Fanuc robot controller. For multi-robot installations it can even be stacked.

Fanuc robot controller For robotics and automation engineers. Dec 11, 2023 · FANUC robot controller driver (tested with R-30iB Mate Plus Controller) written in KAREL and FANUC teach pendant languages The communication protocol between the Python package and the FANUC robot controller is depicted below: FANUC robotics library uses TCP/IP communication protocol, robot controller and LabVIEW computer should have appropriate TCP/IP connection settings for your network configuration. The R-50iA is the world’s* first robot controller to offer cyber security along with a wide range of enhancements and new intelligent features designed to maximize robot performance. R-30iB Plus Safe Software Unlike PC-based robot controllers that rely on Windows, R-30𝑖B Plus controllers use FANUC’s own propriety software – meaning you won’t have to worry about viruses, hackers or stability issues. 3 tons, collaborative robots that can work alongside humans, and painting robots that comply with international explosion-proof standards. Electric Aug 29, 2024 · FANUC America Corp. The controller is designed to be intelligent and compact, claimed The FANUC R-30ia controller is an advanced robotic controller used to control robots such as the FANUC Arcmate 120ic and FANUC R2000ib 165F. Be careful: when the robot is in local mode, it will always run whatever program you have selected on the SELECT menu. Covers the process for both MD & IMG backups & the difference between the two. Safe Software Unlike PC-based robot controllers that rely on Windows, R-30𝑖B Plus controllers use FANUC’s own propriety software – meaning you won’t have to worry about viruses, hackers or stability issues. FANUC LR Mate Industrial Robots are available in several models including food & beverage, clean room and washproof versions, each with different reaches and wrist speeds to meet your specific needs. FANUC Corporation has released the FANUC R-50iA robot controller, which made its global debut at the 2023 International Robot Exhibition. Note: This guide assumes that you have installed the FANUC robot and controller, as well as FANUC's robot-specific software. FANUC’s LR Mate Robot Series of human arm-sized robots are your best compact solution for fast handling and processing parts up to 14 kg across a whole range of industries. Fanuc Robot Controllers The Fanuc R-J2 controller incorporates the most advanced and proven technology to improve total system performance while simplifying overall cell and system integration. The robot will ignore any setup you have done on the Program Select method screen. This comprehensive guide delves into the intricacies of the Fanuc robot controller, exploring its May 20, 2025 · Streamline your procurement with Accio. The FANUC standard for smarter productivity, the R-30 i B robot controller represents a new generation of advanced technology and enhanced integrated FANUC hardware. FANUC's new R-50 i A Robot Controllers offers a variety of enhancements and new features designed to maximize robot performance and ease of use. It debuted between 2006 and 2009, sharing features akin to the FANUC R-30ia controller and subsequently transitioning to the R-30ia nomenclature around 2010. Basic Description The new LR Mate 200iC Series is FANUC Robotics’ next generation, electric servo-driven mini-robot series offering best-in-class performance in a light, eficient, accurate and nimble (LEAN) package. Many of FANUC’s global customers attend this open house to learn about new innovations in automation. Home > Fanuc > Controllers > R-30iBIntroduction of the Fanuc R-30iBThe Fanuc R-30iB controller stands as an evolution from its predecessor, the R-30iA, representing a newer generation in Fanuc’s controller lineup. People can see FANUC’s controller in action at the International Manufacturing Technology Trade Show in Chicago next month. RoboDK for Fanuc Robots 9 Updating controller kinematic parameters This section explains how you can update the kinematic parameters (DH table) on the robot controller after calibrating the robot using RoboDK’s Calibration and Performance package. Simplify your robot programming today! FANUC has precision motion control products to assist in a variety of industrial applications including Motion Controllers and Digital Servo Adapters. The PLC is a CompactLogix 1769-L30ER When I search for new modules to add I see a pre setup Fanuc Robot Ethernet module, but I can't get that to work. The highly reliable robot with intelligence and network collaboration provides the best cost performance and prompts ease of use applications with integrated versatile process solutions such as spot welding, handling, assembling and so on. It is controlled by the FANUC R-30iB controller (called the robot controller hereinafter) containing SpotTool+ software. The battery in the FANUC robot controller can last up to 4 