TIN_PMC/TIN001-PLC/TIN001/PMC/POU/_900_FB/AxisFunction.TcPOU

<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
  <POU Name="AxisFunction" Id="{23fbbc65-50c0-4a15-b3af-7ce3a033266f}" SpecialFunc="None">
    <Declaration><![CDATA[FUNCTION_BLOCK AxisFunction
VAR_INPUT
	AxisControl				         :DUT_AxisControl; //命令的触发
END_VAR                              
VAR_IN_OUT RETAIN                    
	AxisData				         :DUT_AxisData;  //位置/速度数据
END_VAR                              
VAR_OUTPUT                           
	AxisState				         :DUT_AxisState; //轴反馈数据状态
END_VAR                              
VAR 
	Axis					         :AXIS_REF;//定义轴
	Axis_Power				         :MC_Power;
	Axis_Reset				         :MC_Reset;
	Axis_Jog				         :MC_Jog;
	Axis_Home				         :MC_Home;
	Axis_MoveRelative		         :MC_MoveRelative;
	Axis_MoveVelocity		         :MC_MoveVelocity;
	Axis_MoveAbsolute		         :MC_MoveAbsolute;
	Axis_TorqueControl		         :MC_TorqueControl;
	Axis_Stop				         :MC_Stop;
	AxisActPos				         :MC_ReadActualPosition;
	AxisActVel				         :MC_ReadActualVelocity;
	AxisError				         :MC_ReadAxisError;
    T 								 :ARRAY[0..31]OF TON;  
	P								 :ARRAY[0..31]OF BOOL;
	RisingEdge						 :ARRAY[0..31]OF R_TRIG;
	MCWritePosBiasPersistent		 :MC_WriteParameterPersistent;
	Istep: INT;
	tPos: LREAL;
	AxisDisabled: BOOL;
	
	hTorqueControlEx: BOOL;
	
	hStopEx: BOOL;
	hMoveRelativeEx: BOOL;
	
	Axis_FinishHoming: MC_FinishHoming;
	Axis_StepReferencePulse: MC_StepReferencePulse;
	Axis_StepAbsoluteSwitch: MC_StepAbsoluteSwitch;
	StepAbsoluteSwitch_Ref_Signal			:MC_Ref_Signal_Ref;
	mcHomingParameter					:MC_HomingParameter;
	mcPositiveDirection: MC_Home_Direction;
	MCSwitchMode: MC_Switch_Mode;
END_VAR                              


]]></Declaration>
    <Implementation>
      <ST><![CDATA[	//************************************************************************
	//Title:	Axis Function Blocks
	//Version:	Ver0.01
	//Author: 	zhangzhiwei
	//Modify:	Initial Release 2024.11.20
	//************************************************************************
	
	
	//=============================01.Axis Power==============================
	Axis_Power.Enable:= ((AxisControl.PcToAxisEnable AND AxisControl.TPMode)OR 
						(AxisControl.RobotToAxisEnable AND NOT AxisControl.TPMode)) AND	
		                 NOT Axis.Status.Error AND NOT Axis.Status.DriveDeviceError;
	
	//=============================02.Axis Jog================================
	Axis_Jog.JogForward := AxisControl.TPToAxisJogForward AND 
						  NOT AxisControl.TPToAxisJogBackwards AND 
						  Axis.Status.ControlLoopClosed AND NOT Axis.Status.Error AND 
		                  NOT Axis.Status.DriveDeviceError;
	Axis_Jog.JogBackwards:= NOT AxisControl.TPToAxisJogForward AND 
						  AxisControl.TPToAxisJogBackwards AND 
						  Axis.Status.ControlLoopClosed  AND NOT Axis.Status.Error AND 
		                  NOT Axis.Status.DriveDeviceError;
	
	//=============================03.Axis Home===============================
	T[0](IN:=(AxisControl.TPMode AND AxisControl.PcToCmdHome) OR 
			 (NOT AxisControl.TPMode AND AxisControl.RobotToCmdHome) AND 
			  NOT Axis.Status.DriveDeviceError AND 
		      Axis.Status.ControlLoopClosed AND Axis.Status.NotMoving,PT:=T#3S);
	RisingEdge[0](CLk:=T[0].Q);
	IF 	 RisingEdge[0].Q THEN
		IF AxisControl.HomeType = 1 THEN
			Istep			:= 100;
			END_IF;
		IF  AxisControl.HomeType= 2 THEN
			Istep			:= 200;
		END_IF
	END_IF
		
