TMCM-1310V1.2

MODULE FOR STEPPER MOTORS MODULE Firmware Version V1.11 TMCL™ FIRMWARE MANUAL + + TMCM-1310 1-Axis Stepper Closed Loop Controller / Driver 3 A RMS / 48 V ABN and SSI Encoder Input 18 GPIOs USB, EtherCAT® + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com + TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) Table of Contents 1 2 3 Features........................................................................................................................................................................... 4 Overview ......................................................................................................................................................................... 6 Communication via EtherCAT ................................................................................................................................... 7 3.1 SyncManager ......................................................................................................................................................... 7 3.1.1 Buffered Mode ................................................................................................................................................ 7 3.1.2 Mailbox Mode, used for TMCL-Applications ........................................................................................... 8 3.2 EtherCAT Slave State Machine ......................................................................................................................... 9 3.3 EtherCAT Firmware Update ............................................................................................................................. 11 3.4 Process Data ....................................................................................................................................................... 11 3.5 TMCL Mailbox ...................................................................................................................................................... 13 3.6 Binary Command Format ................................................................................................................................ 13 3.7 Status Codes ....................................................................................................................................................... 13 4 Operation with USB Interface ................................................................................................................................ 14 4.1 Binary Command Format for USB Interface .............................................................................................. 14 4.2 Reply Format ....................................................................................................................................................... 15 4.2.1 Status Codes ................................................................................................................................................. 15 4.3 Standalone Applications .................................................................................................................................. 15 5 The ASCII Interface ................................................................................................................................................... 16 5.1 Format of the Command Line ....................................................................................................................... 16 5.2 Format of a Reply.............................................................................................................................................. 16 5.3 Commands Used in ASCII Mode ................................................................................................................... 16 5.4 Configuring the ASCII Interface .................................................................................................................... 17 6 TMCL Commands ........................................................................................................................................................ 18 6.1 Motion Commands ............................................................................................................................................ 18 6.2 Parameter Commands ...................................................................................................................................... 18 6.3 Control Commands ........................................................................................................................................... 18 6.4 I/O Port Commands .......................................................................................................................................... 18 6.5 Calculation Commands .................................................................................................................................... 19 6.6 Interrupt Commands ........................................................................................................................................ 19 6.6.1 Interrupt Types ............................................................................................................................................ 19 6.6.2 Interrupt Processing ................................................................................................................................... 19 6.6.3 Interrupt Vectors ......................................................................................................................................... 20 6.6.4 Further Configuration of Interrupts ....................................................................................................... 20 6.6.5 Using Interrupts in TMCL .......................................................................................................................... 20 6.7 ASCII Commands ............................................................................................................................................... 