years. If you have an image, you can fully restore the robot in the event of FROM/SRAM module or main board failure. Installing FANUC Safety Hardware Install the FANUC controller and robot according to FANUC installation and safety guidance. For industrial robotics professionals. It is one of the newest generation of controllers from the Fanuc Family of products. Open the controller door and swap it out. Turn off your FANUC Controller. Its 5kg payload, 994mm reach, and intuitive programming make it ideal for beginners. For multi-robot installations they can even be stacked. Operator's manual for FANUC R-30iB series robot controllers. FANUC manuals present descriptions, specifications, drawings, schematics, bills of material, parts, connections and/or procedures for installing, disassembling, connecting, operating and programming FANUC products and/or systems. The photos below will help you understand the location. The FANUC R-30ib controller is one of the most advanced controllers offered by FANUC. Chapter 4. FANUC provides reliable, easy-to-use and cost-effective automation solutions for increased productivity. FANUC's R-30 i B Plus Robot Controllers feature the new iPendant with enhanced screen resolution and processing capability. Delving deeper into its functionality, compatibility, and inherent characteristics reveals the This week FANUC is introducing their new R-30iB Plus robot controller at their headquarters Open House in Japan. The FANUC R-30iB+ controller improved on the FANUC R30ib controller in performance, features and efficiency. Such systems consist of robots, extended axes, robot controllers, application software, the KAREL® programming language, INSIGHT® vision equipment, and special tools. It was produced anywhere from 1995 to 1997. Aug 27, 2024 · FANUC unveils the R-50iA robot controller, pioneering cybersecurity and intelligent features to boost robot performance and efficiency globally. FANUC has the industry's widest range of robots for manufacturing in a variety of sizes and variants. You can also find the written procedure attached to this Explore our controllers at FANUC and find the right solution for any industrial environment. ROBOT New product: FANUC Robot SR-3iA/U ROBOT New function: Easy force control using the Collaborative Robot CRX Notice Jul 6, 2023 Vulnerability Disclosure Policy New Product Jul 4, 2023 FA New Function: CNC Reflection Studio New Product Jun 22, 2023 FA New Product: FANUC Slice I/O New Product Jun 12, 2023 This section shows you how to add a robot in the Forge/OS Device Configuration app and configure the FANUC controller. The A or B cabinet style is used by smaller robots like the FANUC M20ia. Process capability and open architecture features improve application and motion performance while simplifying system integration. I purchased a D40Z Omron non contact switch and a G9SX Omron Safety Controller. Easily find and request FANUC spare parts with our quick lookup tool. Building on the existing industry-leading offline robot programming and simulation software, ROBOGUIDE V10 creates programs and simulates robotic workcells in 3D – eliminating the need for physical prototypes – while reducing costs, improving accuracy, and optimizing automation Sep 10, 2024 · New robot controllers from FANUC released as the IMTS 2024 promise cybersecurity enhancements, Python integration, improved remote capabilities, energy savings, and vision improvements. The R-50 i A, updated from the existing platform R-30 i B for the first time in 11 years, is the world’s first* robot controller to offer cyber security along with a wide range of enhancements and new intelligent features designed to maximize robot performance. May 20, 2025 · Streamline your procurement with Accio. To help improve application and motion performance, Fanuc added… ROBOGUIDE V10 is the go-to solution for companies seeking to streamline automation design and implementation. All of the R-30iB robot controllers are built standard with intelligent functions such as vision, force and interference check. This compact unit is a self-contained, powerful controller that is built for a wide range of environments. CNC Servo Robot Robot GENERAL CATALOG Controller Collaborative Robot LR Mate, LR-10, M-20iB M-10, M-20 M-410 M-710 M-800 M-900, M-910, M-950, M-1000, M-2000 R-1000, R-2000 Delta Robot SCARA Robot Arc Welding Robot Paint Robot TR-510 Vision, Force Control, ROBOGUIDE, ZDT Other options R-50iA compatible Only R-30iB Plus compatible Only ROBODRILL Apr 3, 2023 · FaRoC (Fanuc Robot Control): a Python package for FANUC industrial robots Improve efficiency with the FANUC CRX-5iA cobot. Precision control is offered for up to 40 axes of motion, including up to 4 robots and 16 auxiliary axes. Whether you're new to using these robots or need a quick refresher, this step-by-step guide will help you understand the basics of turning on the Fanuc robot, resetting alarms or faults, and operating