MC1K → MCML Replacement Petan
AFTERBEFORE

Plan A
MC1K controler

Encoder cable

MCML

Encoder conversion cable
Exsiting(With Battry)
Encoder cable

R2 AmpExsiting
Motor

Power cable

Exsiting

HPC Link
M-NET(PC Link)

Motor

MC1K Motor

MC1K Motor

Plan B
MCML

Encoder conversion cable
Exsiting(None Battry)
Encoder cable

R2 AmpReplacement
Motor

Exsiting
Power cable
R2 Motor

1

AFWG_M_20200317

Recipe of Motion Replacement PlanA：Existing Morot of MC1K
BEFORE
MC1K controler amp

Existing TOYOPUC PLC

Encoder cable
HPC/PC Link cable

Power cable

HPC link
M-NET(PC link)

AFTER

…

Existing motor of MC1K

R2 AmpExisting TOYOPUC PLC

MC1K Motor

Encoder convertor cable(Add battry)

MECHATROLINK-III

Exsiting
Motor

cable

Power cable※Please see the next page for PLCs
that support MCML. Please see"TOYOPUC Correspondence Table"

Exsting

Controler MCML

TCI-6721

Exsiting
MC1K Motor…
Replacemant confirmation table
Exsiting Motor

Existing

Compatible amplifier

Amp Mounting compatibility

RS2A01A3MA5J00

Small bracket

RS2A03A3MA5J00

Small bracket

RS2A05A3MA5J00

Large bracket

RS2A03A3MA5J00

Small bracket

control panel
12

the old amplifier mounting screw hole.

AP-2M005****
AP-2M010****※Use the mounting bracket to reuse

AP-2M020****AP-2M030****AP-2M040****AP-2M050****AP-2M075****
AP-2M100****R2 AmpAP-1M075****
AP-1M100****

Amplifier mounting bracket

AP-3M066****
AP-3M120****

RS2A05A3MA5J00

Large bracket

RS2A10A3MA5J00○

Small bracket

Large bracket

BRK-R201-1A1

BRK-R201-1A2

50mm

85mm

AP-3M250****AP-3M360****AP-3M450****

RS2A15A3MA5J00○

AP-5M150****

RS2A05A3MA5J00

Large bracket

AP-5M200****

RS2A10A3MA5J00○

RS2A15A3MA5J00○

RS2A30A3MA5J00

○

237mm

AP-3M160****AP-5M350****AP-5M450****AP-5M550****237mm

AP-3M048****

AP-5M700****AP-5M750****AP-5M11K****※The amplifier mounting bracket is for rear mounting.
Please consult us if you are mounting front.

AP-5M15K****For the **** at the end of the motor model,
Please see "MC1K Motor Specifications" on the nextpage.

* Please refer to the TOYOPUC MCML Instruction Manual (T-768E,T-765E),R2 Series Servo System (T-780E) for final equipment selection.
* Please register your name, company name and e-mail address when using the instruction manual.
After that, we will send the password for downloading the instruction manual to the registered e-mail address.
T-768E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-768e.pdf
T-765E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-765e.pdf
T-780E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-780e.pdf

2

AFWG_M_20200317

TOYOPUC
Correspondence
table

Recommendation：PC3JX、PC3JX-D、PC10G
Available：PC3J、PC3JL、PC3JD、PC3JG(-P)

Replacement
table
for Motor

Uses existing MC1K motor

Select Motor

Measurement

Compatible amplifier*1：Use bracket*2：Need to check themounting width

Mounting
compatibilityof amplifier

W

H

D

RS2A01A3MA5J00(Capacity 15A)

40

160

130

△ *1

RS2A03A3MA5J00(Capacity 30A)

50

160

130

△ *1

RS2A05A3MA5J00(Capacity 50A)

85

160

130

△ *1、*２

RS2A10A3MA5J00(Capacity 100A)

100

235

220

〇

RS2A15A3MA5J00(Capacity 150A)

120

235

220

〇

RS2A30A3MA5J00(Capacity 300A)

220

250

220

〇

AP-2M005****
AP-2M010****・Regading Power cable
When diverting existing
cables, if the capacity is
50A or less, it is necessary
to change to a Rod
terminal.

