Célula de Fab ricación ricación Flexible, MPS -C Guía rápida del robot Mitsubishi RV2-A J
Festo Didactic Didactic-2 00 6
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Uso al que se destina
Festo Didactic declina cualquier responsabilidad por daños a los alumnos, a la organización, a terceras partes, o a todos ellos, como resultado del uso o aplicación de los equipos fuera de la situación de pura formación, a no ser que sean caus adas premeditadamente o por m anifiesta negligencia negligencia por parte de Festo Didactic.
Nº de artículo: Descripción:
Célula MPS -C , Guía rápida del robot RV2 -A J
Fecha: Autor:
Aquilino Rodríguez Penin
03/2006
© Fest F estoo Dida D idactic ctic,, 2006 20 06 Internet: www.festo.com/didactic e-mail:
[email protected]
Sin nuestra expresa autorización, queda terminantemente prohibida la reproducción total o parcial de este documento, así como su uso indebido y/o su exhibición o comunicación a terceros. De los infractores se exigirá el correspondiente resarcimiento de daños y perjuicios. Quedan reservados todos los derechos
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Contenido 1 INTRODUCCIÓN ......................................................................................... 7 OBJETIVOS ...................................................................................... 7 1.1 1.2 SEGURIDAD ..................................................................................... 9 1.2.1 Recomendaciones ................................................................ 9 A tener en cuenta ................................................................ . 9 1.2.2 1.3 ARANTÍAS Y RESPO NSAB ILIDADES ................. ......................... ................ ................. ................. ............ 10 GARANTÍAS
2 ROBOT MITSUBISHI RV2 -A J ................ ........................ ................. ................. ................ ................. ................. .......... .. 11
2.1 ........................ ................. ................. ................ ................. ................. ................. ............ ... 11 INTRODUCCIÓN ................ 2.1.1 ........................ ................. ................. ................ ................. ................. ................. ............ ... 11 General ................ 2.1.2 ......................... ................. ................. ................ ................. ................. ............. ..... 11 Conexiones ................. 2.1.3 ................ ................. ................. ................ ................. ................. ............. ..... 12 Controlador......... Controlador ................. 2.1.4 Comunicaciones ................................................................ . 12 2.1.5 Ampliación ................. ......................... ................ ................. ................. ................ ................. ............... ...... 12 CARACTERÍSTICAS DEL ROBOT ................. 2.2 ......................... ................ ................. ................. ................ .......... 13 2.3 ARACTERÍSTICAS DEL C ONTROLADOR ................................................. 14 CARACTERÍSTICAS IV ................ 3 LENGUAJE DE PROGRA MACIÓN MELFA -BAS IC IV ......................... ................. .......... .. 15 CONTRO L DE MOVIMIENTO ................ 3.1 ........................ ................. ................. ................ ................. ............... ...... 15 PALETIZADO (DEF PLT, PLT) ................ 3.2 ......................... ................. ................ ................. ................. ............ 17 CONTROL DE PROGRAMA ................. 3.3 ......................... ................ ................. ................. ................ ................ ........ 17 ENTRADAS Y SALIDAS ................ 3.4 ......................... ................. ................. ................. ................ ................. ............ ... 18 3.5 ......................... ................. ................ ................. ................. ................ ................ ........ 18 COMUNICACIONES ................ EXPRESIONES Y OPERACI ONES ................. 3.6 ......................... ................ ................. ................. ................ .......... 18 4 PRIMEROS PASOS CON EL ROBOT ................. ......................... ................. ................. ................ ................ ........ 19 4.1 REACIÓN DE UN PROGRA MA DESDE LA BOTONERA ................ CREACIÓN ........................ ................ ........ 19 CORRECCIÓN DE UNA LÍNEA DE PROGRAMA ................ 4.2 ........................ ................. ................. ............ 21 GRABAR UNA PO SICIÓN 4.3 ........................ ................. ................. ................ ................. ................. ............ 22 SICIÓN ................ MOVERSE A UN A POSICIÓ N ................ ......................... ................. ................ ................. ................. ............. ..... 23 4.4 BORRAR UNA POSICIÓN 4.5 ........................ ................. ................. ................ ................. ................. ............ 23 POSICIÓN ................ PROBAR UN PROGRAMA ................................................................... 24 4.6 4.7 FUNCIONAM IENTO EN AUTOMÁTICO ................. ......................... ................ ................. ................. ............ 25 4.8 PROGRAMA DE EJEMPLO ................ ......................... ................. ................ ................. ................. ................ .......... 27