	//=============================04.Axis TroqueControl======================
	RisingEdge[1](CLk:=(AxisControl.TPMode AND AxisControl.PcToCmdTroqueControl)OR 
				       (NOT AxisControl.TPMode AND AxisControl.RobotToCmdTroqueControl)OR  
					   (0<Istep AND Istep<900 AND hTorqueControlEx)
				   AND  
				       NOT Axis.Status.DriveDeviceError AND Axis.Status.ControlLoopClosed 
                 );
	Axis_TorqueControl.Execute	:= RisingEdge[1].Q;
	
	//=============================05.Axis Veliocity==========================
	Axis_MoveVelocity.Velocity:=AxisData.vel[AxisData.No];
	RisingEdge[2](CLk:=(AxisControl.TPMode AND AxisControl.PcToCmdVeliocity)OR 
		         (NOT AxisControl.TPMode AND AxisControl.RobotToCmdVeliocity) AND
		          NOT Axis.Status.DriveDeviceError AND 
		          Axis.Status.ControlLoopClosed AND Axis.Status.NotMoving);
	Axis_MoveVelocity.Execute	:= RisingEdge[2].Q;
	
	//=============================06.Axis MoveAbsolute=======================
	Axis_MoveAbsolute.Velocity:=AxisData.vel[AxisData.No];
	Axis_MoveAbsolute.Position:=AxisData.Pos[AxisData.No]+AxisData.PositionBias;
	RisingEdge[3](CLk:=((AxisControl.TPMode AND AxisControl.PcToCmdMoveAbsolute)OR 
				 (NOT AxisControl.TPMode AND AxisControl.RobotToCmdMoveAbsolute )) AND
				  NOT Axis.Status.DriveDeviceError AND 
		          Axis.Status.ControlLoopClosed AND Axis.Status.NotMoving);
	Axis_MoveAbsolute.Execute	:= RisingEdge[3].Q;
	
	//=============================07.Axis MoveRelative=======================
	
	RisingEdge[4](CLk:=(AxisControl.TPMode AND AxisControl.PcToCmdMoveRelative)OR 
				        (NOT AxisControl.TPMode AND AxisControl.RobotToCmdMoveRelative )OR
				        (0<Istep AND Istep<900 AND hMoveRelativeEx )
					AND NOT Axis.Status.DriveDeviceError AND Axis.Status.ControlLoopClosed);
	Axis_MoveRelative.Execute	:= RisingEdge[4].Q;
	
	
	//=============================08.Axis Stop===============================
	Axis_Stop.Execute:= (AxisControl.TPMode AND AxisControl.PcToCmdStop)OR
							(NOT AxisControl.TPMode AND AxisControl.RobotToCmdStop)OR
							Axis.Status.Error OR 
							Axis.Status.DriveDeviceError OR hStopEx;
							
							
							
	//=============================09.Axis Reset==============================
	Axis_Reset.Execute:= (AxisControl.TPMode AND AxisControl.PcToCmdReset)OR 
						 (NOT AxisControl.TPMode AND AxisControl.RobotToCmdReset);
	
	//=============================10.Axis Statue=============================
	AxisState.ErrorID:=AxisError.AxisErrorID;
	AxisState.Enabled:=Axis.Status.ControlLoopClosed;
	AxisState.Busy:=Axis.Status.Moving;
	AxisState.Done:=Axis.Status.StandStill AND Axis.Status.ControlLoopClosed AND
	                NOT Axis.Status.DriveDeviceError AND NOT Axis.Status.Error AND
					Axis.Status.NotMoving;
	AxisState.Error:=NOT Axis.Status.DriveDeviceError AND NOT Axis.Status.Error AND
					 AxisError.Error;
	
	//=============================12.Axis DataSave===========================
	T[1](IN:=AxisControl.DataSave AND NOT AxisControl.TPMode AND Axis.Status.ControlLoopClosed 
								,PT:=T#3S);
	RisingEdge[5](CLk:=T[1].Q);
	IF T[1].Q THEN
	AxisData.Pos[AxisData.No]:=AxisState.Pos;
	AxisData.Vel[AxisData.No]:=AxisState.vel;
	END_IF
		AxisActPos.Enable:=1;
		AxisActVel.Enable:=1;
		AxisError.Enable:=1;
	
