Ryan Malloy
5252d1d73c
Allegro A3981 stepper motor driver: datasheet, KiCad symbols/footprint, 3D model (TSSOP-28). Two per G2 board, SPI-controlled, AUTO microstep. NXP MK60DN512VLQ10 (Kinetis K60): datasheet and 1300-page reference manual. Cortex-M4 96MHz MCU running the G2 firmware. Reyax RYS352A GPS module: datasheet and PAIR command guide. GPS receiver on the G2 board (used for auto-location/satellite lookup). All extracted as markdown + page images + vector SVGs for LLM context. Binary assets (PDFs, PNGs, SVGs, STEP, WRL) stored via git-lfs.
142 lines
29 KiB (Stored with Git LFS)
XML
142 lines
29 KiB (Stored with Git LFS)
XML
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="13.104 23.996003 28.658003 35.658006 42.658006 48.874006 55.874006 62.090005 69.090007 76.090007 82.30601 89.30601 93.198009 96.698009 105.25201 113.03601 123.14401 126.64401 132.86002 136.75202 143.75202 149.96802 156.96802 160.46802 165.91402 172.91402 179.91402 184.57602 190.79203">•Independent LPO clock source</tspan><tspan y="36.25" x="13.104 23.996003 31.780003 36.442 43.442 50.442 55.104 61.32 72.212 83.104 89.32 96.32 100.212 106.428 109.928 113.82 117.712 128.604 134.82 139.48201 146.48201 153.48201 157.37401 160.87401 167.87401 174.09001 178.75202 182.64402 189.64402 196.64402 200.14402 205.59001 212.59001 218.80602 225.02202 228.91402 233.57602 237.46802 243.68402 250.68402 254.18402 258.07603 265.07603 268.57603 272.46803 278.68403 283.346 294.238 299.68403 303.18403 310.18403 314.846 318.346 325.346 332.346 343.238 350.238 356.454 361.116 364.616 371.616 376.27799 379.77799 388.33198 401.54798 413.994 417.494 426.04798 433.83198 443.93998 447.43998 453.65599 457.54798 464.54798 470.76399">•Programmable time-out period specified in terms of number of EWM LPO clock</tspan><tspan y="52.25" x="23.996022 30.21202 37.21202 43.42802 47.320024 53.536024 58.98202">cycles.</tspan><tspan y="76.65" x="13.104021 23.996022 37.21202 41.104024 48.104024 55.104024 62.104024 72.21202 78.428028 85.428028 88.928028 93.59003 99.80603 104.46803 109.130039 115.34604 120.79204 127.79204 131.29204 138.29204 145.29204 149.18404 153.07604 160.07604">•Windowed refresh option</tspan><tspan y="101.05" x="37.10003 48.00603 55.79003 60.45203 67.45203 74.45203 78.344028 85.344028 91.56003 97.00603 100.50603 105.16803 112.16803 119.16803 126.16803 131.61403 135.50603 139.00603 145.22203 152.22203 158.43804 164.65404 171.65404 175.15404 179.04604 186.04604 192.26204 196.15404 199.65404 206.65404 211.31604 218.31604 225.31604 229.97805 236.19405 247.08605 250.58605 255.24805 259.14006 266.14006 276.24806 279.74806 283.64006 289.08607 292.58607 297.24806 303.46406 308.91007 312.80207 319.01808 323.68006 327.18006 331.07206 338.07206 344.28807 351.28807 354.78807 361.00407 368.00407 375.00407 381.22007 387.43608 391.32807 397.54408 404.54408">•Provides robust check that program flow is faster than expected.</tspan><tspan y="125.450008" x="37.10001 48.006013 55.790014 60.45201 67.45201 74.45201 79.11401 85.33002 96.222019 107.11401 113.33002 120.33002 124.222019 130.43802 133.93802 144.04602 147.93802 154.93802 161.93802 168.93802 179.04602">•Programmable window.</tspan><tspan y="149.85" x="37.09999 48.005994 57.343996 63.559995 68.22199 72.883998 79.1 84.546 91.546 95.046 102.046 109.046 112.937999 118.383998 122.27599 129.276 135.492 138.992 149.1 152.992 159.992 166.992 173.992 184.1 187.6 191.492 197.70801 203.92401 210.92401 216.37001 219.87001 223.76201 230.76201 234.26201 240.47801 245.92401 251.37001 257.586 262.248 266.13999 270.03199 277.03199 284.03199 287.53199 294.53199 299.19398">•Refresh outside window leads to assertion of </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="149.85" x="302.69398 311.24797 324.46397 336.90998 343.90998 350.90998 357.90998 361.80198">EWM_out.