5 MANTENIMIENTO ................. ......................... ................ ................. ................. ................ ................. ................. ................ .......... 31 BATERÍAS ................ 5.1 ........................ ................. ................. ................ ................ ................. ................. ................. ............ ... 31 Baterías del brazo del robot ................. 5.1.1 ......................... ................. ................. ............. ..... 31 5.1.2 ................ ................. ................. ................. ............ ... 32 Baterías del controlador........ controlador ................ Temporizador baterías ................. 5.1.3 ......................... ................. ................. ................ ............. ..... 33 ORIGEN DE COORDENADAS ............................................................... 34 5.2 5.2.1 Método DATA ..................................................................... 34 Método MECH ................ 5.2.2 ........................ ................. ................. ................ ................. ................. ............ 36 RESET DEL CONTROLADOR C R 5.3 40
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Ilustraciones
ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTR ACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN ILUSTRACIÓN
1 2 3 4 5 6 7 8 9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
......................... ................. ................ ................. ................. ............. ..... 11 FOTOGRAFIA R V 2 -A J ................ AMPLIACIÓN MPLIACIÓN DE EJES ................ ........................ ................. ................. ................ ................. ............... ...... 12 ......................... ................ ................. ................. ................ .......... 15 INTERPOLACIÓN D E E J E S ................. ......................... ................. ................ ................. ................. ............ 15 INTERPOLACIÓN LINEAL ................ INTERPOLACIÓN CIRCULA R ................ ......................... ................. ................ ................. ............... ...... 15 MOVIMIENTO CONTINUO ................. ......................... ................. ................. ................ ................ ........ 16 ........................ ................. ................. ................ ................. ................. ................ .......... 17 PALETIZADO ................ ......................... ................ .......... 19 SELECTOR ES DE MODO DEL CONTR OLADOR ................. ME N Ú TEACHBOX ................ ......................... ................. ................ ................. ................. ................ .......... 19 BOTONERA , TEACHBOX ................. ......................... ................. ................. ................ ................ ........ 19 CONTROLADOR ROBOT , PORCENTAJE VELOCIDA D ................ ........................ .......... 25 CONTROLADOR ROBOT , HABILITACIÓN ..................... ..... 25 HABILITACIÓN DE C ONSOLA ................ CONTROLADOR ROBOT , LLAVE DE SELECCIÓN ................. ......................... ............. ..... 25 CONTROLADOR ROBOT , SELECCIÓN DE PANTAL LA ................ ........................ .......... 26 CONTROLADOR ROBOT , SELECCIÓN DE PROGRA MA ................. ....................... ...... 26 ESTACIÓN DEL EJEMPLO ................. ......................... ................. ................. ................ ................ ........ 27 BRAZO ROBOT , CUBIERTA CONTENEDOR BATERÍAS ................ ........................ ........ 31 BRAZO ROBOT , EXTRACCIÓN CONTENEDOR BATERÍAS ................. .................... ... 31 BRAZO ROBOT , UBICACIÓN ......................... ............... ...... 32 UBICACIÓN DE LAS BA TERÍAS ................ CONTROLADOR C R UBICACIÓN DE LA BAT ERÍA ................. ......................... ............. ..... 32 BORRADO TEMPORIZADOR BATERÍAS ................. ......................... ................ ................ ........ 33 TABLA DE DATOS DE CAL IBRACIÓN ............................................. 34 DATOS DE CALIBRAC IÓN , DESCONEXIÓN DE SERV O S ................ ...................... ...... 35 CALIBRACIÓN , CONFIRMACIÓN DATOS DE CALIBRACIÓN ..................... 35 CONFIRMACIÓN DE CAM BIOS ................. MÉTODO M E C H , DESACTIVACIÓN DE SERVO S ................ ........................ ............. ..... 36 DESACTIVACIÓN DEL FRE NO DEL EJE 1 ................. ......................... ................. ............... ...... 37 LIBERACIÓN DEL FRENO MEDIANTE CONSOLA ................ ......................... ............... ...... 37 BRIDA DE LA PINZA ................................................................ . 38 POSICIÓN FINAL DE CEN TRADO MECÁNICO ................ ......................... ................. ............ 38 CONFIRMACIÓN DE CAMBI O DE DATOS DE O RIGEN ................ ........................ .......... 39
Tablas ARACTERÍSTICAS DEL R O B O T ................ ........................ ................. ................. ................ ................. ............ ... 13 TABLA 1 CARACTERÍSTICAS TABLA 2 CARACTERÍSTICAS DEL C ONTROLADOR ................................................... 14
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1Introducción
1.1
Objetivos
Las estaciones de la Célula MPS -C se han h an diseñado para la formación en automatización industrial en el ámbito de la formación profesional y continuada.
