.d.ts

@@ -53,17 +53,17 @@ export declare enum SettingConstants {
      */
     CLOOP_SETTLE_TOLERANCE = "cloop.settle.tolerance",
     /**
-     * Cloop Stall Algo.
+     * Cloop Stall Action.
      */
-    CLOOP_STALL_ALGO = "cloop.stall.algo",
+    CLOOP_STALL_ACTION = "cloop.stall.action",
     /**
-     * Cloop Stall Stop.
+     * Cloop Stall Detect Mode.
      */
-    CLOOP_STALL_STOP = "cloop.stall.stop",
+    CLOOP_STALL_DETECT_MODE = "cloop.stall.detect.mode",
     /**
-     * Cloop Stall Threshold.
+     * Cloop Stall Tolerance.
      */
-    CLOOP_STALL_THRESHOLD = "cloop.stall.threshold",
+    CLOOP_STALL_TOLERANCE = "cloop.stall.tolerance",
     /**
      * Cloop Stalltimeout.
      */
@@ -76,26 +76,6 @@ export declare enum SettingConstants {
      * Cloop Timeout.
      */
     CLOOP_TIMEOUT = "cloop.timeout",
-    /**
-     * Coil Current.
-     */
-    COIL_CURRENT = "coil.current",
-    /**
-     * Coil Current Max.
-     */
-    COIL_CURRENT_MAX = "coil.current.max",
-    /**
-     * Coil Voltage.
-     */
-    COIL_VOLTAGE = "coil.voltage",
-    /**
-     * Coil Voltage Delay.
-     */
-    COIL_VOLTAGE_DELAY = "coil.voltage.delay",
-    /**
-     * Coil Voltage Hold.
-     */
-    COIL_VOLTAGE_HOLD = "coil.voltage.hold",
     /**
      * Comm Address.
      */
@@ -172,10 +152,6 @@ export declare enum SettingConstants {
      * Comm Usb Protocol.
      */
     COMM_USB_PROTOCOL = "comm.usb.protocol",
-    /**
-     * Comm Word Length Max.
-     */
-    COMM_WORD_LENGTH_MAX = "comm.word.length.max",
     /**
      * Comm Word Size Max.
      */
@@ -185,9 +161,21 @@ export declare enum SettingConstants {
      */
     DEVICE_HW_MODIFIED = "device.hw.modified",
     /**
-     * Deviceid.
+     * Device ID (Firmware 7 and higher).
+     */
+    DEVICE_ID = "device.id",
+    /**
+     * Device ID (Firmware 6 and lower).
      */
     DEVICEID = "deviceid",
+    /**
+     * Driver Current Continuous.
+     */
+    DRIVER_CURRENT_CONTINUOUS = "driver.current.continuous",
+    /**
+     * Driver Current Continuous Max.
+     */
+    DRIVER_CURRENT_CONTINUOUS_MAX = "driver.current.continuous.max",
     /**
      * Driver Current Hold.
      */
@@ -197,13 +185,17 @@ export declare enum SettingConstants {
      */
     DRIVER_CURRENT_MAX = "driver.current.max",
     /**
-     * Driver Current Offset.
+     * Driver Current Overdrive.
      */
-    DRIVER_CURRENT_OFFSET = "driver.current.offset",
+    DRIVER_CURRENT_OVERDRIVE = "driver.current.overdrive",
     /**
-     * Driver Current Peak.
+     * Driver Current Overdrive Duration.
      */
-    DRIVER_CURRENT_PEAK = "driver.current.peak",
+    DRIVER_CURRENT_OVERDRIVE_DURATION = "driver.current.overdrive.duration",
+    /**
+     * Driver Current Overdrive Max.
+     */
+    DRIVER_CURRENT_OVERDRIVE_MAX = "driver.current.overdrive.max",
     /**
      * Driver Current Run.
      */
@@ -221,13 +213,13 @@ export declare enum SettingConstants {
      */
     DRIVER_ENABLED = "driver.enabled",
     /**
-     * Driver Temperature.
+     * Driver I 2 T Measured.
      */
-    DRIVER_TEMPERATURE = "driver.temperature",
+    DRIVER_I_2_T_MEASURED = "driver.i2t.measured",
     /**
-     * Driver Temperature Cutoff.
+     * Driver Temperature.