21 6.8 Commands ........................................................................................................................................................... 22 6.8.1 ROR (rotate right) ........................................................................................................................................ 22 6.8.2 ROL (rotate left) ........................................................................................................................................... 23 6.8.3 MST (motor stop)......................................................................................................................................... 24 6.8.4 MVP (move to position) ............................................................................................................................ 25 6.8.5 SAP (set axis parameter) ........................................................................................................................... 27 6.8.6 GAP (get axis parameter) .......................................................................................................................... 28 6.8.7 STAP (store axis parameter) ..................................................................................................................... 29 6.8.8 RSAP (restore axis parameter) ................................................................................................................. 30 6.8.9 SGP (set global parameter) ...................................................................................................................... 31 6.8.10 GGP (get global parameter)...................................................................................................................... 32 6.8.11 STGP (store global parameter) ................................................................................................................ 33 6.8.12 RSGP (restore global parameter) ............................................................................................................ 34 6.8.13 RFS (reference search) ................................................................................................................................ 35 6.8.14 SIO (set input / output) ............................................................................................................................. 36 6.8.15 GIO (get input /output) ............................................................................................................................. 38 6.8.16 CALC (calculate) ............................................................................................................................................ 41 6.8.17 COMP (compare)........................................................................................................................................... 42 6.8.18 JC (jump conditional) ................................................................................................................................. 43 6.8.19 JA (jump always) ......................................................................................................................................... 44 6.8.20 CSUB (call subroutine) ............................................................................................................................... 45 www.trinamic.com 2 TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 6.8.21 RSUB (return from subroutine) ................................................................................................................ 46 6.8.22 WAIT (wait for an event to occur) ......................................................................................................... 47 6.8.23 STOP (stop TMCL program execution) ................................................................................................... 48 6.8.24 SCO (set coordinate) ................................................................................................................................... 49 6.8.25 GCO (get coordinate) .................................................................................................................................. 50 6.8.26 CCO (capture coordinate) .......................................................................................................................... 51 6.8.27 ACO (accu to coordinate) .......................................................................................................................... 52 6.8.28 CALCX (calculate using the X register) .................................................................................................. 53 6.8.29 AAP (accumulator to axis parameter) .................................................................................................... 54 6.8.30 AGP (accumulator to global parameter) ............................................................................................... 55 6.8.31 CLE (clear error flags) ................................................................................................................................. 56 6.8.32 VECT (set interrupt vector) ........................................................................................................................ 57 6.8.33 EI (enable interrupt) ................................................................................................................................... 58 6.8.34 DI (disable interrupt) .................................................................................................................................. 59 6.8.35 RETI (return from interrupt) ..................................................................................................................... 60 6.8.36 Customer Specific TMCL Command Extension (user function) ....................................................... 61 6.8.37 Request Target Position Reached Event ............................................................................................... 62 6.8.38 BIN (return to binary mode) .................................................................................................................... 