Los sistemas y estaciones del Sistema Modular de Producción facilitan la formación profesional orientada orientada a la industria, y el h ardware consiste en componentes de tipo industrial, adecuados para fines didác ticos.
Además, la formación puede impartirse para inculcar espíritu espíritu de equipo, voluntad de cooperar y habilidades organizativas. Las fases reales de un proyecto, pueden enseñarse por medio de proyectos de formación, tales como: -
Planificación Montaje Pro gramación Puesta a punto Funcionamiento Mantenimiento Localización de averías
Pueden enseñarse contenidos didácticos que cubran los siguientes temas: Mecánica -
Montaje y ajuste mecánico de una estación
Neumática -
Conexionado de componentes neumáticos
Sensores
Uso correcto de sensores ópticos Ajuste Robótica: Áreas de aplicación de los robots Fundamentos de robótica Terminología utilizada en robótica Programación de robots -
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Proponemos algunos temas que se pueden desarrollar con este equipo: Sustitución de un sistema de control por relés, por un PLC Diseño de los esquemas neumáticos correspondientes Selección de pinzas o pinzas eléctricas o pinzas neumáticas Seguridad durante un fallo de la alimentación neumática o Reserva de aire comprimido
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1.2
Seguridad
1.2.1
Recomendaciones
Se deben observar siempre las recomendaciones y normas fundamentales sobre seguridad.
C u a lquier persona que trabaje con el Sistema Modular de Producción, debe observar con especial atención las recomendaciones de seguridad. Además, deben respetarse las normas y regulaciones sobre prevención de accidentes, aplicables localmente. El responsable del funcionamiento se compromete en asegurar que el Sistema Modular de P roducción es utilizado solamente por personas que: Estén familiarizadas con las normas básicas relacionadas con la seguridad operativa y prevención de accidentes. Hayan recibido instrucciones en el manejo del Sistema Modular de Producción. Estén medianamente m edianamente habituados en trabajar con seguridad. seguridad. 1.2.2
A tener en cuenta
General
Los alumnos sólo deben trabajar en la estación bajo la supervisión de un instructor. Observar los datos de los c omponentes individuales de las fichas técnicas. Electricidad
Las conexiones eléctricas deben establecerse y desconectarse sólo cuando la tensión principal esté cortada Utilizar sólo sólo bajas tensiones de hasta 24 V DC . Neumática
No sobrepasar la presión ad misible de 8 bar (800 kPa). No aplicar el aire comprimido hasta que no s e hayan establecido y asegurado todas las uniones con tubos. No desconectar conductos de aire que estén bajo presión.
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Sistema robótico
No tocar ninguna parte móvi l del robot durante el funcionamiento. Cualquier intervención dentro del espacio operativo sólo debe hacerse tras haber cortado la tensión. No guardar el terminal de mano cerca del robot si no está conec tado al control, control, ya que el dispositivo de PARO DE EME RGENCIA no funcionaría. Si la pinza sostiene sostiene una pieza durante un PARO DE EMERGE NCIA, ésta se caerá durante la función de restablecimiento (recorrido (recorrido al origen). El Sistema Modular de Producción está diseñado según los últimos avances en esta tecnología tecnología y cumple con reconocidas normas de seguridad. Sin embargo, al utilizar el sistema siempre puede haber un riesgo de ocasionar daños físicos o lesiones graves al usuario o a terceras partes, o de causar daños a la máquina o a otros bienes materiales.