AP-2M020****AP-2M030****AP-3M048****AP-2M040****AP-2M050****AP-2M075****
AP-2M100****Replacement
table
for Amplifire

AP-1M075****
AP-1M100****・Regarding Encoder cable
When using existing
cables, Encoder conversion
cables are required.

AP-3M066****
AP-3M120****AP-3M160****AP-5M150****AP-3M250****AP-3M360****AP-5M200****AP-5M350****AP-5M450****AP-5M550****AP-5M700****AP-5M750****AP-5M11K****
AP-5M15K****For the * at the end of the motor model, Please see "MC1K Motor Specifications" on the page.

programParameter
Diversion

TOYOPUC

Program(Ladder)

Change required

MCML

Parameter

Change required

Setting data

Change required

Parameter

Change required

・ When using only the built-in regenerative resistor
MC1K

R2 Amplifierbuilt-inType

Maximum acceptable
power (W)Type

Maximum acceptable
power (W)compatibility

MC1K-U015V
MC1K-U015V
MC1K-U030V
MC1K-U050V
MC1K-U100V

5W
5W
5W
30W
60W

RS2A01A3MA5J00
RS2A03A3MA5J00
RS2A05A3MA5J00
RS2A05A3MA5J00
RS2A10A3MA5J00

5W
5W
20W
20W
90W

○
○
○
×
○

MC1K-U150V

90W

RS2A15A3MA5J00

120W

○

MC1K-U300Vー

RS2A30A3MA5J00

ーー

Remarks columnof amplifier

Connect one REGIST-220W20B

・ When using an external regenerative resistor
MC1K

Regenerative
resistanceDiversion

R2 Amplifier
Internal
resistance

TypeInternal
resistance

MC1K-U015V
MC1K-U015V
MC1K-U030V
MC1K-U050V
MC1K-U100V

100Ω
100Ω
50Ω
20Ω
10Ω

RS2A01A3MA5J00
RS2A03A3MA5J00
RS2A05A3MA5J00
RS2A05A3MA5J00
RS2A10A3MA5J00

50Ω
50Ω
17Ω
17Ω
10Ω

×
×
×
〇
〇

A
A
B
-

MC1K-U150V

6.7Ω

RS2A15A3MA5J00

6Ω

〇

-

MC1K-U300V

None

RS2A30A3MA5J00

None

〇

-

Replacemant
patternA

B

NumberDiversion of Replace
regenerative
ment
resistancepatternType

2
4

BEFORE

AFTER

Regenerative resistor

NumberMaximum acceptable
power (W)REGIST-220W100B
REGIST-220W100B
MA-R45050
REGIST-220W50B
MA-R45050

1
4
2
1
1

55
220
224
55
112

REGIST-220W50B

4

MA-R45050

4

Resistor layout

1

Regenerative resistor Number

Mounting

Maximum acceptable
power (W)compatibilityof amplifier

REGIST-220W50B
REGIST-220W50B
REGIST-220W50B
REGIST-220W20B
REGIST-500CW20B

1
4
4
1
1

55
220
220
125
125

〇
〇
×
〇
×

220

REGIST-220W20B

4

500

〇

448

REGIST-500CW20B

4

500

×

Remarks column

Additional mounting space required

AP-△M□□□****
MC1K
Motor
Specification

△

□□□□

1 : Square tube type 8192 pulses / revolution 3000min
2 : Square tube type 8192 pulses / revolution 3000min-1
3 : Flat type 8192 pulses / revolution 2000min-1
5 : Square tube type 8192 pulses / revolution 1000/1500/2000min-1****

OptionMotor capacity（W）

XXC1：Supplied with CANON connector and no holding brake.
B1C1：Supplied with holuding brake and CANON connector.
XXCT：Supplied with CANON connector and no holding brake. Qualified by TUVBTCT：Supplied with holuding brake and CANON connector. Qualified by TUVXXCDP：Supplied with directly attached CANON connector and no holding brake.
B1CDP：Supplied with holuding brake and directly attached CANON connector.