</tspan><tspan y="174.25" x="13.103973 23.995976 33.333978 40.333978 47.333978 54.333978 59.779977 63.671979 67.17198 71.833988 78.04999 82.71199 87.37399 93.59 99.035999 106.035999 109.535999 120.42799 126.644 132.86 139.86 146.076 153.076 156.968 162.414">•Robust refresh mechanism</tspan><tspan y="198.65" x="37.099977 48.005979 61.221979 65.88398 69.77598 73.66798 79.88398 83.38398 90.38398 96.59998 100.49198 107.49198 113.707988 119.153987 122.653987 129.65399 134.316 137.816 144.816 151.816 161.15399 168.15399 171.65399 177.87 184.87 191.87 195.37 202.37 209.37 216.37 225.708 229.208 233.09999 240.09999 243.59999 252.15399 265.37 277.816 281.316 290.65403 296.87004 301.532 306.194 312.41 317.85603 324.85603 328.35603 337.69404 343.91004 350.91004 354.80204 360.24806 364.14006 370.35606 375.01805 378.51805 388.62605 392.51805 396.41004 403.41004 407.30204 414.30204 417.80204 424.80204">•Write values of 0xB4 and 0x2C to EWM Refresh Register within 15</tspan><tspan y="214.65" x="48.005998">(</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="214.65" x="52.667997 61.221998 72.883998 84.546 91.546 96.992 103.208 108.654 114.87 118.762 124.978008 131.194 138.194 142.086 145.978 156.086">EWM_service_time</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="214.65" x="162.30202 166.96402 170.46402 177.46402 183.68003 188.34203 192.23403 199.23403 206.23403 212.45003 217.11203 223.32804 227.22003 230.72003 237.72003 244.72003 250.16603 253.66603 259.88203 263.77403 270.77403 276.99003 283.99003 287.49003 293.70603 300.70603 306.92204 310.81404 317.03004 322.47605">) peripheral bus clock cycles.</tspan><tspan y="239.04999" x="13.104004 23.996006 34.104009 41.104009 47.320009 50.820009 57.820009 64.82001 68.712009 75.712009 82.712009 86.604007 90.104007 97.104007 104.104007 108.76601 112.658008 116.158008">•One output port, </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="239.04999" x="119.658 128.21199 141.428 153.874 160.874 167.874 174.874 178.76599 182.26599 185.76599 195.874 202.874 209.09 216.09 219.59 225.806 231.252 236.698 242.914 247.576 251.468 257.684 264.684 268.184 272.076 277.522 281.022 288.022 293.46803 299.68403 306.68403 310.18403 314.07603 321.07603 324.57603 329.238 335.454 340.90003 347.11604 351.00804 354.50804 361.50804 366.17 369.67 376.67 380.562 386.778 392.99403 399.21003 402.71003 406.60203 413.60203 419.81803 423.31803 429.53404 436.53404 440.42604 446.64204 451.30403 458.30403 464.52003">EWM_out, when asserted is used to reset or place the external</tspan><tspan y="255.04999" x="23.99601 30.21201 34.10401 38.76601 44.98201 51.98201 55.874013 59.766016 63.266016 67.15801 74.15801 78.05001 85.05001 88.55001 93.99601 100.21201 104.874019 111.09002 114.59002 125.48202 132.48203 139.48203 145.69803">circuit into safe mode.</tspan><tspan y="279.44999" x="13.10399 23.99599 34.103994 41.103994 47.319993 50.819993 55.48199 62.48199 69.481998 76.481998 80.37399 83.87399 90.87399 97.87399 102.535999 106.42799 109.92799 113.42799 121.981998 135.198 147.644 154.644 158.536 165.536 169.036 172.536 178.752 182.644 186.536 193.536 203.644 209.09 212.59 218.806 225.806 229.306 235.522 242.522 246.414 252.63 257.292 264.292 270.508 274.4 277.9 284.116 288.008 292.66999 298.886 305.886 309.77799 313.66999 317.16999 321.06199 328.06199 331.56199 337.77799 344.77799 351.77799 355.66999 360.33198 367.33198 371.22398 374.72398 378.61598 385.61598 391.83198">•One Input port, EWM_in, allows an external circuit to control the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="279.44999" x="395.332 403.886 417.102 429.548 436.548 443.548 450.548 454.44 457.94 463.38603 467.278 474.278 481.278 487.49403 491.38603">EWM_out signal.