62 6.8.39 TMCL Control Functions ............................................................................................................................. 63 7 Axis Parameters .......................................................................................................................................................... 64 7.1 Velocity Calculation ........................................................................................................................................... 76 8 stallGuard2 Related Parameters ............................................................................................................................. 77 9 Closed-Loop Operation Related Axis Parameter ................................................................................................ 78 9.1 General Closed Loop Axis Parameters ........................................................................................................ 78 9.2 General Structure of the Closed Loop System ......................................................................................... 79 9.3 Setting Encoder Resolution and Motor Resolution ................................................................................. 80 9.4 Positioning Mode .............................................................................................................................................. 81 9.5 Position Maintenance and Standstill Mode ............................................................................................... 84 9.6 Velocity Mode ..................................................................................................................................................... 86 9.7 Torque Mode ....................................................................................................................................................... 87 9.8 Current Regulation ............................................................................................................................................ 88 9.9 Field Weakening ................................................................................................................................................ 92 9.10 Status and Feedback Information ................................................................................................................ 93 9.11 Example Programs: Closed Loop Operation .............................................................................................. 94 9.11.1 Example Program 1 ..................................................................................................................................... 94 9.11.2 Example Program 2 ..................................................................................................................................... 95 10 Reference Search ........................................................................................................................................................ 96 10.1.1 Reference Search Modes (Axis Parameter 193) ................................................................................... 97 11 Global Parameters ...................................................................................................................................................... 99 11.1 Bank 0 ................................................................................................................................................................... 99 11.2 Bank 1 ................................................................................................................................................................. 100 11.3 Bank 2 ................................................................................................................................................................. 101 11.4 Bank 3 ................................................................................................................................................................. 101 12 TMCL Programming Techniques and Structure ............................................................................................... 102 12.1 Initialization ...................................................................................................................................................... 102 12.2 Main Loop .......................................................................................................................................................... 102 12.3 Using Symbolic Constants ............................................................................................................................ 102 12.4 Using Variables ................................................................................................................................................ 103 12.5 Using Subroutines ........................................................................................................................................... 103 12.6 Mixing Direct Mode and Standalone Mode .............................................................................................. 104 13 Life Support Policy ................................................................................................................................................... 105 14 Revision History ........................................................................................................................................................ 106 14.1 Firmware Revision .......................................................................................................................................... 106 14.2 Document Revision ......................................................................................................................................... 106 15 References .................................................................................................................................................................. 