MCML、R2 special cable
Name

Type

Remarks column
Made by MEIHO Electric Corporation
Reference: Relationship between Type and cable length

MECHATROLINK-III cable

Encoder conversion cable

MCML
Softwaretools

ML3-C****

AL-01021162-01

Type

LengthType

Length

ML3-C0002

0.2m

ML3-C0030

3.0m

ML3-C0005

0.5m

ML3-C0050

5.0m

ML3-C0010

1.0m

ML3-C0100

10.0mWith battery: For encoder backup of MC1K motor
For CN2 connection: 4 types of signal EM, H, BR, STB
Reference: Relationship between Type and cable length

General I/O cable

R2-IO-*M

Type
R2-IO-1M
R2-IO-2M
R2-IO-3M

Length1m
2m
3m

PC Setting Tool
PCwin (V17.8R01~)
Motion Tool (V2.30R01~)
MCML Data Converter

TJA-2031
TJA-6882
Free software

Software for PLC
Software for MCML
Convert MC1K parameter to MCML

* MOwin5 cannot be used.
* Motion Tool is connected via TOYOPUC, so a

TOYOPUC connection cable is required.
* Motion Tool must be installed to use MCML

Data Converter.

* Please refer to the TOYOPUC MCML Instruction Manual (T-768E,T-765E),R2 Series Servo System (T-780E) for final equipment selection.
* Please register your name, company name and e-mail address when using the instruction manual.
After that, we will send the password for downloading the instruction manual to the registered e-mail address.
T-768E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-768e.pdf
T-765E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-765e.pdf
T-780E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-780e.pdf

3

AFWG_M_20200317

Recipe of Motion Replacement PlanB：Replacement to R2 Motor
BEFORE
MC1K controler amp

Exsting TOYOPUC

Encoder cable
HPC/PC Link cable

Power cable

HPC Link
M-NET(PC Link)

AFTER

…

R2 Motor

R2 Amp

Exstiong TOYOPUC

MC1K Motor

Encoderconvertor cable

MECHATROLINK-III cable

Existing

Encoder cable

Existing
Power cable※Please see the next page for PLCs
that support MCML. Please see"TOYOPUC Correspondence Table"

Controler MCML
TCI-6721

R2 Motor…

Replacement confirmation table
BEFORE

AP-2M075****
AP-2M100****AP-1M075****
AP-1M100****AP-3M048****
AP-3M066****
AP-3M120****AP-3M160****AP-3M250****AP-3M360****AP-3M450****AP-5M150****AP-5M200****AP-5M350****AP-5M450****AP-5M550****AP-5M700****AP-5M750****AP-5M11K****
AP-5M15K****R2 Motor
R2AA06010F□RM□
R2AA06020F□RM□
R2AA06040F□RM□

Existing control panel

AmplifierAmp Mounting
compatibility

RS2A01A3MA5J00

Small bracket

RS2A03A3MA5J00

Small bracket

R2 AmpR2AAB8075F□RM□
R2AAB8100F□RM□
R2AAB8075F□RM□
R2AAB8100F□RM□
R2AA13050H□R94M

RS2A05A3MA5J00

Large bracket

RS2A03A3MA5J00

Small bracket

RS2A05A3MA5J00

Large bracket

R2AA18350L□R94M

RS2A10A3MA5J00○

R2AA18450H□R94M
R2AA13180H□R94M
R2AA18350L□R94M
R2AA18350D□R94M
R2AA18450H□R94M
R2AA18550R□R94M
R2AA22700S□R94M
R2AA18750H□R94M
R2AA2211KB□R94M
R2AA2215KB□R94M

RS2A15A3MA5J00
RS2A05A3MA5J00
RS2A10A3MA5J00○
Large bracket〇

RS2A15A3MA5J00○

RS2A30A3MA5J00○

R2AA13120L□R94M

12

the old amplifier mounting screw

Amplifier mounting bracket
Small bracker

Lrage bracket

BRK-R201-1A1

BRK-R201-1A2

50mm

85mm

R2AA13180H□R94M

237mm

AP-2M050****

AFTER

237mm

Motor
AP-2M005****
AP-2M010****AP-2M020****AP-2M030****AP-2M040****※Use the mounting bracket to reuse※The amplifier mounting bracket is for rear mounting.
Please consult us if you are mounting front.