      */
-    DRIVER_TEMPERATURE_CUTOFF = "driver.temperature.cutoff",
+    DRIVER_TEMPERATURE = "driver.temperature",
     /**
      * Encoder 1 Count.
      */
@@ -408,10 +400,6 @@ export declare enum SettingConstants {
      * Encoder Error.
      */
     ENCODER_ERROR = "encoder.error",
-    /**
-     * Encoder Error Max.
-     */
-    ENCODER_ERROR_MAX = "encoder.error.max",
     /**
      * Encoder Fault Type.
      */
@@ -456,6 +444,10 @@ export declare enum SettingConstants {
      * Encoder Ratio Mult.
      */
     ENCODER_RATIO_MULT = "encoder.ratio.mult",
+    /**
+     * Encoder Vel.
+     */
+    ENCODER_VEL = "encoder.vel",
     /**
      * Filter Holderid.
      */
@@ -468,6 +460,70 @@ export declare enum SettingConstants {
      * Force Max.
      */
     FORCE_MAX = "force.max",
+    /**
+     * Ictrl Advance A.
+     */
+    ICTRL_ADVANCE_A = "ictrl.advance.a",
+    /**
+     * Ictrl Advance Offset.
+     */
+    ICTRL_ADVANCE_OFFSET = "ictrl.advance.offset",
+    /**
+     * Ictrl Afcff Inductance.
+     */
+    ICTRL_AFCFF_INDUCTANCE = "ictrl.afcff.inductance",
+    /**
+     * Ictrl Afcff Ke.
+     */
+    ICTRL_AFCFF_KE = "ictrl.afcff.ke",
+    /**
+     * Ictrl Afcff Ki.
+     */
+    ICTRL_AFCFF_KI = "ictrl.afcff.ki",
+    /**
+     * Ictrl Afcff Max.
+     */
+    ICTRL_AFCFF_MAX = "ictrl.afcff.max",
+    /**
+     * Ictrl Afcff Ss.
+     */
+    ICTRL_AFCFF_SS = "ictrl.afcff.ss",
+    /**
+     * Ictrl Afcff Ss Max.
+     */
+    ICTRL_AFCFF_SS_MAX = "ictrl.afcff.ss.max",
+    /**
+     * Ictrl Delay.
+     */
+    ICTRL_DELAY = "ictrl.delay",
+    /**
+     * Ictrl Ff Kd.
+     */
+    ICTRL_FF_KD = "ictrl.ff.kd",
+    /**
+     * Ictrl Ff Kp.
+     */
+    ICTRL_FF_KP = "ictrl.ff.kp",
+    /**
+     * Ictrl Gain Coldmult.
+     */
+    ICTRL_GAIN_COLDMULT = "ictrl.gain.coldmult",
+    /**
+     * Ictrl Period.
+     */
+    ICTRL_PERIOD = "ictrl.period",
+    /**
+     * Ictrl Pi Ki.
+     */
+    ICTRL_PI_KI = "ictrl.pi.ki",
+    /**
+     * Ictrl Pi Kp.
+     */
+    ICTRL_PI_KP = "ictrl.pi.kp",
+    /**
+     * Ictrl Type.
+     */
+    ICTRL_TYPE = "ictrl.type",
     /**
      * Io Di Port.
      */
@@ -576,10 +632,6 @@ export declare enum SettingConstants {
      * Limit Away Preset.
      */
     LIMIT_AWAY_PRESET = "limit.away.preset",
-    /**
-     * Limit Away Retract Dist.
-     */
-    LIMIT_AWAY_RETRACT_DIST = "limit.away.retract.dist",
     /**
      * Limit Away Source.
      */
@@ -628,10 +680,6 @@ export declare enum SettingConstants {
      * Limit C Preset.
      */
     LIMIT_C_PRESET = "limit.c.preset",
-    /**
-     * Limit C Retract Dist.
-     */
-    LIMIT_C_RETRACT_DIST = "limit.c.retract.dist",
     /**
      * Limit C Source.
      */
@@ -728,10 +776,6 @@ export declare enum SettingConstants {
      * Limit Home Preset.
      */
     LIMIT_HOME_PRESET = "limit.home.preset",
-    /**
-     * Limit Home Retract Dist.