107 www.trinamic.com 3 TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 1 4 Features The TMCM-1310 is a single axis stepper motor controller/driver standalone board with closed loop support. For communication an USB interface and EtherCAT®* are provided. The module supports motor currents up to 3A RMS and supply voltages up to 48V nominal. The module offers inputs for one incremental a/b/n (TTL, open-collector and differential inputs) or absolute SSI encoders (selectable in software). There are dedicated stop switch inputs, 8 general purpose inputs, and 8 general purpose outputs. MAIN CHARACTERISTICS Bipolar stepper motor driver Up to 256 microsteps per full step High-efficient operation, low power dissipation Dynamic current control Integrated protection: overtemperature and undervoltage stallGuard2™ feature for stall detection (for open loop operation) Encoder Encoder input for incremental a/b/n (TTL, open-collector and differential inputs) and absolute SSI encoders (selectable in software) Interfaces USB 2.0 full-speed (12Mbit/s) communication interface (mini-USB connector) EtherCAT LINK IN and LINK OUT (RJ45) Dedicated STOP_L / STOP_R inputs Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs) Up to 8 multi-purpose outputs (open-drain, incl. 2 outputs for currents up to 1A) Software TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands Closed-loop support Fully supported by TMCL-IDE (PC based integrated development environment) Electrical data Supply voltage: +12V… +48V DC Motor current: up to 3A RMS (programmable) Mechanical data Board size: 110mm x 110mm, height 26.3mm Please refer to separate TMCM-1310 Hardware Manual for additional information. * EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. www.trinamic.com TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 5 TRINAMIC FEATURES – CLOSED LOOP MODE The TMCM-1310 is mainly designed to run 2-phase stepper motors in closed loop mode. It offers an automatic motor load adaption in positioning mode, velocity mode, and torque mode, which is based on encoder feedback and closed loop control software for analysis, error detection and error correction. The closed loop mode operation combines the advantages of a stepper driver system with the benefits of a servo drive. Thus, the TMCM-1310 is able to satisfy ambitious requirements in reliability and precision and can be used in several industrial demanding applications. TMCM-1310 Benefits of Stepper Drive Benefits of Servo Drive High torque without gearing No feedback loop oscillations High precision Precise velocity control Reaction to any impact No position loss Torque control Figure 1.1 TMCM-1310 characteristics in closed loop mode THE TRINAMIC CLOSED LOOP MODE OPERATION - prevents the motor from stall and step loss caused by too high load or high velocity. adapts the current amplitude to each motor load which is within the ranges predetermined by motor and controller/driver board characteristics. achieves a higher torque output than in open loop mode. guarantees a precise and fast positioning. enables velocity and positioning error compensation. Using the TMCM-1310, energy will be saved and the motor will be kept cool. www.trinamic.com TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 2 6 Overview The software running on the microprocessor of the TMCM-1310 consists of two parts, a boot loader and the firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and remains untouched throughout the whole lifetime, the firmware can be updated by the user. New versions can be downloaded free of charge from the TRINAMIC website (http://www.trinamic.com). The TMCM-1310 can be used as an EtherCAT slave device. The whole communication with the EtherCAT master follows a strict master-slave-relationship. Via the TMCL mailbox motor parameters are written and/or read using TRINAMICs TMCL protocol. The firmware of this module is related to the standard TMCL firmware with a special range of values. The TRINAMIC Motion Control Language [TMCL] provides a set of structured motion control commands. Every motion control command can be given by a host computer or can be stored in an EEPROM on the module to form programs that run standalone. For this purpose there are not only motion control commands but also commands to control the program structure (like conditional jumps, compare and calculating). Every command has a binary representation and a mnemonic. The binary format is used to send commands from the host to a module in direct mode, whereas the mnemonic format is used for easy usage of the commands when developing standalone TMCL applications using the TMCL-IDE (IDE means Integrated Development Environment). There is also a set of configuration variables for the axis and for global parameters which allow individual configuration of nearly every function of the module. This manual gives a detailed description of all TMCL commands and their usage. www.trinamic.com TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 3 7 Communication via EtherCAT 3.1 SyncManager The SyncManager enables consistent and secure data exchange between the EtherCAT master and the local application, and it generates interrupts to inform both sides of changes. The SyncManager is configured by the EtherCAT master. The communication direction is configurable, as well as the communication mode (buffered mode and mailbox mode). The SyncManager uses a buffer located in the memory area for exchanging data. Access to this buffer is controlled by the hardware of the SyncManager. A buffer has to be accessed beginning with the start address, otherwise the access is denied. After accessing the start address, the whole buffer can be accessed, even the start address again, either as a whole or in several strokes. A buffer access finishes by accessing the end address, the buffer state changes afterwards. The end address cannot be accessed twice inside a frame. Two communication modes are supported by SyncManagers, the buffered mode and the mailbox mode. 3.1.1 Buffered Mode The buffered mode allows both sides, EtherCAT master and local application, to access the communication buffer at any time. The consumer gets always the latest consistent buffer which was written by the producer, and the producer can always update the content of the buffer. The buffered mode is used for cyclic process data. Data transfer between EtherCAT master (PC etc.) und slave (TMCM-1310) is done using the dual port memory of the ET1100 EtherCAT-IC on the slave. The buffered mode allows writing and reading data simultaneously without interference. If the buffer is written faster than it is read out, old data will be dropped. The buffered mode is also known as 3-buffermode. One buffer of the three buffers is allocated to the producer (for writing), one buffer to the consumer (for reading), and the third buffer keeps the last consistently written data of the producer. 