For the **** at the end of the motor model,
Please see "MC1K Motor Specifications" on the page 3.
For the □ at the motor model,
Please see "R2 Motor Specifications" on the page 6.

* Please refer to the TOYOPUC MCML Instruction Manual (T-768E,T-765E),R2 Series Servo System (T-780E) for final equipment selection.
* Please register your name, company name and e-mail address when using the instruction manual.
After that, we will send the password for downloading the instruction manual to the registered e-mail address.
T-768E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-768e.pdf
T-765E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-765e.pdf
T-780E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-780e.pdf

4

AFWG_M_20200317

TOYOPUC
Correspondence
table

Recommendation：PC3JX、PC3JX-D、PC10G
Available：PC3J、PC3JL、PC3JD、PC3JG(-P)

Motor Type

Compatibility

XXC1 (XXCDP)B1C1 (B1CDP)

XXCT

BTCT

R2AA06010FXRMW

R2AA06010FCRMW

R2AA06010FXRMVE

R2AA06010FBRMVE

AP-2M020

R2AA06020FXRMW

R2AA06020FCRMW

R2AA06020FXRMVE

AP-2M030

R2AA06040FXRMW

R2AA06040FCRMW

R2AA06040FXRMVE

AP-2M005
AP-2M010

×

The mounting is not compatible. Consider the coupling and mounting method.

×

The mounting is not compatible. Consider the coupling and mounting method.

R2AA06020FBRMVE×

The mounting is not compatible. Consider the coupling and mounting method.

R2AA06040FBRMVE×

The mounting is not compatible. Consider the coupling and mounting method.

AP-2M040
AP-2M050
AP-2M075〇
R2AAB8075FXRMWR2AAB8075FCRMWR2AAB8075FXRMVER2AAB8075FBRMVE

AP-1M075

Replacement
table
for Motor

M
o
t
o
r
c
a
p
a
c
i
t
y

AP-2M100
AP-1M100
AP-3M048
AP-3M066
AP-3M120
AP-3M160
AP-5M150

R2AAB8100FXRMWR2AAB8100FCRMWR2AAB8100FXRMVER2AAB8100FBRMVE

R2AA13050HXR94M

R2AA13050HCR94M

R2AA13050HXR94M

R2AA13050HBR94M

R2AA13120LXR94M

R2AA13120LCR94M

R2AA13120LXR94M

R2AA13120LBR94M

R2AA13180HXR94M

R2AA13180HCR94M

R2AA13180HXR94M

R2AA13180HBR94M

R2AA18350LXR94M

R2AA18350LCR94M

R2AA18350LXR94M

R2AA18350LBR94M

AP-5M200
AP-5M350〇〇〇
×

The mounting is not compatible. Consider the coupling and mounting method.

×

The mounting is not compatible. Consider the coupling and mounting method.

×

The mounting is not compatible. Consider the coupling and mounting method.

×

The mounting is not compatible. Consider the coupling and mounting method.

〇×

The mounting is not compatible. Consider the coupling and mounting method.

×

The mounting is not compatible. Consider the coupling and mounting method.

〇
R2AA18350DXR94M

R2AA18350DCR94M

R2AA18350DXR94M

R2AA18350DBR94M

R2AA18450HXR94M

R2AA18450HCR94M

R2AA18450HXR94M

R2AA18450HBR94M

AP-5M550

R2AA18550RXR94M

R2AA18550RCR94M

R2AA18550RXR94M

R2AA18550RBR94M

×

AP-5M700

R2AA22700SXR94M

R2AA22700SCR94M

R2AA22700SXR94M

R2AA22700SBR94M〇

AP-5M750

R2AA18750HXR94M

R2AA18750HCR94M

R2AA18750HXR94M

R2AA18750HBR94M〇

AP-5M11K

R2AA2211KBXR94M

R2AA2211KBCR94M

R2AA2211KBXR94M

R2AA2211KBBR94M〇

AP-5M15K

R2AA2215KBXR94M

R2AA2215KBCR94M

R2AA2215KBXR94M

R2AA2215KBBR94M〇

AP-3M450
AP-5M450

Select Motor

Compatible amplifier

W

H

D

Mounting
compatibilityof amplifier

R2AA06010F□RM□

RS2A01A3MA5J00(Capacity 15A)