-     */
-    LIMIT_HOME_RETRACT_DIST = "limit.home.retract.dist",
     /**
      * Limit Home Source.
      */
@@ -796,10 +840,6 @@ export declare enum SettingConstants {
      * Maxspeed.
      */
     MAXSPEED = "maxspeed",
-    /**
-     * Mitutoyo Pos.
-     */
-    MITUTOYO_POS = "mitutoyo.pos",
     /**
      * Motion Accel Ramptime.
      */
@@ -824,14 +864,34 @@ export declare enum SettingConstants {
      * Motion Index Num.
      */
     MOTION_INDEX_NUM = "motion.index.num",
+    /**
+     * Motor Current Continuous Max.
+     */
+    MOTOR_CURRENT_CONTINUOUS_MAX = "motor.current.continuous.max",
     /**
      * Motor Current Max.
      */
     MOTOR_CURRENT_MAX = "motor.current.max",
+    /**
+     * Motor Current Overdrive Duration.
+     */
+    MOTOR_CURRENT_OVERDRIVE_DURATION = "motor.current.overdrive.duration",
+    /**
+     * Motor Current Overdrive Max.
+     */
+    MOTOR_CURRENT_OVERDRIVE_MAX = "motor.current.overdrive.max",
+    /**
+     * Motor I 2 T Measured.
+     */
+    MOTOR_I_2_T_MEASURED = "motor.i2t.measured",
     /**
      * Motor Inductance.
      */
     MOTOR_INDUCTANCE = "motor.inductance",
+    /**
+     * Motor Ke.
+     */
+    MOTOR_KE = "motor.ke",
     /**
      * Motor Phase.
      */
@@ -852,10 +912,6 @@ export declare enum SettingConstants {
      * Motor Resistance.
      */
     MOTOR_RESISTANCE = "motor.resistance",
-    /**
-     * Motor Temperature Type.
-     */
-    MOTOR_TEMPERATURE_TYPE = "motor.temperature.type",
     /**
      * Parking State.
      */
@@ -892,10 +948,22 @@ export declare enum SettingConstants {
      * Resolution.
      */
     RESOLUTION = "resolution",
+    /**
+     * Scope Channel Size.
+     */
+    SCOPE_CHANNEL_SIZE = "scope.channel.size",
+    /**
+     * Scope Channel Size Max.
+     */
+    SCOPE_CHANNEL_SIZE_MAX = "scope.channel.size.max",
     /**
      * Scope Delay.
      */
     SCOPE_DELAY = "scope.delay",
+    /**
+     * Scope Numchannels.
+     */
+    SCOPE_NUMCHANNELS = "scope.numchannels",
     /**
      * Scope Timebase.
      */
@@ -920,6 +988,10 @@ export declare enum SettingConstants {
      * System Current.
      */
     SYSTEM_CURRENT = "system.current",
+    /**
+     * System Current Max.
+     */
+    SYSTEM_CURRENT_MAX = "system.current.max",
     /**
      * System Led Enable.
      */
@@ -936,14 +1008,6 @@ export declare enum SettingConstants {
      * System Voltage.
      */
     SYSTEM_VOLTAGE = "system.voltage",
-    /**
-     * Thermocouple 1 Temp.
-     */
-    THERMOCOUPLE_1_TEMP = "thermocouple.1.temp",
-    /**
-     * Thermocouple 2 Temp.
-     */
-    THERMOCOUPLE_2_TEMP = "thermocouple.2.temp",
     /**
      * Trigger Numactions.
      */

package/dist/lib/ascii/setting_constants.js

@@ -59,17 +59,17 @@ var SettingConstants;
      */
     SettingConstants["CLOOP_SETTLE_TOLERANCE"] = "cloop.settle.tolerance";
     /**
-     * Cloop Stall Algo.
+     * Cloop Stall Action.
      */
-    SettingConstants["CLOOP_STALL_ALGO"] = "cloop.stall.algo";
+    SettingConstants["CLOOP_STALL_ACTION"] = "cloop.stall.action";
     /**
-     * Cloop Stall Stop.
+     * Cloop Stall Detect Mode.
      */
-    SettingConstants["CLOOP_STALL_STOP"] = "cloop.stall.stop";
+    SettingConstants["CLOOP_STALL_DETECT_MODE"] = "cloop.stall.detect.mode";
     /**
-     * Cloop Stall Threshold.