0x1000 0x10FF Buffer 0 (visible) 0x1100 0x11FF Buffer 1 (invisible, shall not be used) 0x1200 0x12FF Buffer 2 (invisible, shall not be used) 0x1300 Next usable RAM space All buffers are controlled by the SyncManager. Only buffer 0 is configured by the SyncManager and addressed by ECAT and μController. Figure 3.1 SyncManager buffer allocation As an example, Figure 3.1 demonstrates a configuration with start address 0x1000 and length 0x100. The other buffers shall not be read or written. Access to the buffer is always directed to addresses in the range of buffer 0. www.trinamic.com TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) ECAT Master NEXT Write begin 8 PDI µController Load next buffer if new data are available Read end Exchange buffer (if frame is o.k.) Write end Read begin Write begin Exchange buffer Write end Load next buffer if new data are available Read begin Read end Figure 3.2 SyncManager buffered mode interaction 3.1.2 Mailbox Mode, used for TMCL-Applications The mailbox mode implements a handshake mechanism for data exchange, so that no data will be lost. Each side, EtherCAT master or local application will get access to the buffer only after the other side has finished its access. The mailbox mode only allows alternating reading and writing. This assures that all data from the producer will reach the consumer. The mailbox mode uses just one buffer of the configured size. At first, after initialization/activation, the buffer (mailbox, MBX) is writeable. Once it is written completely, write access is blocked, and the buffer can be read out by the other side. After it was completely read out, it can be written again. The time it takes to read or write the mailbox does not matter. The mailbox mode is used for the application layer protocol. Via the mailbox motor-parameters of the TMCM-1310 can be written/read using the TMCL protocol. Master Write mailbox Write Write w. failure (mailbox full) µController mailbox full mailbox empty Read mailbox mailbox full Read Read w. failure (mailbox empty) mailbox empty Figure 3.3 SyncManager mailbox interaction www.trinamic.com Read Read w. failure (mailbox empty) Write Write w. failure (mailbox full) TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 3.2 9 EtherCAT Slave State Machine The EtherCAT slave state machine has four states, which are shown in Figure 3.4. After power ON the slave state machine is in the Init state. In this situation mailbox and process data communication is impossible. The EtherCAT master initializes the SyncManager channels 0 and 1 for the communication via mailbox. While changeover from Init state to Pre-Operational state the EtherCAT slave checks the correct initialization of the mailbox. Afterwards mailbox communication is possible. Now, in the Pre-Operational state the master initializes the SyncManager channels for the process data and the FMMU channels. Furthermore adjustments are sent, which differ from the default values. While changeover from Pre-Operational state to Safe-Operational state the EtherCAT slave checks the correct initialization of the SyncManager channels for the process data as well as the adjustments for the Distributed Clocks. Before accepting the change of state, the EtherCAT slave copies actual input data into the accordant DP-RAM array of the EtherCAT slave controller. In the Safe-Operational state mailbox and process data communication are possible, but the slave holds its outputs in a safe situation and actualizes the input data periodically. Before the EtherCAT slave changes the state to Operational it has to transfer valid output data. In the Operational state the EtherCAT slave copies the output data from the EtherCAT master to its outputs. Process data communication and mailbox communication are possible now. The Bootstrap state is only used for updating the firmware. This state is reachable form the Init state. During Bootstrap state mailbox communication is available over File-Access over EtherCAT. Beyond this mailbox communication or process data communication is not possible. EtherCAT™ Slave State Machine Init Pre-Operational Bootstrap Safe-Operational Operational Figure 3.4 EtherCAT™ slave state machine www.trinamic.com (optional) TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) State / state change Init Init to Pre-Operational Pre-Operational Pre-Operational to Safe-Operational Safe-Operational Safe-Operational to Operational Operational Bootstrap Services No communication on application layer Master has access to the DL-information registers Master configures registers, at least: • DL address register • SyncManager channels for mailbox communication Master initializes Distributed Clock synchronization Master requests Pre-Operational state • Master sets AL control register Wait for AL status register confirmation Mailbox communication on the application layer No process data communication Master configures parameters using the mailbox: • e.g., process data mapping Master configures DL Register: • SyncManager channels for process data communication • FMMU channels Master requests Safe-Operational state Wait for AL Status register confirmation Mailbox communication on the application layer Process data communication, but only inputs are evaluated. Outputs remain in safe state Master sends valid outputs Master requests Operational state (AL Control/Status) Wait for AL Status register confirmation Inputs and outputs are valid Recommended if firmware updates are necessary State changes only from and to Init No Process Data communication Mailbox communication on application layer, only FoE protocol available (possibly limited file range) THREE LEDS DISPLAY THE ACTUAL ACTIVITY: Green LED EtherCAT0 LINK OUT state EtherCAT LINK IN state EtherCAT RUN state www.trinamic.com Description OFF blinking single flash OFF blinking single flash OFF blinking single flash ON flickering (fast) No link. Link and activity. Link without activity. No link. Link and activity. Link without activity. The device is in state The device is in state The device is in state The device is in state The device is in state INIT. PRE-OPERATIONAL. SAFE-OPERATONAL. OPERATIONAL. BOOTSTRAP. 