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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_542.svg
Ryan Malloy 5252d1d73c Add hardware reference docs (A3981, K60, RYS352A) 
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.
2026-02-14 18:36:42 -07:00

374 lines
42 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 76)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="1.998 8.496 13.995001 19.494002 24.993002 27.495003 30.492003 32.994005 38.493005">Condition</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 232.9 76)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="1.998 9.495001 14.4990019 19.503003 25.002003 30.006005 35.505006 38.007005 43.011007">Mechanism</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 13.509002 18.513003 20.511002 25.515004 30.519005 35.523008 38.025007 44.028009 52.52401 60.02101 62.52301 67.02301 72.02701 75.02401 79.52401 81.52201 86.02201 91.02601 93.52801 98.532009 103.032009 107.532009 112.536 115.533008 120.033008 122.535 129.033 134.037 139.041 144.045 146.547 153.045 160.54199 166.545">A unique EWM service occurs when CMPL</tspan><tspan y="18.83789" x="0 5.2560007 7.758001 14.256001 19.260003 24.264004 29.268006 31.770007 36.774007 39.771009 42.273008 47.529008 50.031007 56.529008 64.02601 70.02901 76.52701">&#x003c; Counter &#x003c; CMPH.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 232.65 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 30.015002 32.517004 39.015005 44.019006 47.016008 52.020009 54.522008 59.52601 64.53001 69.534008 74.538 79.038 84.042 88.542 91.044 96.048 100.548 103.049999 108.05399 112.55399 117.55799 122.56199 127.06199 129.564 134.568 139.57199 142.07399 147.07799 152.08199 157.08599 159.58798 162.08998 167.09398 172.09798 174.59998 179.09998 184.10398 189.10797 194.11197 196.61397 201.61797 204.61496 207.11696 212.12096 214.62296 217.12496 219.62696 224.63095 229.63495 232.13695 238.13996 246.63596 254.13295 256.63496 258.63294 263.13294 265.63496 268.63197 273.63597 278.13597 283.13996 285.64198 288.14399 290.646 295.65 298.152 302.652 307.656 310.653 315.657">The software behaves as expected and the counter of the EWM is reset to zero,</tspan><tspan y="18.83789" x="0 5.0040009 10.008001 15.012002">and </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 232.65 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="18.83789" x="17.514 23.517 32.013 39.510004 44.514005 49.518007 54.522008 57.024007 59.526006 64.53001 66.52801 71.532009 74.034008 77.031009 82.035 89.532009 94.536 96.534008 101.538 106.038 108.54 110.538 115.542 118.044 120.546 125.549999 130.554 133.056 138.06 143.064 148.068 152.568 157.068 162.07199 165.06899 167.57099 172.57498 177.57898 180.08098 184.58098 187.08298 192.08698 194.58898 199.59297">EWM_out pin remains in the deasserted state.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 134.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 13.509002 18.513003 20.511002 25.515004 30.519005 35.523008 38.025007 44.028009 52.52401 60.02101 62.52301 67.02301 72.02701 75.02401 79.52401 81.52201 86.02201 91.02601 93.52801 98.532009 103.032009 107.532009 112.536 115.533008 120.033008 122.535 129.033 134.037 139.041">A unique EWM service occurs when</tspan><tspan y="18.83789" x="0 6.4980008 11.502001 16.506 21.510003 24.012003 29.016003 32.013006 34.515005 39.771005 42.273004 48.771005 56.268007 62.271005">Counter &#x003c; CMPL</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 232.65 134.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="18.83789" x="46.521 52.524003 61.020006 68.517009 73.521 78.525 83.529 86.031 88.533 93.536998 95.534999 100.538997 103.04099 106.037998 108.035999 111.033 114.03 119.034 123.534 128.538 133.54199 138.04199 140.54399 142.54199 147.04199 152.04599 154.54799 159.55199 162.05399 164.55599 167.05799 172.06198 177.06598 179.56798 185.57099 194.06699 201.56398 206.56798 208.56598 213.56998 216.07198 221.07598 223.07398 228.07798 231.07497 233.57697 236.07897 241.57796 246.58196 251.58596">EWM_out pin (irrespective of the EWM_in pin). The </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 232.65 134.