the robot in both joint mode and the world coordinate system, that is, to move the robot along X, Y, and Z Cartesian axis. Learn the common programming concepts and features along with an example of a motion program. Cabinet Variants and Robot The FANUC R30ib plus controller is the newest, most advanced robot controller offered by FANUC. Includes maintenance procedures and specifications. The Fanuc R-30iB A-Cabinet is an ultra compact, stack-able controller that maximizes your productivity while also minimizing power consumption and energy… Features The new FANUC SYSTEM R-30+B controller: Energy eficient, compact and equipped with the new 4D graphic +Pendant - for increased user-friendliness, minimum energy consumption, and maximum productivity. RoboDK supports all Fanuc robot controllers since RJ2, including RJ3, R-30iA and R-30iB. Home > Fanuc > Controllers > RJ3IntroductionThe Fanuc R-J3 controller stands as a pivotal advancement in the lineage of Fanuc controllers, succeeding the R-J2 series. With more flexible appearance, the user interface has had a major facelift. This Fanuc controller is build very robust and easy to maintain. Because of the large servo amplifier FANUC A06B-6107-H002, larger robots, such as the FANUC M710ic 50, have the look of a B-cabinet. Operator's Manual for FANUC Robot R-30iA/R-30iB Controller with PROFINET I/O. Process capability and open architecture… Apr 30, 2024 · FANUC Robot Ethernet Tutorial: Setting Up PLC I/O Communication Learn how to set up Ethernet/IP communications, including steps for both the FANUC controller and the Studio 5000 environment for a Rockwell PLC. This manual provides step-by-step examples to program a Fanuc robot for various industrial applications. Fanuc's RJ3iC and R-30iA robot controllers are the same controller with different names in order to provide solutions for a wider range of applications. When in local mode, the robot will be started from the Standard Operator Panel (SOP) buttons located on the controller. Maintenance manual for FANUC R-30iB robot controller. The FANUC R-J3 controller is an older model but can still be found in the second-hand market as a great cost-effective alternative to new models. We offer solutions for applications, safety, and robotics. Covers electrical connections, emergency stop circuits, and safety procedures. The new Robot Controller R-30iB Plus New user interface iHMI Using the programming guide, first-time robot users can create a program for a simple handling task and execute it in just 30 minutes Experienced FANUC users can program the robot as usual Improved eficiency by facilitated system setup and maintenance Shortened signal processing cycle Controller Image Backup ¶ A Controller Image Backup is a complete image of the robot controller’s contents – both FROM and SRAM. It offers hardware and the latest advances in network communications, integrated iRVision, and motion control functions. This documentation is based on the R-30iA Fanuc controller. The Fanuc RJ2 controller provides the optimal level of performance with any level of system requirements. Fanuc's unique plug-in option allows flexibility for application specific configurations. Create, simulate, and optimise robot programs. Dive into the differences between Fanuc R-30iB and R-30iB Mate controllers to identify the best option for your needs. To ensure working person safety, provide the The Fanuc R-30iA system controller is advanced technology in a proven, reliable design. Д Built-in user programming guide for experienced and first time FANUC robot users. The FANUC R-30iB+ controller stands as the pinnacle of FANUC's robot control systems, representing the latest and most advanced offering in their lineup. The Fanuc R-30iB Open Air Cabinet is an ideal unit for a variety of smaller robots, including the M1, M2, M3, and LR Mate robots. Produced between 1998 and 2001, this controller came in three distinctive variants: the A-cabinet, B-cabinet, and Mate-cabinet. Robotics Training Paths FANUC's Robot-recommended training curriculum paths cover programming, vision, mechanical, safety, electrical, and robot/cobot-specific courses. The FANUC R30ia is an advanced industrial robot controller available in cabinet types A, B, and Mate. Make sure the FANUC controller and Forge/OS devices are powered on. Designed for ease of use and minimal energy The A-Cabinet controller is compact and easy to integrate into single robot production cells. Built on 50 years of automation expertise, the R-50𝑖A robot controller delivers a powerful upgrade designed to maximise robot performance. FANUC's R-30iB Plus Controller includes improved processing performance for both hardware and software, and shortened signal processing cycle. Function New GUI iHMI home screen with focus on “ease of use” features allows robot to be setup in under 30 minutes out of the box. Read more about our user friendly solutions here. ) Home > Fanuc > Controllers > R-30iB PlusIntroduction of the Fanuc R-30iB PlusThe Fanuc R-30iB+ controller stands as an evolution from its predecessor, the R-30iB, representing a newer generation in Fanuc’s controller lineup. FANUC Robot Software includes 250+ functions for enhanced robot intelligence, motion, safety and productivity. The new R-50 i A robot controller can execute Python scripts as standard function. Operator's Manual for FANUC R-30iB Plus Controller with iRVision 2D Camera. R-J3, R-J3iB and R-30iA Controller This training focuses on the FANUC Robotics R-J3, R-J3iB and R-30iA controller. In order for Fanuc Ethernet I/O to work, the EIP Scanner Option (R784) needs to be installed on the controller. This robot can come in many shapes and sizes. Electric Maintenance manual for FANUC R-30iA Mate robot controller. Contact our sales office for details. The R-J3 series uses advanced technology packaged in a proven, reliable third-generation controller design. The Fanuc R-30iB Robot Controller Comes in two sizes referred to as A cabinet or B cabinet the A cabinet being the smaller of the two. May 29, 2025 · Handshaking between robots can be handled in many ways, one of them being GE-FANUC’s protocol called “Ethernet Global Data,” or EGD. It is an update of the existing Where There's Industrial Cobots, There's FANUC When you need an industrial cobot, look no further than FANUC. Building upon May 13, 2019 · The complete process for how to backup and restore a Fanuc R-30iB controller. R-2000iB Nov 12, 2015 · Hello, I am trying to get a Fanuc R-30iB controller added into my RSLogix program. For this topic, the robot controller will be the device controlling the acquisition and transfer of data. This includes but is not limited to other robots, PLCs or other controllers, internal IO, and FEATURES FANUC Robot SR-3+A, SR-6+A are compact and high performance SCARA robots. Discover the FANUC R-50iA Robot Controller-engineered for high-precision control, built-in 5MP vision, robust cybersecurity, energy-saving eco mode, and seamless integration with Python scripting and software PLC. Fanuc robots are programmed using the Teach Pendant and TP (Teach Pendant) language. Over the years, FANUC has released a variety of controllers that implement and take advantage of new technologies while also continually improving the user experience. Instructions for safe and effective robot operation. The goal is, when the door is open or when an external e stop button is pressed, the robot stops moving. Introduction of New Collaborative Robot CRX series Video is added Sep 4, 2020 · Moreover, to enable the exchange of UOP signals between the robot controller and the controllers, this option must be activated in the controller. The FANUC SR-6iA SCARA Robot makes a great choice for assembly, pick and place, inspection and packaging applications requiring a payload capacity up to 6 kg. Have the robot system working persons attend the training courses held by FANUC. (Note that DispenseTool is a partial function of SpotTool+ software on R-30iB. FANUC provides various training courses. Includes safety, user definitions, and maintenance guidelines. For multi-robot installations it can even be stacked. Perfect for palletising, material handling, machine loading/unloading, welding and much more! The cobot series offers a FANUC programming interface with simple drag FANUC offers a nifty option to allow users and integrators to select the robot modes - T1, T2 or Automatic. Join the GrabCAD Community today to gain access and download! Such systems consist of robots, extended axes, robot controllers, application software, the KAREL® programming language, INSIGHT® vision equipment, and special tools. Many engineers have mastered Python programming. Search and request FANUC parts using our lookup tool. There is one controller new An overview of the FANUC Robots new naming convention for robots used on the R-50iA Controller. Learn more. FANUC file backup involves copying and storing individual files and directories from the robot controller’s memory to an external storage device, such as a USB flash drive or network server. Learn how to set up EGD on a pair of FANUC robots. These files typically include robot programs, system configuration files, and other essential data required for robot operation and maintenance. The Fanuc R-30iB is a high-performance controller that brings a higher level of productivity to the production floor. Learn how to set up and simulate FANUC’s RTU in ROBOGUIDE - configure motor settings, set up travel directions, and coordinate robot travel with an extended axis. How to setup a pick and place simulation program in ROBOGUIDE V10. As the world’s leading cobot manufacturer, we offer a variety of high-precision cobot models able to handle products that weigh up to 50 kg. Below is an overview of FANUC controllers and their features. The FANUC R-30iB controller stands as a significant advancement in robotics