10 TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 3.3 11 EtherCAT Firmware Update For firmware updates the EtherCAT state machine of the slave has to be switched to Bootstrap state. The file access over EtherCAT protocol (FoE) is used. THE TWO MAILBOXES FOR DATA TRANSFERS HAVE THE FOLLOWING PARAMETERS: - Data output buffer: Data input buffer: 3.4 Start-address: 4096, length: 268 byte Start-address: 4364, length: 40 byte Process Data In standard configuration for data transfer the following buffers are used (slave view): DATA OUTPUT BUFFER / ETHERCAT MASTER -> SLAVE DATA TRANSFER Data output buffer: Start-address: 4096(0x1000), length: first 8 bytes Start address End address Data type Data value / contents 0x1000 0x1003 UNSIGNED32 Controller Mode Bit 0 1 2 3 3 0x1004 0x1007 www.trinamic.com SIGNED32 Description No operation Position mode Velocity mode Torque mode Value (position / velocity / current) TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 12 DATA INPUT BUFFER / ETHERCAT SLAVE -> MASTER DATA TRANSFER Data input buffer: Start-address: 4216(0x1078), length: first 44 bytes Start address End address Data type Data value / contents 0x1078 0x107B SIGNED32 Target Position Command for read out: 0x107C 0x107F SIGNED32 Actual position Command for read out: 0x1080 0x1083 SIGNED32 Virtual actual position Command for read out: 0x1084 0x1087 SIGNED32 Encoder Position Command for read out: 0x1088 0x108B SIGNED32 Target velocity Command for read out: 0x108C 0x108F SIGNED32 Actual velocity Command for read out: 0x1090 0x1093 SIGNED32 Measured velocity Command for read out: 0x1094 0x1097 UNSIGNED32 Status word Command for read out: 0x1098 0x109B UNSIGNED32 0x109F SIGNED32 0x1100 0x1103 SIGNED32 0x1104 0x1107 SIGNED32 GAP 1 GAP 233. GAP 209 GAP 2 GAP 3 GAP 131 GAP 18) Error flags Bit 0 1 2 3 3 4 5 6 7 8 9 10 11 0x109C GAP 0 Description Target reached Velocity reached Closed loop Position mode Velocity mode Torque mode Home switch Left stop switch Right stop switch Undervoltage Overvoltage Overtemperature Scaler Command for read out: GAP123 Delta / torque Command for read out: GAP 14 Gamma Command for read out: 230 All numbers are stored in little endian format. (least significant byte is stored at the lowest address) www.trinamic.com TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 3.5 13 TMCL Mailbox The TMCM-1310 slave module supports the TMCL protocol in direct mode. The communication follows a strict master-slave-relationship. Via the TMCL mailbox motor-parameters can be read and/or written. 3.6 Binary Command Format Every command has a mnemonic and a binary representation. When commands are sent from a host to a module, the binary format has to be used. Every command consists of a one-byte command field, a onebyte type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a command always has seven bytes. TRANSMIT AN 8-BYTE COMMAND: Bytes 1 1 1 1 4 Meaning Module address Command number Type number Motor or Bank number Value (MSB first!) Every time a command has been sent to a module, the module sends a reply. RECEIVE AN 8-BYTE REPLY: Bytes 1 1 1 1 4 3.7 Meaning Reply address Module address Status (e.g. 100 means no error) Command number Value (MSB first!) Status Codes The reply contains a status code. THE STATUS CODE CAN HAVE ONE OF THE FOLLOWING VALUES: Code 100 2 3 4 5 6 8 Meaning Successfully executed, no error Invalid command Wrong type Invalid value Configuration EEPROM locked Command not available Parameter is password protected www.trinamic.com TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19) 4 14 Operation with USB Interface In direct mode and most cases the TMCL communication over USB follows a strict master/slave relationship. That is, a host computer (e.g. PC/PLC) acting as the interface bus master will send a command to the TMCL-1310. The TMCL interpreter on the module will then interpret this command, do the initialization of the motion controller, read inputs and write outputs or whatever is necessary according to the specified command. As soon as this step has been done, the module will send a reply back over USB to the bus master. Only then should the master transfer the next command. 4.1 Binary Command Format for USB Interface When commands are sent from a host to a module, the binary format has to be used. Every command consists of a one-byte command field, a one-byte type field, a one-byte motor/bank field and a four-byte value field. So the binary representation of a command always has seven bytes. When a command is to be sent via USB interface, it has to be enclosed by an address byte at the beginning and a checksum byte at the end. In this case it consists of nine bytes. THE BINARY COMMAND FORMAT FOR USB IS AS FOLLOWS: Bytes 1 1 1 1 4 1 Meaning Module address Command number Type number Motor or Bank number Value (MSB first!) Checksum The checksum is calculated by adding up all the other bytes using an 8-bit addition. CHECKSUM CALCULATION As mentioned above, the checksum is calculated by adding up all bytes (including the module address byte) using 8-bit addition. Here are two examples to show how to do this: in C: unsigned char i, Checksum; unsigned char Command[9]; //Set the “Command” array to the desired command Checksum = Command[0]; for(i=1; i