El Sistema Modular de Producción debe ser utilizado utilizado exclusivamente con fines didácticos y en
1.3
Garantías y responsabilidades
En principio, se aplican todos nuestros "Términos y Condiciones de Venta". Estos términos se ponen a disposición del responsable del funcionamiento, a lo más tardar en el momento de la firma del contrato. Las reclama ciones de la garantía y responsabilidad por daños a personas y materiales quedan excluidas si estas pueden imputarse a una o varias de las siguientes causas: Uso de la instalación con fines que n o son los previstos Montaje de la m áquina, puesta a punto, funcionamiento o mantenimiento incorrectos Funcionamiento de la instalación utilizando equipos de seguridad defectuosos o mal m ontados, o dispositivos protectores fuera de servicio. La falta de observación de notas de las instrucciones de funcionamiento en relación c on el transporte, almacenamiento, montaje, puesta a punto, funcionamiento, mantenimiento y preparación del equipo Modificaciones constructivas no autorizadas en la instalación Supervisión inadecuada de la instalación o de componentes sometidos a desgaste
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2Robot Mitsubishi RV2 -A J
2.1 2. 1
2.1.1
Introducción
General
El diseño del Robot RV2 -AJ lo hace ideal para aplicaciones donde no sobra el espa cio y con movimiento de cargas de hasta 2 Kg de peso.
Este robot tiene un alcance (con la pinza h acia abajo) de 410mm, y combina una velocidad máxima de 2,100mm /s con una repetibilidad repetibilidad de ±0.02mm. Los servomotores de corriente alterna, unidos a encoders de posición absolutos , garantizan una fiabilidad y bajo mantenimiento que son difíciles de superar por un robot de estas características.
Ilustración 1
Fotografía RV2-AJ
Los encoders de posición absolutos permiten, además, apagar el robot en cualquier
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2.1.3
Controlador
El controlador utilizado utilizado se basa en el mismo que utilizan los robots de mayores dimensiones de la marca, trabajando con las mismas posibilidades y, lo más importante, el mismo lenguaje de programación. El corazón del controlador es una C PU de 6 4 bit que permite la ejecución en paralelo de, hasta 32 programas en modo multitarea. Es decir, mientras se está moviendo puede recibir datos, activar o desactivar entradas y salidas, ha cer cálculos, y 28 tareas más. 2.1.4
Comunicaciones
Un puerto RS2 32 y 16 entradas y salidas digitales son el equipamiento de serie para comunicar el robot con el exterior. Es posible ampliar las señales a 240 entradas y 240 Salidas. Un adaptador permite comunicar el robot mediante red Ethernet (Protocolo (Protocolo TCP /IP), aprovechando las capacidades de transmisión que brinda este sistema de transmisión. Otra opción, la red CC -Link, de Mitsubishi, permite el intercambio rápido de datos, sobre todo entre el robot y un PLC . 2.1.5
Ampliación
La posibilidad de adaptar módulos de expansión permite expandir el alcance del robot, de forma casi ilimitada , al aumentar el número de grados de libertad. Por ejemplo, es posible montar el robot sobre un eje lineal que permita el acceso a
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2.2 2. 2
Ca racterísticas del robot
Modelo RV -2 A J
Grados de libertad Motores Detección de posición Máxima carga (Kg) Longitud del brazo (mm) Alcance radial máximo (mm) Lím ites (grados)
5
Servomotores AC ( Ejes J1, J3 y J5 con freno) Encoders absolutos 2
J1 J2 J3
J4 J5 J6
Velocidad máxima (grados/s)
J1 J2 J3
J4 J5 J6
Velocidad máxima (mm/s) Repetibilidad (mm) Peso (Kg) Cableado Conexiones aire Instalación Tabla 1
Características del robot
250+160 410 ±150 180(-60~+120) 230 ( -110~+120) -±90 ±200 180 90 135 -180 210 2100 ±0.02 17 4 en tradas (pinza) / 4 salidas (base) ø4mm x 4 en la base Suelo o techo
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2.3 2. 3
Características del controlador Modelo CR2 -571
Control de recorrido Ejes controlables C PU Funciones principales
Lenguaje de programación Aprendizaje de posiciones Posiciones Memoria Pasos de programa Programas Entradas I/O externas Exclusivas
Interfases
Pinza Emergencia Puerta RS232C RS422 Ranura para pinza Expansión
Punto a punto, Contin uo 6, simultáneos 64 bit RISC/DSP Interpolación indirecta y directa, interpolación en 3 dimensiones, paletizado, ramificación de programas, subrutinas, multitarea, etc. MELFA -BASIC IV y MoveMaster Teaching, Entrada manual de datos (MDI) 2,500 5,000 88
16/16 (max. 240/240) Asignado por salida general (1"STOP" fijo)
4/0 (con opciones: 4/4) 1 1
1 (PC, visión, etc.) 1 (teaching box)
1 (pinza eléctrica y neumática) 0 ( 3 para ampliaciones)
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programación 3Lenguaje de programación
ME LFA -BASIC IV
Es el lenguaje utilizado por el controlador para la realización de programas . Las posibilidades posibilidades de este lenguaje se escriben a continuación. 3.1
Control de movimiento -
Interpolación de ejes (MOV) El robot se m ueve a la posición designada mediante interpolación interpolación de todos sus ejes. El camino seguido no se define.