	//=============================13.Home Mode===================================
	T[10](IN:=T[11].Q AND T[13].Q AND T[14].Q AND AxisState.Enabled,PT:=T#10S);

	T[11](IN:=ABS( AxisState.Pos-tPos)<=0.001,PT:=T#200MS);
	IF T[12].Q THEN
	   tPos:=AxisState.Pos;
	END_IF
	T[12](IN:=NOT p[12],PT:=T#200MS);
	p[12]:=T[12].Q;

	T[13](IN:=ABS(AxisState.vel)<=0.1,PT:=T#200MS);

	T[14](IN:=ABS(AxisData.ActTorque-Axis_TorqueControl.Torque*10)<=50,PT:=T#200MS);

	T[15](IN:=Axis.Status.Moving,PT:=T#500MS);	
	T[16](IN:=Axis.Status.NotMoving,PT:=T#500MS);		
	
	CASE Istep OF
		100:
		Axis_FinishHoming.Execute:=FALSE;
		Axis_MoveRelative.Velocity:=10;
		Axis_MoveRelative.Distance:=30.0;
		hMoveRelativeEx:=TRUE;
		IF AxisState.Enabled AND Axis_MoveRelative.Done
		THEN
			hMoveRelativeEx:=FALSE;
			Istep:=101;
		END_IF
		101:
		Axis_StepAbsoluteSwitch.Execute:=TRUE;
		IF Axis_StepAbsoluteSwitch.Done THEN
			Istep:=103;
		END_IF
		
		102:
		Axis_StepReferencePulse.Execute:=TRUE;
		IF Axis_StepReferencePulse.Done THEN
			Istep:=103;
		END_IF
		
		103:
		Axis_StepAbsoluteSwitch.Execute:=FALSE;
		Axis_FinishHoming.Execute:=TRUE;
		IF Axis_FinishHoming.Done THEN
			Axis_FinishHoming.Execute:=FALSE;
			Istep:=999;
		END_IF
		
		200:
		Axis_TorqueControl.Torque:=AxisData.hTorque;
		Axis_TorqueControl.TorqueRamp:=AxisData.hTorqueRamp;
		Axis_TorqueControl.VelocityLimitHigh:=AxisData.hTorqueVelLimitHigh;
		Axis_TorqueControl.VelocityLimitLow:=AxisData.hTorqueVelVelocityLimitLow;
		hTorqueControlEx:=TRUE;
		IF T[15].Q THEN
			Istep:=201;
		END_IF
		201:
		IF T[16].Q AND T[10].Q
		THEN
		hTorqueControlEx:=FALSE;
		hStopEx:= TRUE;
			Istep:=202;
		END_IF
		202:
		hStopEx:= FALSE;
		Axis_MoveRelative.Velocity:=10;
		Axis_MoveRelative.Distance:=-10.0;
		IF Axis_Stop.Done  THEN
			Istep:=203;
		END_IF
		203:
		hMoveRelativeEx:=TRUE;
		IF AxisState.Enabled AND Axis_MoveRelative.Done
		THEN
			Istep:=204;
		END_IF
		204:
		hMoveRelativeEx:=FALSE;
		IF AxisState.Enabled AND T[16].Q THEN
			Istep:=205;
		END_IF
		205:
		AxisData.PositionBias:=AxisActPos.Position;
		IF AxisData.PositionBias=AxisActPos.Position THEN
			Istep:=206;
		END_IF
		//Istep:=206;
		206:
		IF AxisState.Enabled THEN
			Istep:=999;
		END_IF
	END_CASE
	IF Istep=0 OR Istep=999 OR (Istep<0 AND Istep >999 )
		THEN
		hMoveRelativeEx:=FALSE;
		hTorqueControlEx:=FALSE;
		hStopEx:= FALSE;
		Axis_StepAbsoluteSwitch.Execute:=FALSE;
		Axis_StepReferencePulse.Execute:=FALSE;
		Axis_FinishHoming.Execute:=FALSE;
	END_IF
	//=============================14.Axis Execute============================
	AxisState.vel:=AxisActVel.ActualVelocity;
	AxisState.Pos:=AxisActPos.Position-AxisData.PositionBias;
	//AxisState.Pos:=AxisActPos.Position;
	