+     * Cloop Stall Tolerance.
      */
-    SettingConstants["CLOOP_STALL_THRESHOLD"] = "cloop.stall.threshold";
+    SettingConstants["CLOOP_STALL_TOLERANCE"] = "cloop.stall.tolerance";
     /**
      * Cloop Stalltimeout.
      */
@@ -82,26 +82,6 @@ var SettingConstants;
      * Cloop Timeout.
      */
     SettingConstants["CLOOP_TIMEOUT"] = "cloop.timeout";
-    /**
-     * Coil Current.
-     */
-    SettingConstants["COIL_CURRENT"] = "coil.current";
-    /**
-     * Coil Current Max.
-     */
-    SettingConstants["COIL_CURRENT_MAX"] = "coil.current.max";
-    /**
-     * Coil Voltage.
-     */
-    SettingConstants["COIL_VOLTAGE"] = "coil.voltage";
-    /**
-     * Coil Voltage Delay.
-     */
-    SettingConstants["COIL_VOLTAGE_DELAY"] = "coil.voltage.delay";
-    /**
-     * Coil Voltage Hold.
-     */
-    SettingConstants["COIL_VOLTAGE_HOLD"] = "coil.voltage.hold";
     /**
      * Comm Address.
      */
@@ -178,10 +158,6 @@ var SettingConstants;
      * Comm Usb Protocol.
      */
     SettingConstants["COMM_USB_PROTOCOL"] = "comm.usb.protocol";
-    /**
-     * Comm Word Length Max.
-     */
-    SettingConstants["COMM_WORD_LENGTH_MAX"] = "comm.word.length.max";
     /**
      * Comm Word Size Max.
      */
@@ -191,9 +167,21 @@ var SettingConstants;
      */
     SettingConstants["DEVICE_HW_MODIFIED"] = "device.hw.modified";
     /**
-     * Deviceid.
+     * Device ID (Firmware 7 and higher).
+     */
+    SettingConstants["DEVICE_ID"] = "device.id";
+    /**
+     * Device ID (Firmware 6 and lower).
      */
     SettingConstants["DEVICEID"] = "deviceid";
+    /**
+     * Driver Current Continuous.
+     */
+    SettingConstants["DRIVER_CURRENT_CONTINUOUS"] = "driver.current.continuous";
+    /**
+     * Driver Current Continuous Max.
+     */
+    SettingConstants["DRIVER_CURRENT_CONTINUOUS_MAX"] = "driver.current.continuous.max";
     /**
      * Driver Current Hold.
      */
@@ -203,13 +191,17 @@ var SettingConstants;
      */
     SettingConstants["DRIVER_CURRENT_MAX"] = "driver.current.max";
     /**
-     * Driver Current Offset.
+     * Driver Current Overdrive.
      */
-    SettingConstants["DRIVER_CURRENT_OFFSET"] = "driver.current.offset";
+    SettingConstants["DRIVER_CURRENT_OVERDRIVE"] = "driver.current.overdrive";
     /**
-     * Driver Current Peak.
+     * Driver Current Overdrive Duration.
      */
-    SettingConstants["DRIVER_CURRENT_PEAK"] = "driver.current.peak";
+    SettingConstants["DRIVER_CURRENT_OVERDRIVE_DURATION"] = "driver.current.overdrive.duration";
+    /**
+     * Driver Current Overdrive Max.
+     */
+    SettingConstants["DRIVER_CURRENT_OVERDRIVE_MAX"] = "driver.current.overdrive.max";
     /**
      * Driver Current Run.
      */
@@ -227,13 +219,13 @@ var SettingConstants;
      */
     SettingConstants["DRIVER_ENABLED"] = "driver.enabled";
     /**
-     * Driver Temperature.
+     * Driver I 2 T Measured.
      */
-    SettingConstants["DRIVER_TEMPERATURE"] = "driver.temperature";
+    SettingConstants["DRIVER_I_2_T_MEASURED"] = "driver.i2t.measured";
     /**
-     * Driver Temperature Cutoff.
+     * Driver Temperature.
      */
-    SettingConstants["DRIVER_TEMPERATURE_CUTOFF"] = "driver.temperature.cutoff";
+    SettingConstants["DRIVER_TEMPERATURE"] = "driver.temperature";
     /**
      * Encoder 1 Count.