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="18.83789" x="254.08798 260.09098 268.58699 276.08399 281.08799 286.09199 291.09599 293.598 296.1 301.104 303.102 308.106 310.608 312.606">EWM_out pin is</tspan><tspan y="29.83789" x=".000030517579 5.004031 9.504031 14.508032 19.512032 24.012032 26.514033 31.518033 36.522035 39.024034 41.52603 46.530035 49.032033 54.036035 59.040037 61.542036 66.546039 69.048038 73.548038 76.54504 78.54304 81.04504 83.04304 87.54304 92.547039 94.54504 97.047039 101.547039 106.55103 109.05303 114.05703 116.55903 121.05903 123.56103 128.06104 130.05904 133.05603 137.55603 142.56003 144.55803 147.06003 151.56003">expected to gate critical safety circuits.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 172.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 24.012003 29.016003 32.013006 34.515005 39.015005 44.019006 46.017007 51.021009 56.02501 58.527009 61.52401 66.52801 71.532009 76.032009 81.036 86.04 90.54 93.042 99.54 107.037 113.04 119.538 122.04 127.044 130.041 132.039 137.043 140.04 142.54199 145.04399 150.04799 152.54999">Counter value reaches CMPH prior to a</tspan><tspan y="18.83789" x="0 5.0040009 10.008001 12.006001 17.010003 22.014004 27.018006 29.520007 35.523008 44.019006 51.516008 54.018007 58.518007 63.522008 66.519008 71.019008 73.017009 77.517009">unique EWM service</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 232.65 172.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 32.517004 37.521005 40.023004 45.027006 48.024007 50.526006 55.026006 60.030008 62.028009 67.032009 72.036 74.538 77.535 82.539 87.543 92.043 97.047 102.050998 106.550998 109.05299 111.55499 116.55899 121.56299 124.06499 130.56299 138.05998 144.06299 150.56099 153.06299 157.56299 162.56699 164.56499 169.56899 174.57299 177.07498 182.07898 187.08298 192.08698 194.58898 199.59297 204.59697 207.09897 211.59897 216.60297 219.59996 224.09996 226.09796 230.59796 235.60196 238.10396 243.10796 245.60996 248.11196 250.61396 255.61795 260.62196 263.12397 269.12696 277.62297 285.11997 287.62199 290.619 295.623 300.123 305.12699 307.629">The counter value reaches the CMPH value and no service of the EWM resets</tspan><tspan y="18.83789" x="0 2.5020004 7.506001 12.510002 15.012003 19.512003 24.516003 29.520005 34.524007 37.026006 42.030008 45.027009 47.529008 50.031007 55.035009 57.537008 62.037008 67.04101 70.03801 75.04201 77.54401 82.548007 87.552 92.556 95.058 100.062 104.562 109.062 114.065998 117.062999 119.564998 122.06699 124.56899 129.573 134.577">the counter to zero and assert the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 232.65 172.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="18.83789" x="137.079 143.082 151.578 159.075 164.079 169.083 174.08699 176.58899 179.09099 184.09499 186.09299 191.09699 193.59899 196.59598 198.59398 201.59098 204.58797 209.59197 214.09197 219.09597 224.09996 228.59996 231.10196 233.09996 237.59996 242.60396 245.10596 250.10996 252.61196 255.11396 257.61598 262.61997 267.62397 270.12599 276.12898 284.62498 292.12199 297.12599 299.12397">EWM_out pin (irrespective of the EWM_in</tspan><tspan y="29.83789" x="0 5.0040009 7.002001 12.006001 15.003001 17.505002 20.007002 25.506003 30.510003 35.514005">pin). The </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 232.65 172.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="29.83789" x="38.016 44.018999 52.515 60.012 65.016 70.02 75.023998 77.52599 80.02799 85.03199 87.02999 92.03399 94.53599 96.53399 101.03399 103.53599 108.539989 113.039989 118.04398 123.04798 127.54798 130.04999 135.05399 140.05799 142.55998 145.06198 150.06598 152.56798 157.57198 162.57598 165.07798 170.08197 172.58397 177.08397 180.08097 182.07897 184.58097 186.57897 191.07897 196.08296 198.08097 200.58296 205.08296 210.08696 212.58896 217.59296 220.09496 224.59496 227.09696 231.59696 233.59496 236.59195 241.09195 246.09595 248.09395 250.59595 255.09595">EWM_out pin is expected to gate critical safety circuits.</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="192.75" x="0 10.108001 17.108002 24.108002 27.608002 31.500002 35.392004 39.284006 45.500005 52.500005 58.716005 62.608007 66.108 71.554 77.770008 82.43201 89.43201 93.324008 99.54001 105.75601 109.25601 116.25601 123.25601 126.75601 135.31002 148.52602 160.97202 164.47202 171.47202 177.68802 183.13402 186.63402 193.63402 200.63402 204.13402 210.35002 215.01203 219.67403 225.89003 232.10604 235.99803 239.49803 246.49803 253.49803">Any illegal service on EWM has no effect on </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="192.75" x="256.998 265.55198 278.76799 291.214 298.214 305.214 312.214 316.106">EWM_out.