control systems by FANUC. Follow your facility's lockout/tagout procedure. The RJ3iC and R-30iA Robot Controllers – Different Names, Same Controller Fanuc continues to innovate by creating new, more advanced controllers, paralleling the advancement of technology. The advanced technology of the Fanuc R-J3 controller makes it a proven, reliable third generation controller. The demonstration uses the FANUC controller's backup utility to create a timestamped directory and highlights that users only need a select few critical files Fanuc Robot Controller: The Brain Behind the Brawn The Fanuc robot controller is the central nervous system of any Fanuc robotic arm. Includes safety, operation, and maintenance guidelines. Replacing it is simple. Even when the robot is stationary, it is possible that the robot is still in a ready to move state, and is waiting for a signal. Robot vibration is eliminated through a new vibration control function, resulting in increased acceleration and deceleration times. This knowledge is necessary for most if not all robot applications as it is needed for the robot to communicate with internal and external devices. The new LR Mate 200iC’s tabletop size, slimmer arm profile, lighter weight, highest dexterity, faster sustained speed and superior positioning accuracies make it the perfect Operator's manual for FANUC R-30iA/R-30iA Mate robot controller with Ethernet function. Service and support gateway page for all FANUC products including: robots, CNC, and ROBOMACHINE / ROBODRILL service and support from FANUC. The Fanuc R-J3iB uses advanced technology packaged in a proven, reliable and efficient controller design. Covers safety, setup, I/O, coordinate systems, and automatic operation. The CRX-30𝑖A is the heaviest lifter of the FANUC CRX Series of collaborative robots! With a payload of 30 kg and a reach of 1756 mm, the CRX-30𝑖A is perfect for jobs that require extra lifting in a collaborative environment. Hello! We recently purchased a fanuc m20ia and r30ib controller. The open architecture features and process capability improve application and motion performance while simplifying system integration. FANUC Robot series R-30iB/R-30iB Mate CONTROLLER OPERATOR'S MANUAL (Alarm Code List) World's leading supplier of Robotics, CNCs and ROBOMACHINE. New intelligent features, reduced energy consumption and the world’s first robot controller to offer cybersecurity make the R-50𝑖A the perfect solution for a secure, productive, and sustainable future. To do this, go to the system configuration menu on the Teach Pendant We find position number 7 – Enable UI Signals If the value is set to FALSE, the external signals (UI [1 to 18]) are disabled. Whether you’re experienced with traditional industrial robots, or have yet to work with a robot arm, we have a cobot solution to work in your With the exception of the larger B-Cabinet, all FANUC R-30𝑖B Plus robot controllers are compact and easy to integrate into single robot production cells. The R30ib controller consumes less space and energy than the R30ia controller. The iPendant has a touch screen with 4D graphics that displays process information and the actual process path, allowing for a much easier set up Apr 10, 2017 · April 10, 2017 FANUC will announce new robot controllers (R-30 i B Plus / R-30 i B Mate Plus) at the annual FANUC HQ Open House event. Process capability and open architecture… Operator's manual for FANUC R-30iA/R-30iA Mate robot controller with Ethernet function. The GrabCAD Library offers millions of free CAD designs, CAD files, and 3D models. Oct 9, 2024 · Many automated applications that utilize FANUC robots use input and output signals for communication and system control. The Fanuc R-J2 controller is an old controller. The communication process is similar to how humans speak and listen. The FANUC robot R-2000iB is the intelligent robot for versatile applications with the up to date expertise in our quarter century at FANUC. In this state, the robot is regarded as still in motion. Explore FANUC's Simulation Software ROBOGUIDE, designed for FANUC industrial robots. The new robot controllers feature the new i Pendant with enhanced screen resolution and processing capability. These small payload Mar 18, 2022 · FANUC Robot Programming Example FANUC robots, as with most other brands, are designed to be used in a wide variety of applications. Safety, operation, and maintenance guide. Python Interface for FANUC robots. this week introduced the R-50 i A, a robot controller that offers cybersecurity along with a wide range of enhancements and new features designed to maximize robot performance. Aug 24, 2019 · Robot Communications - FANUC Robot Controller Overview The purpose of this topic is to outline the steps to connect and transfer data from an In-Sight vision system to a FANUC Robot Controller. I am building a safety fence for the robot. The R-J3 pairs with a number of FANUC robots including