	Axis.ReadStatus();
	
	Axis_Power(Axis:=Axis,Enable:= , Enable_Positive:=TRUE,Enable_Negative	:=TRUE,Override:=100.0, Status=>,);
	
	Axis_Jog(Axis:=Axis,JogForward :=, JogBackwards	:=,Velocity	:=AxisData.Vel[31],Acceleration	:=,Deceleration	:=,Jerk	:=,Mode	:=MC_JOGMODE_CONTINOUS,Done=>,Busy	=>,Active=>,CommandAborted=>,Error=>,ErrorID=>);
	
	Axis_Home(Axis:=Axis, Execute:= ,Position:=0-AxisState.Pos,HomingMode:= ,BufferMode:= , Options:= ,bCalibrationCam:= ,Done=> , Busy=>, Active=> ,CommandAborted=> ,Error=> , ErrorID=> );
	
	Axis_TorqueControl(Axis:=Axis,Execute:= , ContinuousUpdate:= , Relative:= , Torque:= , TorqueRamp:= , VelocityLimitHigh:= , VelocityLimitLow:= , BufferMode:= , Options:= , InTorque=> , Busy=> ,Active=> , CommandAborted=> , Error=> , ErrorId=> );
	
	Axis_MoveVelocity(Axis:=Axis,Execute:=,Velocity	:=,Acceleration	:=,Deceleration	:=,Jerk:=,Direction:=,BufferMode:=,Options:=,InVelocity	=>,Busy	=>,Active	=>,CommandAborted=>,Error=>, ErrorID=>);
	
	Axis_MoveRelative(Axis:=Axis ,Execute:=, Distance:=, Velocity:=, Acceleration:=, Deceleration:=, Jerk:=, BufferMode:=, Options:=, Done=>,Busy=>,Active=>,CommandAborted=>,Error=>,ErrorID=>);
	
	Axis_Stop( Axis:=Axis, Execute:= , Deceleration:= , Jerk:= ,Options:= , Done=> ,Busy=> ,Active=> ,CommandAborted=> ,Error=> , ErrorID=> );
	
	Axis_Reset(Axis:=Axis, Execute:=,Done=>,Busy=>,Error=>,ErrorID=>);
	
	Axis_MoveAbsolute( Axis:=Axis,Execute:=,Position:=,Velocity:=,Acceleration:=,Deceleration:=,Jerk:=,BufferMode:=,Options:=,Done=>,Busy=>,Active=>,CommandAborted=>,Error	=>, ErrorID=>);
	
	AxisActPos(Axis:=Axis ,Enable:= , Valid=> , Busy=> , Error=> , ErrorID=> , Position=> );
	
	AxisActVel(Axis:=Axis , Enable:= , Valid=> , Busy=> , Error=> , ErrorID=> , ActualVelocity=>AxisState.vel );
	
	AxisError(Axis:= Axis,Enable:= , Valid=> ,Busy=> ,Error=> ,ErrorID=> ,AxisErrorID=> );
	
	MCWritePosBiasPersistent(Axis:=Axis, Execute:= , ParameterNumber:=MC_AxisParameter.AxisEncoderOffset,Value:=AxisData.PositionBias,Done=> , Busy=> , Error=> , ErrorID=> );
	
	Axis_StepAbsoluteSwitch.ReferenceSignal.Level:=AxisControl.HomeSW;
	Axis_StepAbsoluteSwitch.Options.DisableDriveAccess:=TRUE;
	Axis_StepReferencePulse.Options.DisableDriveAccess:=TRUE;
	Axis_FinishHoming.Options.DisableDriveAccess:=TRUE;
	
	Axis_StepAbsoluteSwitch(
	Axis:=Axis , 
	Parameter:=mcHomingParameter , 
	Execute:= , 
	Direction:=mcPositiveDirection , 
	SwitchMode:= MCSwitchMode, 
	ReferenceSignal:= , 
	Velocity:=50 , 
	Acceleration:= , 
	Deceleration:= , 
	Jerk:= , 
	SetPosition:= , 
	TimeLimit:= , 
	DistanceLimit:= , 
	TorqueLimit:=100 , 
	PositiveLimitSwitch:= , 
	NegativeLimitSwitch:= , 
	BufferMode:= , 
	Options:= , 
	Done=> , 
	Busy=> , 
	Active=> , 
	CommandAborted=> , 
	Error=> , 
	ErrorID=> );
	