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 288.3)" 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">23.4.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 288.3)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".006 10.678 25.782002 39.11 43.558004 48.006006 57.782007 63.110006 72.006008 78.23 84.454 94.23 104.006008">EWM Interrupt</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="271.55" x="-.006 13.210001 20.210001 26.426003 33.426004">When </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="271.55" x="36.932 45.486 58.702 71.148 78.148 85.148 92.148 96.04 99.54 103.432 108.878 112.378 118.594 124.04 129.48601 135.70201 140.36402 144.25601 150.47202 157.47202 160.97202 164.47202 170.68802 177.68802 181.18802 185.08002 192.08002 195.97202 202.18802 206.85002 211.51203 218.51203 225.51203 229.40402 232.90402 237.56603 243.78203 250.78203 257.78205 263.99806 269.44407 273.33607 276.83607 280.72807 286.17408 289.67408 296.67408 302.89009 309.89009 316.10609 320.76808 326.98408 330.87608 337.09208 344.09208 347.59208 351.48408 358.48408 361.98408 365.87608 372.87608 379.87608 383.76808 389.98408 396.20008 400.09208 406.30809 409.80809 413.70008 420.70008 426.91609 430.41609 436.63209 442.0781 447.5241 453.7401 458.4021 462.2941 466.1861 473.1861 480.1861 483.6861 490.6861">EWM_out is asserted, an interrupt request is generated to indicate the assertion of</tspan><tspan y="287.55" x=".000049591066 3.89205 10.89205 17.108052 20.608052 29.162053 42.37805 54.82405 58.32405 62.98605 69.20205 74.64805 80.86405 84.75605 88.25605 95.25605 102.25605 106.14805 109.64805 115.09405 118.986049 125.986049 132.98606 139.20206 143.09406 146.59406 150.09406 158.64806 165.64806 169.54006 174.98606 178.48606 182.37805 189.37805 193.27005 199.48606 204.14806 208.81006 215.81006 222.81006 226.70206 230.20206 234.09406 239.54006 243.04006 249.25606 256.25605 262.47206 269.47206 273.36405 279.58006 286.58006 290.08006 300.18806 307.18806 313.40406 320.40406 323.90406 333.24208 341.79606 351.13407 359.68806 364.35005 369.01203 379.12004 387.674 396.228 406.336 410.998 414.498 418.38999 423.836 427.336 432.782 438.99803 442.89 446.39 449.89 459.22804 463.12004 469.33604 475.55204 480.21403 484.10603 491.10603">the EWM reset out signal. This interrupt is enabled when CTRL[INTEN] is set. Clearing</tspan><tspan y="303.55" x=".000049591066 3.89205 10.89205 14.78405 20.230051 23.730051 30.730051 34.62205 38.514055 42.014055 48.230054 52.122056 58.338056 64.554058 69.21606 74.662059 78.162059 82.054058 89.054058 95.27006 98.77006 102.662059 109.662059 113.554058 119.77006 124.43206 129.09406 136.09406 143.09406 146.98606 150.48606 155.14806 161.36406 168.36406 175.36406 181.58007 187.02606 190.91806 194.41806 201.41806 208.41806 212.31006 215.81006 222.81006 229.81006 236.02606 241.47206 244.97206 251.97206 258.97206 262.86405 266.36405 272.58006 277.24205 281.90403 288.12004 294.33604 298.22804">this bit clears the interrupt request but does not affect </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="303.55" x="301.72807 310.28205 323.49806 335.94407 342.94407 349.94407 356.94407 360.83607 364.33607 367.83607 376.39006 383.39006 389.60606">EWM_out. 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="303.55" x="393.10606 401.66004 414.87605 427.32206 434.32206 441.32206 448.32206 452.21406 455.71406 461.16007 465.05207 472.05207 479.05207 485.26808">EWM_out signal</tspan><tspan y="319.55" x=".000061035159 6.2160618 12.432062 19.432063 22.932063 29.932063 36.148065 39.648065 46.648065 52.864065 59.080064 64.52606 69.97206 76.188068 80.85007 84.742069 90.95807 97.95807 101.45807 108.45807 115.45807 119.35007 126.35007 129.85007 136.85007 143.85007 147.35007 152.01207 159.01207 163.67407 169.89008 173.78208 180.78208 187.78208 191.28208 197.49808 200.99808 206.44408 213.44408 218.89008 222.78208 228.99808 239.89008 243.39008 248.05208 254.26808 259.71409 265.93009 269.82209">can be deasserted only by forcing a system reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 415.09999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00594 8.89006 17.78606 22.23406 31.130063 35.578065">23.4.