Ilustración 3
Interpolación de ejes
Interpolación Interpolación lineal (MVS ) Se sigue una t rayectoria rectilínea para ir de una posición a otra.
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Movimiento continuo (CNT) El brazo del robot se mueve entre las posiciones sin detener su movimiento. Podemos Podemo s definir el arco que se describirá al cambiar de trayectoria para ir a la siguiente posición.
Ilustración 6
Movimiento continuo
Control de Tiem po de aceleración/frenado y velocidad ACCEL: % respecto de la má xima permitida OVRD: Velocidad aplicada en todo el program a, en % JOVRD: Velocidad aplicada a la interpolación de ejes, en %. SPD: Velocidad de interpolación lineal y circular de la pinza en m m/s OADL: Aceleración/frenado óptimos Confirmación de posición (FINE)
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Paletizado Paletizado (DEF PL T, PLT) Funciones e specificas para realizar operaciones de paletizado. 3.2
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3.4
Entradas y salidas
Permiten interactuar al robot con su entorno, y realiza el control mediante otros elementos, elementos, tales tal es como PL PLC s.
WAIT: Espera a que la señal de entrada alcance el valor deseado CLR: de sactivación de señales de salida Se trabaja con variables variables de sistema sistema (M_OUT, M _OUTB, M_OUTW, M_DOUT) 3.5
Comunicaciones
Se puede realizar el intercambio de información con otros elementos tales como un ordenador (puerto serie, TCP/IP)
OPEN: abre la línea de comunicación CLOSE : cierra la línea de comunicación PRINT : envía datos en formato ASCII
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4Primeros pasos con el robot
4.1
Creación de un programa desde la botonera
Primero hay que activar la botonera mediante el selector del frontal frontal de la unidad de control (MODE TEACH ), y mediante el selector de la botonera ( ENABLE ).
Ilustración 8 -
Selectores de modo del controlador
En el menú de la Botonera, seleccionamos la opción: TEACH (Entrando el valor numé rico, o mediante los cursores de las teclas: 13, 14,
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-
En la pantalla que aparece entraremos el nombre del programa q ue vamos a crear:
Para escribir y borrar caracteres, utilizaremos la combinación de teclas POS/CHAR y la que contenga el símbolo deseado (si hay más de uno, pulsar la tecla hasta que aparezca POS/CHAR ) mientras mantenemos pulsada POS/CHAR) En este caso, la combinación perm ite borrar los el carácter situado situado a la izquierda del cursor. -
Escrito el nombre del programa, lo validaremos mediante la tecla IN P , apareciendo entonces la pantalla de edición de programa.
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-
y el comando de la misma:
Entrando la primera letra, y pulsando dos veces la tecla POS/CHAR , aparece una lista de los comandos que empiezan p or dicha letra. Basta pulsar el número de opción que interese (debe mantenerse pulsada POS/CHAR para tener la lista en pantalla y seleccionar la opción)
-
Mediante la tecla POS/CHAR y las demás, escribimos el comando completo.
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4.3
Grabar una posición posición
Para grabar un a posición, desde la pantalla de edición, pulsar la tecla A DD o RP L mientras se mantiene pulsada la tecla P OS .
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4.4
Moverse a una po sición sición
Para llevar el brazo robot a una posición determinada, debemos colocarnos primero en la pantalla de coordenadas de posición (Véase el apartado anterior)
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4.6
Probar un programa
Es posible probar la secue ncia de un programa m ediante la ejecución línea a línea (step)
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4.7
Funcionamiento en automático
Antes de iniciar el modo automático, debemos fijar la velocidad de trabajo del robot, teniendo en cuenta que esta será: Velocidad de trabajo = velocidad controlador (o botonera) * ve locidad programa En el controlador hay que pulsar el botón CHNG DISP hasta que aparezca la indicación de OVERRIDE :
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DISP , seleccionaremos el número de program a a ejecutar. Mediante el botón CHNG DISP,
Ilustración 14
Controlador robot, selección de pantalla
Cambiaremos el número con las teclas UP / DOWN
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El listado de programa:
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530 MVS P3+OSPIEZA
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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The world’s largest digital library
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