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 384.99998)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00601 8.902011 17.798012 22.246012 31.142014 35.590017">23.1.2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 384.99998)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".006 13.334001 23.11 32.886 41.782 50.678 55.126005 64.902 70.23 74.678 87.126 96.902 105.798007 112.022 120.91801 126.24601 130.69402 140.47002">Modes of Operation</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="368.24998" x="-.002 8.552 15.552 19.444 24.890002 28.390002 33.836004 40.052003 46.268 50.160005 54.052007 61.052007 68.052 71.552 78.552 84.768009 90.214008 96.43001 101.09201 104.98401 111.98401 118.20001 123.64601 127.14601 131.03801 138.03801 144.25402 147.75402 158.64601 165.64601 172.64601 179.64601 183.53801 189.75402 192.27402 197.72002 201.22002 208.22002 215.22002 221.43602 226.09803 232.31403 236.20603 240.09803 247.09803 254.09803 257.59803 268.49003 275.49003 282.49003 288.70603 294.15205">This section describes the module's operating modes.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 462.79997)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".007 8.347001 16.687003 20.857003 29.197003 33.367006 41.707006 45.877008">23.1.2.1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 462.79997)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".007 10.012001 15.007001 24.172 33.337 37.507005 50.002008 59.167009 68.33201">Stop Mode</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="445.04997" x="-.006 13.210001 20.210001 26.426003 33.426004 36.926004 40.818006 47.818006 54.034006 57.534006 66.088008 79.30401 91.75001 95.25001 99.142009 104.588008 108.088008 111.98 118.98 122.48 127.926 131.81801 138.81801 145.81801 149.31801 160.21 167.21 174.21 180.42601 183.92601 187.42601 191.31801 198.31801 204.53401 208.03401 217.37201 225.156 235.264 238.764 244.21 250.42601 255.08802 262.088 265.98 272.196 278.41203 283.85804 287.35804 291.25004 298.25004 301.75004 305.64204 312.64204 318.85804 322.35804 330.91203 344.12803 356.57405 360.07405 366.29005 372.50605 379.50605 386.50605 393.50605 397.39805 400.89805 407.89805 414.11405 420.33006 427.33006 431.99205 435.49205 438.99205 449.10005 456.10005 459.60005 465.81605 472.81605 476.70805 481.37004 488.37004 491.87004 495.76203">When the EWM is in stop mode, the CPU services to the EWM cannot occur. On entry to</tspan><tspan y="461.04997" x="-.00597 5.4400308 9.332031 16.332032 23.332032 26.832032 37.724035 44.724035 51.724035 57.940034 61.440034 64.94003 68.83203 75.83203 82.048038 85.548038 94.102039 107.31804 119.76404 124.42604 129.87204 133.37204 139.58805 146.58805 153.58805 160.58805 164.48004 170.69605 175.35805 178.85805 183.52005 188.18206 194.39806 200.61406 206.83007 213.04607 218.49207">stop mode, the EWM’s counter freezes.</tspan><tspan y="485.44996" x="-.00597 8.54803 15.54803 21.76403 26.426032 32.642034 36.142034 42.358034 47.02003 53.23603 56.73603 60.628034 70.73603 77.73603 81.23603 88.23603 95.23603 100.68203 106.12803 110.02003 117.02003 120.912029 127.12803 130.62802 140.73603 146.95203 153.95203 159.39803 162.89803 166.79003 173.79003 177.29003 183.50603 190.50603 194.39803 198.29003 201.79003 206.45203 211.11403 218.11403 229.00603 232.50603 240.29003 244.18202 251.18202 258.182 261.682 272.574 279.574 286.574 292.79">There are two possible ways to exit from Stop mode:</tspan><tspan y="509.84996" x="13.09802 24.00402 34.112024 41.112024 44.612024 50.828023 57.828023 61.720026 65.61202 69.11202 73.774028 78.43603 85.43603 96.328029 99.828029 105.274028 109.16602 116.16602 123.16602 126.66602 137.55803 144.55803 151.55803 157.77404 161.27404 165.16603 172.16603 176.82804 183.82804 190.82804 197.82804 204.82804 208.32804 214.54404 218.04404 222.70604 228.92205 234.36804 240.58405 244.47605 247.97605 251.47605 255.36804 262.36805 268.58406 272.08406 280.63804 293.85404 306.30006 309.80006 314.46205 320.67805 331.57005 337.78605 341.67805 348.67805 354.12406 357.62406 364.62406 368.51606 373.96208 380.17808 387.17808 391.07008 397.28608 404.28608">•On exit from stop mode through a reset, the EWM remains disabled.