      */
@@ -414,10 +406,6 @@ var SettingConstants;
      * Encoder Error.
      */
     SettingConstants["ENCODER_ERROR"] = "encoder.error";
-    /**
-     * Encoder Error Max.
-     */
-    SettingConstants["ENCODER_ERROR_MAX"] = "encoder.error.max";
     /**
      * Encoder Fault Type.
      */
@@ -462,6 +450,10 @@ var SettingConstants;
      * Encoder Ratio Mult.
      */
     SettingConstants["ENCODER_RATIO_MULT"] = "encoder.ratio.mult";
+    /**
+     * Encoder Vel.
+     */
+    SettingConstants["ENCODER_VEL"] = "encoder.vel";
     /**
      * Filter Holderid.
      */
@@ -474,6 +466,70 @@ var SettingConstants;
      * Force Max.
      */
     SettingConstants["FORCE_MAX"] = "force.max";
+    /**
+     * Ictrl Advance A.
+     */
+    SettingConstants["ICTRL_ADVANCE_A"] = "ictrl.advance.a";
+    /**
+     * Ictrl Advance Offset.
+     */
+    SettingConstants["ICTRL_ADVANCE_OFFSET"] = "ictrl.advance.offset";
+    /**
+     * Ictrl Afcff Inductance.
+     */
+    SettingConstants["ICTRL_AFCFF_INDUCTANCE"] = "ictrl.afcff.inductance";
+    /**
+     * Ictrl Afcff Ke.
+     */
+    SettingConstants["ICTRL_AFCFF_KE"] = "ictrl.afcff.ke";
+    /**
+     * Ictrl Afcff Ki.
+     */
+    SettingConstants["ICTRL_AFCFF_KI"] = "ictrl.afcff.ki";
+    /**
+     * Ictrl Afcff Max.
+     */
+    SettingConstants["ICTRL_AFCFF_MAX"] = "ictrl.afcff.max";
+    /**
+     * Ictrl Afcff Ss.
+     */
+    SettingConstants["ICTRL_AFCFF_SS"] = "ictrl.afcff.ss";
+    /**
+     * Ictrl Afcff Ss Max.
+     */
+    SettingConstants["ICTRL_AFCFF_SS_MAX"] = "ictrl.afcff.ss.max";
+    /**
+     * Ictrl Delay.
+     */
+    SettingConstants["ICTRL_DELAY"] = "ictrl.delay";
+    /**
+     * Ictrl Ff Kd.
+     */
+    SettingConstants["ICTRL_FF_KD"] = "ictrl.ff.kd";
+    /**
+     * Ictrl Ff Kp.
+     */
+    SettingConstants["ICTRL_FF_KP"] = "ictrl.ff.kp";
+    /**
+     * Ictrl Gain Coldmult.
+     */
+    SettingConstants["ICTRL_GAIN_COLDMULT"] = "ictrl.gain.coldmult";
+    /**
+     * Ictrl Period.
+     */
+    SettingConstants["ICTRL_PERIOD"] = "ictrl.period";
+    /**
+     * Ictrl Pi Ki.
+     */
+    SettingConstants["ICTRL_PI_KI"] = "ictrl.pi.ki";
+    /**
+     * Ictrl Pi Kp.
+     */
+    SettingConstants["ICTRL_PI_KP"] = "ictrl.pi.kp";
+    /**
+     * Ictrl Type.
+     */
+    SettingConstants["ICTRL_TYPE"] = "ictrl.type";
     /**
      * Io Di Port.
      */
@@ -582,10 +638,6 @@ var SettingConstants;
      * Limit Away Preset.
      */
     SettingConstants["LIMIT_AWAY_PRESET"] = "limit.away.preset";
-    /**
-     * Limit Away Retract Dist.
-     */
-    SettingConstants["LIMIT_AWAY_RETRACT_DIST"] = "limit.away.retract.dist";
     /**
      * Limit Away Source.
      */
@@ -634,10 +686,6 @@ var SettingConstants;
      * Limit C Preset.
      */
     SettingConstants["LIMIT_C_PRESET"] = "limit.c.preset";
-    /**
-     * Limit C Retract Dist.
-     */
-    SettingConstants["LIMIT_C_RETRACT_DIST"] = "limit.c.retract.dist";
     /**
      * Limit C Source.