	  
	Axis_StepReferencePulse(
	Axis:=Axis , 
	Parameter:=mcHomingParameter , 
	Execute:= , 
	Direction:=mcPositiveDirection , 
	ReferenceSignal:= , 
	Velocity:=100 , 
	Acceleration:= , 
	Deceleration:= , 
	Jerk:= , 
	SetPosition:= , 
	TimeLimit:= , 
	DistanceLimit:= , 
	TorqueLimit:=100 , 
	BufferMode:= , 
	Options:= , 
	Done=> , 
	Busy=> , 
	Active=> , 
	CommandAborted=> , 
	Error=> , 
	ErrorID=> );
	
	
	
	
	
	
	Axis_FinishHoming(
	Axis:=Axis , 
	Parameter:=mcHomingParameter , 
	Execute:= , 
	Distance:=0-AxisActPos.Position , 
	Velocity:=100 , 
	Acceleration:= , 
	Deceleration:= , 
	Jerk:= , 
	BufferMode:= , 
	Options:= , 
	Done=> , 
	Busy=> , 
	CommandAborted=> , 
	Error=> , 
	ErrorID=> );
	
	
	
	
	
	
	
	
	]]></ST>
    </Implementation>
    <LineIds Name="AxisFunction">
      <LineId Id="4143" Count="5" />
      <LineId Id="4366" Count="0" />
      <LineId Id="4365" Count="0" />
      <LineId Id="4150" Count="0" />
      <LineId Id="4152" Count="4" />
      <LineId Id="4158" Count="7" />
      <LineId Id="4167" Count="1" />
      <LineId Id="4170" Count="9" />
      <LineId Id="4183" Count="3" />
      <LineId Id="4371" Count="0" />
      <LineId Id="4647" Count="1" />
      <LineId Id="4718" Count="0" />
      <LineId Id="4717" Count="0" />
      <LineId Id="4716" Count="0" />
      <LineId Id="4711" Count="0" />
      <LineId Id="4196" Count="0" />
      <LineId Id="4719" Count="0" />
      <LineId Id="4197" Count="0" />
      <LineId Id="4199" Count="7" />
      <LineId Id="4208" Count="8" />
      <LineId Id="4652" Count="0" />
      <LineId Id="4220" Count="1" />
      <LineId Id="4729" Count="0" />
      <LineId Id="4727" Count="0" />
      <LineId Id="4655" Count="0" />
      <LineId Id="4224" Count="1" />
      <LineId Id="4662" Count="0" />
      <LineId Id="4708" Count="2" />
      <LineId Id="4725" Count="0" />
      <LineId Id="4722" Count="2" />
      <LineId Id="4233" Count="0" />
      <LineId Id="4235" Count="3" />
      <LineId Id="4240" Count="8" />
      <LineId Id="4251" Count="0" />
      <LineId Id="4253" Count="8" />
      <LineId Id="4263" Count="0" />
      <LineId Id="4299" Count="1" />
      <LineId Id="4634" Count="0" />
      <LineId Id="4768" Count="0" />
      <LineId Id="4767" Count="0" />
      <LineId Id="4763" Count="3" />
      <LineId Id="4758" Count="2" />
      <LineId Id="4769" Count="0" />
      <LineId Id="4761" Count="0" />
      <LineId Id="4757" Count="0" />
      <LineId Id="4641" Count="1" />
      <LineId Id="4638" Count="0" />
      <LineId Id="4301" Count="0" />
      <LineId Id="5019" Count="0" />
      <LineId Id="5037" Count="0" />
      <LineId Id="5021" Count="1" />
      <LineId Id="5025" Count="0" />
      <LineId Id="5032" Count="1" />
      <LineId Id="5035" Count="0" />
      <LineId Id="5034" Count="0" />
      <LineId Id="5018" Count="0" />
      <LineId Id="4302" Count="0" />
      <LineId Id="4305" Count="0" />
      <LineId Id="4349" Count="0" />
      <LineId Id="4945" Count="1" />
      <LineId Id="4940" Count="1" />
      <LineId Id="4947" Count="2" />
      <LineId Id="4942" Count="1" />
      <LineId Id="4950" Count="0" />
      <LineId Id="5036" Count="0" />
      <LineId Id="4954" Count="1" />