</tspan><tspan y="534.24996" x="13.098049 24.004052 34.112054 41.112054 44.612054 50.828054 57.828054 61.720056 65.61205 69.11205 73.774059 78.43606 85.43606 96.32806 99.82806 105.274059 109.16605 116.16605 123.16605 126.66605 137.55806 144.55806 151.55806 157.77407 161.27407 168.27407 175.27407 178.77407 184.99007 191.99007 195.49007 199.38207 206.38207 210.27407 216.49007 221.15207 225.81407 232.81407 239.81407 243.70607 247.20607 250.70607 254.59807 261.59809 267.8141 271.3141 279.86808 293.08409 305.5301 309.0301 312.9221 318.3681 321.8681 326.5301 332.7461 337.40809 343.62409 350.62409 356.8401 363.8401 367.7321 373.9481 380.9481 384.4481 387.9481 394.1641 401.1641 408.1641 411.6641 415.5561 422.5561 428.7721 432.2721 438.4881 445.4881 452.4881 459.4881 463.3801 469.5961">•On exit from stop mode by an interrupt, the EWM is re-enabled, and the counter</tspan><tspan y="550.24996" x="24.00407 30.22007 37.22007 44.22007 48.112073 52.004076 59.004076 66.004077 72.22008 77.66608 81.16608 85.058078 92.058078 95.558078 102.558078 108.77408 112.27408 118.49008 122.38208 129.38208 135.59809 142.59809 148.81409 155.81409 159.31409 163.97609 168.63809 175.63809 186.53009 190.03009 193.92209 200.92209 207.13809 210.63809 216.08409 222.3001 233.1921 239.4081 242.9081 249.9081 256.12409 260.01609 267.01609 273.2321 276.7321 283.7321 288.39408 292.28608 299.28608 303.94807 307.44807 311.34007 318.34007 321.84007 328.05607 335.05607 338.94807 343.61006 350.61006 354.11006 358.00205 365.00205 368.50205 373.94807 377.84007 384.84007 391.84007 395.34007 406.23207 413.23207 420.23207 426.44807">continues to be clocked from the same value prior to entry to stop mode.</tspan><tspan y="584.64999" x="-.005908966 10.102092 17.102093 20.994093 27.210095 30.710095 34.602098 41.602098 47.818098 51.318098 55.980096 62.980096 66.87209 70.76409 77.76409 87.87209 91.76409 98.76409 105.76409 109.26409 113.15609 117.81809 121.31809 125.21009 132.21009 138.42609 141.92609 150.48009 163.69609 176.14209 179.64209 185.8581 192.8581 196.75009 202.9661 207.6281 213.0741 216.5741 220.4661 227.4661 233.6821 237.1821 242.6281 246.5201 253.5201 260.52009 264.02009 274.91209 281.91209 288.91209 295.12809 298.62809 305.62809 312.62809 317.29008 321.18208 328.18208 335.18208 338.68208 348.02009 355.80409 365.91209 369.41209 374.8581 381.0741 385.73609 392.73609 396.62809 402.8441 409.0601 412.5601 423.4521 429.6681 435.8841 442.8841 449.1001 456.1001 459.9921 465.4381 476.3301 480.2221 483.7221 493.8301">Note the following if the EWM enters the stop mode during CPU service mechanism: At</tspan><tspan y="600.64999" x="-.005908966 3.8860915 10.886091 17.102093 20.602093 26.818093 33.818094 37.710096 41.602098 45.102098 49.764097 54.426095 61.426095 72.31809 75.81809 81.26409 85.15609 92.15609 99.15609 102.65609 113.54809 120.54809 127.54809 133.76409 137.26409 144.26409 151.26409 154.76409 160.98009 167.98009 171.48009 175.37209 182.37209 186.26409 192.48009 197.14209 201.8041 208.8041 215.8041 219.69609 223.19609 226.69609 231.3581 237.5741 242.2361 246.8981 253.1141 258.56013 265.56013 269.06013 279.95213 286.16813 292.38414 299.38414 305.60014 312.60014 316.49214 321.93815 332.83015 336.33015 341.77616 345.66816 351.88417 355.77616 361.99217 365.49217 376.38417 382.60017 388.81617 395.81617 399.70817 406.70817 412.92417 416.42417 421.87019 425.76219 431.97819 436.64018 440.53218 445.97819 449.47819 454.14018 458.80216 465.80216 476.69416 480.19416 484.08616 491.08616">the exit from stop mode by an interrupt, refresh mechanism state machine starts from the</tspan><tspan y="616.64999" x="-.005908966 6.994091 11.656092 17.872094 24.872094 28.764094 35.76409 42.76409 48.21009 51.71009 57.15609 61.04809 67.26409 71.15609 77.37209 80.87209 90.980098 97.980098 101.87209 108.0881 115.0881 