40

160

130

△ *1

RS2A03A3MA5J00(Capacity 30A)

50

160

130

△ *1

RS2A05A3MA5J00(Capacity 50A)

85

160

130

△ *1、＊２

RS2A10A3MA5J00(Capacity 100A)

100

235

220

〇

RS2A15A3MA5J00(Capacity 150A)

120

235

220

〇

RS2A30A3MA5J00(Capacity 300A)

220

250

220

〇

R2AA06020F□RM□
R2AA06040F□RM□
R2AA13050H□R94M

Measurement

R2AA13120H□R94M
R2AA13180H□R94M
R2AAB8075F□RM□
Replacement
table
for Amplifire〇〇

AP-3M250
AP-3M360

Remarks column〇
×

The mounting is not compatible. Consider the coupling and mounting method.

〇
The mounting is not compatible. Consider the coupling and mounting method.

*1：Use bracket*2：Need to check themounting width
・Regading Power cable
When diverting existing
cables, if the capacity is
50A or less, it is necessary
to change to a Rod
terminal.

R2AAB8100F□RM□
R2AA18350L□R94M
R2AA18350D□R94M
R2AA18450H□R94M
R2AA18550R□R94M

・Regarding Encoder cable
When using existing
cables, Encoder
conversion cables are
required.

R2AA22700S□R94M
R2AA18750H□R94M
R2AA2211KB□R94M
R2AA2215KB□R94M

For the □ at the motor model, Please see "MC1K Motor Specifications" on the next page.

programParameter
Diversion

TOYOPUC
MCML

Program(Ladder)

Change required

Parameter

Change required

Setting data

Change required

Parameter

Change required* Please refer to the TOYOPUC MCML Instruction Manual (T-768E,T-765E),R2 Series Servo System (T-780E) for final equipment selection.
* Please register your name, company name and e-mail address when using the instruction manual.
After that, we will send the password for downloading the instruction manual to the registered e-mail address.
T-768E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-768e.pdf
T-765E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-765e.pdf
T-780E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-780e.pdf

5

AFWG_M_20200317

・ When using only the built-in regenerative resistor

MC1K

R2 Amplifier

Maximum acceptable
power (W)Type

Maximum acceptable
power (W)compatibility

MC1K-U015V
MC1K-U015V
MC1K-U030V
MC1K-U050V
MC1K-U100V

5W
5W
5W
30W
60W

RS2A01A3MA5J00
RS2A03A3MA5J00
RS2A05A3MA5J00
RS2A05A3MA5J00
RS2A10A3MA5J00

5W
5W
20W
20W
90W

○
○
○
×
○

MC1K-U150V

90W

RS2A15A3MA5J00

120W

○

MC1K-U300Vー

RS2A30A3MA5J00

ーー・ When using an external regenerative resistor
MC1K
R2 Amplifier
Regenerative
resistanceDiversion

built-in

TypeInternal
resistance

TypeInternal
resistance

MC1K-U015V
MC1K-U015V
MC1K-U030V
MC1K-U050V
MC1K-U100V

100Ω
100Ω
50Ω
20Ω
10Ω

RS2A01A3MA5J00
RS2A03A3MA5J00
RS2A05A3MA5J00
RS2A05A3MA5J00
RS2A10A3MA5J00

50Ω
50Ω
17Ω
17Ω
10Ω

×
×
×
〇
〇

A
A
B
-

MC1K-U150V

6.7Ω

RS2A15A3MA5J00

6Ω

〇

-

MC1K-U300V

None

RS2A30A3MA5J00

None

〇

-

A

B

Connect one REGIST-220W20B

Diversion of Replace
regenerative
ment
resistancepatternType

Replacemant
pattern

Number2
4

AFTER

NumberMaximum acceptable
power (W)REGIST-220W100B
REGIST-220W100B
MA-R45050
REGIST-220W50B
MA-R45050