      <LineId Id="4959" Count="0" />
      <LineId Id="4956" Count="0" />
      <LineId Id="4952" Count="0" />
      <LineId Id="4944" Count="0" />
      <LineId Id="4306" Count="0" />
      <LineId Id="4308" Count="3" />
      <LineId Id="4720" Count="0" />
      <LineId Id="4313" Count="2" />
      <LineId Id="5093" Count="5" />
      <LineId Id="4319" Count="0" />
      <LineId Id="4665" Count="0" />
      <LineId Id="4745" Count="0" />
      <LineId Id="4753" Count="1" />
      <LineId Id="4667" Count="2" />
      <LineId Id="4323" Count="0" />
      <LineId Id="4326" Count="1" />
      <LineId Id="4329" Count="0" />
      <LineId Id="4331" Count="0" />
      <LineId Id="4330" Count="0" />
      <LineId Id="4332" Count="0" />
      <LineId Id="4771" Count="0" />
      <LineId Id="4334" Count="0" />
      <LineId Id="4336" Count="2" />
      <LineId Id="4742" Count="2" />
      <LineId Id="4342" Count="0" />
      <LineId Id="4741" Count="0" />
      <LineId Id="4343" Count="0" />
      <LineId Id="4346" Count="2" />
      <LineId Id="4303" Count="0" />
      <LineId Id="4264" Count="0" />
      <LineId Id="4732" Count="0" />
      <LineId Id="4734" Count="2" />
      <LineId Id="4961" Count="1" />
      <LineId Id="4960" Count="0" />
      <LineId Id="4733" Count="0" />
      <LineId Id="4265" Count="0" />
      <LineId Id="4738" Count="2" />
      <LineId Id="4748" Count="0" />
      <LineId Id="4297" Count="0" />
      <LineId Id="4538" Count="0" />
      <LineId Id="4389" Count="0" />
      <LineId Id="4539" Count="0" />
      <LineId Id="4396" Count="0" />
      <LineId Id="4540" Count="0" />
      <LineId Id="4411" Count="0" />
      <LineId Id="4541" Count="0" />
      <LineId Id="4424" Count="0" />
      <LineId Id="4542" Count="0" />
      <LineId Id="4440" Count="0" />
      <LineId Id="4543" Count="0" />
      <LineId Id="4455" Count="0" />
      <LineId Id="4544" Count="0" />
      <LineId Id="4470" Count="0" />
      <LineId Id="4545" Count="0" />
      <LineId Id="4484" Count="0" />
      <LineId Id="4546" Count="0" />
      <LineId Id="4490" Count="0" />
      <LineId Id="4547" Count="0" />
      <LineId Id="4505" Count="0" />
      <LineId Id="4548" Count="0" />
      <LineId Id="4516" Count="0" />
      <LineId Id="4549" Count="0" />
      <LineId Id="4523" Count="0" />
      <LineId Id="4550" Count="0" />
      <LineId Id="4530" Count="0" />
      <LineId Id="4515" Count="0" />
      <LineId Id="5010" Count="1" />
      <LineId Id="5013" Count="1" />
      <LineId Id="5012" Count="0" />
      <LineId Id="4911" Count="23" />
      <LineId Id="4277" Count="0" />
      <LineId Id="4827" Count="1" />
      <LineId Id="4831" Count="0" />
      <LineId Id="4895" Count="0" />
      <LineId Id="4894" Count="0" />
      <LineId Id="4893" Count="0" />
      <LineId Id="4892" Count="0" />
      <LineId Id="4891" Count="0" />
      <LineId Id="4890" Count="0" />
      <LineId Id="4838" Count="1" />
      <LineId Id="4877" Count="12" />
      <LineId Id="4280" Count="0" />
      <LineId Id="4354" Count="0" />
      <LineId Id="4282" Count="3" />
      <LineId Id="4896" Count="14" />
      <LineId Id="4286" Count="8" />
      <LineId Id="633" Count="0" />
    </LineIds>
  </POU>
</TcPlcObject>