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 415.09999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00594 11.546061 21.32206 31.09806 40.87406 46.20206 55.09806 61.32206 65.77006 74.66606 79.11406 88.89006 97.786067 106.68207 111.130069 120.90607 127.130069 136.02606 144.92206 153.81806 162.71405 167.16205 176.05805">Counter clock prescaler</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="398.34999" x=".00206 8.55606 15.55606 21.77206 25.27206 33.82606 47.04206 59.48806 62.98806 69.20406 76.20406 83.20406 90.20406 94.09606 100.312068 104.97407 108.47407 114.69007 118.58207 125.58207 131.79807 138.79807 142.29807 147.74407 154.74407 161.74407 166.40607 172.62207 178.83808 182.33808 188.55408 194.77008 201.77008 205.27008 212.27008 218.48609 221.98609 228.98609 233.64809 239.86409 245.31009 251.5261 257.7421 261.6341 267.8501 274.8501 278.3501 285.3501 292.3501 295.8501 302.0661 305.5661 311.7821 315.6741 322.6741 328.8901 335.8901 339.3901 346.3901 350.2821 357.2821 361.1741 368.1741 374.3901 379.0521 382.5521 386.0521 393.0521 400.0521 403.5521 410.5521 415.21409 422.21409 429.21409 433.87608 440.09208 450.98408 461.87608 465.76808 472.76808">The EWM counter clock source can be prescaled by a clock divider, by programming</tspan><tspan y="414.34999" x=".0020700002 9.340072 17.894072 28.002072 35.78607 45.124074 53.678075 61.462076 70.80008 80.90808 89.46208 98.01608 107.35408 112.01608 121.35408 129.90808 140.01609 147.01609 157.12409 161.78609 171.89409 176.55609 180.05609 183.55609 192.11009 199.11009 203.00209 208.44809 211.94809 218.94809 222.84009 229.84009 233.73209 240.73209 246.94809 253.94809 257.4481 263.6641 267.5561 274.5561 280.7721 287.7721 291.2721 295.1641 300.6101 304.1101 311.1101 316.55613 322.77214 329.77214 333.27214 337.16413 344.16413 347.66413 352.3261 359.3261 366.3261 369.8261 373.7181 380.7181 386.9341 390.4341 398.9881 412.2041 424.65013 428.15013 434.36613 441.36613 448.36613 455.36613 459.25813 465.47413 470.1361">CLKPRESCALER[CLK_DIV]. This divided clock is used to run the EWM counter.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="438.53669" x="232.55608 242.66408 253.55608 262.11009">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="454.74998" x="72.00406 80.55806 87.55806 93.77406 97.27406 104.27406 108.16606 115.16606 119.05806 126.05806 132.27407 139.27407 142.77407 148.99007 152.88207 159.88207 166.09807 173.09807 176.59807 183.59807 189.04407 195.26007 202.26007 205.76007 209.65207 216.65207 220.15207 224.81407 231.81407 238.81407 242.31407 246.20607 253.20607 259.42207 262.92207 271.47605 284.69206 297.13807 300.63807 306.85408 313.85408 320.85408 327.85408 331.74607 337.96208 342.62406 346.12406 357.01606 364.01606 369.46208 373.35408 376.85408 383.85408 390.07008 393.57008 400.57008">The divided clock used to run the EWM counter must be no</tspan><tspan y="470.74998" x="72.00408 82.89608 89.89608 94.55808 100.774089 104.274089 108.166088 115.166088 121.38209 128.38208 131.88208 138.88208 145.09809 148.99008 153.65209 157.15209 161.04409 168.04409 174.26009 177.76009 182.42209 187.08409 193.3001 200.3001 207.3001 213.5161 220.5161 226.7321 233.7321 237.2321 244.2321 248.8941 252.3941 256.2861 263.2861 269.5021 273.0021 280.0021 287.0021 292.44813 295.94813 302.16413 306.05613 313.05613 319.27214 326.27214">more than half the frequency of the bus clock.</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 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 54.504 59.508005 64.512 69.516 73.017 75.519 81.018 84.015 86.517 92.016">Functional Description</tspan></text>
<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="130.005 137.225 142.785 148.345 151.125 157.795 163.905 170.015 173.345 179.455 185.015 193.905 196.685 199.465 205.025 207.805 215.025 220.58499 223.915 229.47499 233.36499 238.92499 245.03499 250.59499 256.155 258.935 267.26499 272.82499 278.93498 285.04496 290.60496 293.38496 296.16496 298.94496 306.16496 311.72496 317.28495 320.06495 322.84495 328.40495 331.18495 336.74494 342.85493 348.9649 351.7449 357.3049 362.8649 368.4249">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
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