1
4
2
1
1

55
220
224
55
112

REGIST-220W50B

4

MA-R45050

4

AA

06

Regenerative resistor Number

compatibilityof amplifier

1
4
4
1
1

55
220
220
125
125

〇
〇
×
〇
×

220

REGIST-220W20B

4

500

〇

448

REGIST-500CW20B

4

500

×

F

C

R

00

Maximum rotational velocity
S････1,000min-1

R2 Series

Mounting

Maximum acceptable
power (W)REGIST-220W50B
REGIST-220W50B
REGIST-220W50B
REGIST-220W20B
REGIST-500CW20B

020

Resistor layout

1

BEFORE
Regenerative resistor

R2

Remarks columnof amplifier

Additional mounting space requiredM

B････2,000min-1

Additional specification identification
M･･･CE mark ＋ UL supported

Voltage

R････2,500min-1

E････CE mark supported

AA･･･200V motor

L････3,000 / 4,000min-1

E8･･･CE mark supported (400W)

H････3,500min-1

Remarks column

Absent･･･No standard

D････4,500 / 5,000min-1
F････6,000min-1

R2
Motor
Specification

JTEKT Specification identification
MW･･･Flange dimensions 86mm or less

06･･････60mm

Holding Brake
X･･･No brake

B8･･････86mm

B･･･With brake (90V)

13･･････130mm

C･･･With brake (24V)

Flange dimensions

MV･･･Flange dimensions 86mm or less
(CE application)
94･･･Flange dimensions 130mm or less18･･････180mm
22･･････220mm

Rated output
010･･･100W

100･･･1.0kW 550･･･5.5kW

020･･･200W

120･･･1.2kW 700･･･7.0kW

040･･･400W

180･･･1.8kW 750･･･7.5kW

050･･･500W

350･･･3.5kW 11K･･･11kW

075･･･750W

450･･･4.5kW 15K･･･15kW

Encorder type
R・・・Vattery-less absolute encorder (HA035)
Resolution within
1 rotation
131012 (17bit)

Resolution within
multiple rotation
65536 (16bit)

MCML、R2 special cable
Name

Type

Remarks column
Made by MEIHO Electric Corporation
Reference: Relationship between Type and cable length

MECHATROLINK-III cable

Encoder conversion cable

MCML
Peripheral
Equipment
Tools

ML3-C****

AL-00970973-01

General I/O cable

R2-IO-*M

Type

LengthType

Length

ML3-C0002

0.2m

ML3-C0030

3.0m

ML3-C0005

0.5m

ML3-C0050

5.0m

ML3-C0010

1.0m

ML3-C0100

10.0m

None battery: R2 motor uses batteryless encoder
For CN2 connection: 4 types of signal EM, H, BR, STB
Reference: Relationship between Type and cable length
Type
R2-IO-1M
R2-IO-2M
R2-IO-3M

Length1m
2m
3m

Peripheral Equipment Tools
PCwin (V17.8R01~)
Motion Tool (V2.30R01~)
MCML Data Converter

TJA-2031
TJA-6882
Free software* MOwin5 cannot be used.
Software for PLC
Software for MCML
Convert MC1K parameter to MCML

* Motion Tool is connected via TOYOPUC, so a
TOYOPUC connection cable is required.
* Motion Tool must be installed to use MCML

* Please refer to the TOYOPUC MCML Instruction Manual (T-768E,T-765E),R2 Series Servo System (T-780E) for final equipment selection.
* Please register your name, company name and e-mail address when using the instruction manual.
After that, we will send the password for downloading the instruction manual to the registered e-mail address.
T-768E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-768e.pdf
T-765E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-765e.pdf
T-780E https://toyoda.jtekt.co.jp/e/authdata.php?path=Mc/Torisetu/t-780e.pdf

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AFWG_M_20200317