118.5881 129.4801 135.6961 141.91211 148.91211 154.35811 157.85811 161.35811 165.2501 169.91211 173.41211 178.07411 181.96611 186.62812 192.07411 195.96611 199.46611 204.91211 211.12812 215.79012 222.79012 226.68212 232.89812 239.11412 242.61412 248.83013 255.83013 266.72215 277.61415 283.83015 290.83015 297.83015 301.33015 305.22215 310.66816 314.16816 324.27616 328.93815 332.83015 336.72215 340.61415 346.83015 353.83015 357.33015 363.54615 370.54615 375.20814 379.87013 386.08613 392.30213 396.19413 400.08613 407.08613 410.58613 416.80213 423.80213 430.80213 434.30213 442.8561 456.0721">previous state which means, if first service command is written correctly and EWM</tspan><tspan y="632.64999" x="-.005908966 6.2100918 13.210092 17.102093 23.318093 27.980093 33.426095 36.926095 40.818098 47.818098 54.034097 57.534097 62.980096 66.87209 73.87209 80.87209 84.37209 95.26409 102.26409 109.26409 115.480098 118.980098 122.87209 133.7641 144.6561 150.8721 157.8721 161.7641 167.9801 171.8721 178.0881 181.9801 188.9801 192.4801 195.9801 199.8721 206.8721 213.0881 216.5881 223.5881 229.80411 236.80411 240.6961 244.1961 250.41211 257.4121 268.3041 279.1961 285.4121 292.4121 299.4121 302.9121 309.9121 316.1281 321.57414 325.07414 328.96614 335.96614 339.46614 346.46614 352.68214 356.18214 366.29014 370.95213 374.84413 378.7361 382.6281 388.84413 395.84413 399.34413 409.45213 413.34413 417.2361 424.2361 428.1281 435.1281 438.6281 442.5201 449.5201 455.7361 459.2361 466.2361 472.45213 479.45213 483.34413 486.84413 493.84413">enters the stop mode immediately, the next command has to be written within the next 15</tspan><tspan y="648.64999" x="-.005908966">(</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="648.64999" x="114.29009 118.952098 122.452098 129.45209 135.66809 140.3301 144.22209 151.22209 158.22209 164.4381 169.1001 175.3161 179.2081 182.7081 189.7081 196.7081 202.1541 205.6541 211.8701 215.7621 222.7621 228.9781 235.9781 241.4241 244.9241 251.1401 255.80211 259.69413 265.91014 270.5721 274.0721 280.28813 287.28813 291.1801 295.0721 298.9641 305.9641 312.9641 316.4641 321.1261 325.7881 332.7881 343.68009 347.18009 352.6261 356.5181 363.5181 370.5181 374.0181 384.9101 391.9101 398.9101 405.1261 408.6261 412.1261 422.2341 427.6801 433.89613 438.5581 442.0581 452.9501 459.9501 465.39613 469.28813 472.78813 483.6801 489.89613 495.34214">) peripheral bus clocks after exiting from stop mode. User must mask</tspan><tspan y="664.64999" x="-.00592041 6.21008 10.10208 13.994081 17.49408 21.38608 28.38608 32.27808 38.49408 43.15608 47.818078 54.818078 61.818078 65.710079 71.156078 74.656078 81.656078 86.31808 90.210079 97.210079 101.87208 105.37208 109.26408 116.26408 119.76408 125.98008 132.98007 139.19608 145.41208 152.41208 156.30408 160.19608 167.19608 174.19608 177.69608 186.25008 199.46608 211.91208 215.41208 220.85808 227.07408 231.73609 238.73609 242.62808 248.84409 255.06009 258.5601 262.4521 269.4521 274.8981 278.7901 283.4521 290.4521 296.6681 300.5601 304.4521 311.4521 318.4521 323.8981">all interrupts prior to executing EWM service instructions.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 2.5020004 8.001 10.998 14.499001 19.998002 25.497002 30.996003 36.000005 38.997007 41.499006 46.998006">Introduction</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.007 137.227 142.787 148.347 151.127 157.797 163.907 170.017 173.347 179.457 185.017 193.907 196.687 199.467 205.027 207.80699 215.027 220.58699 223.91699 229.47699 233.36699 238.92699 245.03699 250.59699 256.15699 258.93699 267.26698 272.82698 278.93696 285.04695 290.60694 293.38694 296.16694 298.94694 306.16694 311.72694 317.28694 320.06694 322.84693 328.40693 331.18693 336.74693 342.8569 348.9669 351.7469 357.3069 362.86689 368.42689">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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