the S-430iw and the M-6i. Find the best FANUC robot controller suppliers instantly. Fanuc Robot Controllers The Fanuc R-30iB B-Cabinet is a standard size controller cabinet that provides ample space for additional technology and software. Home > Fanuc > Controllers > RJ3iCIntroduction the Fanuc R-J3iCThe Fanuc R-J3iC controller stands as an evolution from its predecessor, the R-J3iB, representing a newer generation in Fanuc’s controller lineup. The FANUC Robot R-2000iC is an intelligent robot based on FANUC’s years of experience and renowned technology. Oct 27, 2020 · In spite of this warning, I will touch on certain items that you need to set up Fanuc’s side in order to monitor/control the robot. A Fanuc robot is a 6-axis robot that is manufactured by Fanuc Robotics. FANUC’s new R-50iA robot controller offers a variety of enhancements and new features designed to maximize robot performance. . Available in diverse styles such as A-cabinet, B-cabinet, Open Air cabinet Function New GUI iHMI home screen with focus on “ease of use” features allows robot to be setup in under 30 minutes out of the box. This high performance intelligent robot with outstanding reliability and cost performance will support your needs in various applications, such as spot welding, material handling and assembly. Read more about our advanced robot software solutions at FANUC. Search by part number or specification for fast access to parts for your FANUC robots. Contribute to torayeff/fanucpy development by creating an account on GitHub. Flexibility in Building Robot Systems Python is widely used in Web applications and numerical calculations. Fanuc has developed a newer, more advanced model of the RJ3 FANUC America Corporation press releases including industrial robot, CNC and ROBOMACHINE product updates, new products, news, and trade shows. Search for a FANUC Industrial Robot by series today. Jun 10, 2020 · This video explores the robot backup and restore process by showing how to take a full system backup from a configured Robot One (the success model) and efficiently transfer the necessary files to a "naked" Robot Two in ROBOGUIDE. New FANUC iRVision interface supports integrated robot vision via single signal/power cable. It can read data from the controller, write data to the controller, execute TP and Karel program, and move the robot. Modifying the controller DH parameters will impact all programs manually created on the controller. Explore our range of Fanuc Robot Controllers, featuring new & refurbished models that offer performance and reliability at a fraction of the cost. FANUC's SCARA Robots are a powerful pick-and-place robot solution for manufacturing operations that require increased speed and repeatability. This section of the documentation provides an overview of typical operations using a Fanuc robot to prepare a new program in RoboDK and transfer it to the robot. Explore our controllers at FANUC and find the right solution for any industrial environment. Access a wide range of parts for your FANUC robots to ensure minimal downtime and efficient operation. FANUC Robotics recommends that only persons who have been trained in one or more approved FANUC Robotics Training Course(s) be permitted to install, operate, use, perform procedures on, repair, and/or maintain FANUC Robotics’ products and/or systems and their respective components. With the R-50 i A, customization specific to the system, such as reading/writing files, communication processing, and numerical calculation, can be May 29, 2025 · Handshaking between robots can be handled in many ways, one of them being GE-FANUC’s protocol called “Ethernet Global Data,” or EGD. It's a powerful and sophisticated computer system responsible for interpreting and executing commands, managing motion, and ensuring safe and efficient operation. Ideal for advanced automation and smart factory applications. Before using the Robot, be sure to read the "FANUC Robot SAFETY HANDBOOK (B-80687EN)" and understand the content. Fanuc Robot Control: A Python library for communication with Fanuc robots. SYSTEM R-J3 series incorporates FANUC FANUC has a wide renge of line-up from small robots with a payload of 500 grams to large robots with a payload of 2. Then disconnect it from its power supply. Introduction In this tutorial, we will cover the types of IO connections available in a Fanuc robot and the mapping and configuration of the IO points. The high performance Fanuc RJ3iC robot controller provides a level of intelligence never offered before. Maintenance manual for FANUC Robot R-30iB Controller. Get a quote! FANUC has the industry's widest range of robots for manufacturing in a variety of sizes and variants. Explore FANUC's CRX collaborative robots, offering compact, efficient cobot solutions with advanced safety features for various industrial applications. hrsrwwvv bwtf dppqc bvpvu nktesm zhjs wogbt ttuda gqa itskzm agqvva bcus siiy eqapcex ueoxcq