      */
@@ -734,10 +782,6 @@ var SettingConstants;
      * Limit Home Preset.
      */
     SettingConstants["LIMIT_HOME_PRESET"] = "limit.home.preset";
-    /**
-     * Limit Home Retract Dist.
-     */
-    SettingConstants["LIMIT_HOME_RETRACT_DIST"] = "limit.home.retract.dist";
     /**
      * Limit Home Source.
      */
@@ -802,10 +846,6 @@ var SettingConstants;
      * Maxspeed.
      */
     SettingConstants["MAXSPEED"] = "maxspeed";
-    /**
-     * Mitutoyo Pos.
-     */
-    SettingConstants["MITUTOYO_POS"] = "mitutoyo.pos";
     /**
      * Motion Accel Ramptime.
      */
@@ -830,14 +870,34 @@ var SettingConstants;
      * Motion Index Num.
      */
     SettingConstants["MOTION_INDEX_NUM"] = "motion.index.num";
+    /**
+     * Motor Current Continuous Max.
+     */
+    SettingConstants["MOTOR_CURRENT_CONTINUOUS_MAX"] = "motor.current.continuous.max";
     /**
      * Motor Current Max.
      */
     SettingConstants["MOTOR_CURRENT_MAX"] = "motor.current.max";
+    /**
+     * Motor Current Overdrive Duration.
+     */
+    SettingConstants["MOTOR_CURRENT_OVERDRIVE_DURATION"] = "motor.current.overdrive.duration";
+    /**
+     * Motor Current Overdrive Max.
+     */
+    SettingConstants["MOTOR_CURRENT_OVERDRIVE_MAX"] = "motor.current.overdrive.max";
+    /**
+     * Motor I 2 T Measured.
+     */
+    SettingConstants["MOTOR_I_2_T_MEASURED"] = "motor.i2t.measured";
     /**
      * Motor Inductance.
      */
     SettingConstants["MOTOR_INDUCTANCE"] = "motor.inductance";
+    /**
+     * Motor Ke.
+     */
+    SettingConstants["MOTOR_KE"] = "motor.ke";
     /**
      * Motor Phase.
      */
@@ -858,10 +918,6 @@ var SettingConstants;
      * Motor Resistance.
      */
     SettingConstants["MOTOR_RESISTANCE"] = "motor.resistance";
-    /**
-     * Motor Temperature Type.
-     */
-    SettingConstants["MOTOR_TEMPERATURE_TYPE"] = "motor.temperature.type";
     /**
      * Parking State.
      */
@@ -898,10 +954,22 @@ var SettingConstants;
      * Resolution.
      */
     SettingConstants["RESOLUTION"] = "resolution";
+    /**
+     * Scope Channel Size.
+     */
+    SettingConstants["SCOPE_CHANNEL_SIZE"] = "scope.channel.size";
+    /**
+     * Scope Channel Size Max.
+     */
+    SettingConstants["SCOPE_CHANNEL_SIZE_MAX"] = "scope.channel.size.max";
     /**
      * Scope Delay.
      */
     SettingConstants["SCOPE_DELAY"] = "scope.delay";
+    /**
+     * Scope Numchannels.
+     */
+    SettingConstants["SCOPE_NUMCHANNELS"] = "scope.numchannels";
     /**
      * Scope Timebase.
      */
@@ -926,6 +994,10 @@ var SettingConstants;
      * System Current.
      */
     SettingConstants["SYSTEM_CURRENT"] = "system.current";
+    /**
+     * System Current Max.
+     */
+    SettingConstants["SYSTEM_CURRENT_MAX"] = "system.current.max";
     /**
      * System Led Enable.
      */
@@ -942,14 +1014,6 @@ var SettingConstants;
      * System Voltage.
      */
     SettingConstants["SYSTEM_VOLTAGE"] = "system.voltage";
-    /**
-     * Thermocouple 1 Temp.
-     */
-    SettingConstants["THERMOCOUPLE_1_TEMP"] = "thermocouple.1.temp";
-    /**
-     * Thermocouple 2 Temp.
-     */
-    SettingConstants["THERMOCOUPLE_2_TEMP"] = "thermocouple.2.temp";
     /**
      * Trigger Numactions.
      */