Version 1.
ONTENT C 1. Safety Instructions 1-1. Meaning of Symbols 1-2. Operating Precautions 1-3. Safe Battery Handling 1-4. Safe Storage 03p 03p 04p 04p 2. Introduction 2-1. Parts List 2-2. Product Overview 2-3. Specification 05p 06p 09p 3. Assembly Instructions 3-1. Joint Assembly 3-2. Joint Assembly(Optional Bracket and Bolt Required) 3-3. Connector Pin & System Assembly 10p 12p 17p 4. Operation 4-1. Communication Protocol 4-2. Register Map 18p 21p 5. Command Set 5-1.
1. Safety Instructions Thank you for purchasing our HerkuleX. For your safety, please read the instruction manual before using the HerkuleX with particular attention to the safety instructions below. 1-1. Meaning of Symbols Any sections within the manual with the following symbols require special attention to safety. Danger Ignoring the instructions with this symbol can lead to serious bodily injury or death to the user and to those near by and high possibility of damage to the property and equipment.
Keep away from water, sand, and dust. Do not use the servo for purposes other than installation in the indoor robot. Do not use overt force to turn the servo horn. Servo should not be left if locked position. 1-3. Safe Battery Handling Warning Alwasy use the appropriate battery charger to charge the battery pack. Do not connect the battery packs in parallel configuration. Never disassemble or modify the battery pack. Do not use the battery pack with apparent external damage. 1-4.
2. Introduction 2-1. Parts List 2 3 4 5 6 1 7 8 9 10 11 12 13 1 Servo : 1ea 2 Horn : 1ea 3 Horn Bolt(BHT 2.
2-2. Product Overview Smart Servo DRS-0101 and DRS-0201 are state of the art modular smart servos incorporating motor, gear reducer, control circutry and communications capability in one single package. Both servos are capable of detecting and responding to internal changes in termerature and voltage supply. Simple Assembly and Wiring Small, light, and easy to assemble structure. Ours sevos make joint assembly an easy job with an added advantage of simple wiring.
Durability Manufactured using Super Engineering Plastic, our servos are highly durable, impact resistant and designed to withstand even the high torque stress levels that go beyond the tolerance specs of Engineering Plastic Gears. Communication Using Multi Drop TTL Full Duplex UART Serial communications protocol with maxium speed of 0.667Mbps, single command can set the speed, position, LED, operational compliance, stop and operational status of up to 254 servos simultaneoulsy at once.
Self Diagnosis Servos are capable of diagnosing seven different types of errors which are then indicated by the LED. Servo UI is used to set the function and timing of the Overload Protection. ( protects the servo when the overload occurs by releasing the torque ) Multi Drop Network Expandable Multi Drop type Network with 1:n configuration. (single controller connected to multiple “n” number of servos).
2-3. Specification Dimension / Weight Reduction Ratio Gear Material 45mm(W) x 24.0mm(D) x 31mm(H) / 45g [1.59 oz] 45mm(W) x 24.0mm(D) x 31mm(H) / 60g [2.12 oz] (DRS-0201) [1.77 in.(W) x 0.94 in.(D) x 1.22 in.(H)] 1 : 266 Super Engineering Plastic, Heavy Duty Metal (DRS-0201) Input Voltage Rated Current Motor Stall Torque / Maximum Speed 7~12VDC(Optimized 7.4V) 450mA @ 7.4V : 1.7kgf.cm, 670mA @ 7.4V : 2.2kgf.cm (DRS-0201) Carbon Brush Cored DC, Metal Brush Coreless DC (DRS-0201) 12kgf.cm [166.8 ozf.in.
3. Assembly Instructions 3-1.
TYPE 3 12 PHM 2X4 (Option) 10 Bracket (not included) 12 10 10 12 10 Bracket (not included) 12 Assembly Diagram Assembled Unit TYPE 4 12 PHM 2X4 (Option) 12 10 Bracket (not included) 10 10 10 12 Bracket (not included) 12 Assembly Diagram Assembled Unit TYPE 5 12 12 12 9 12 12 9 9 12 12 9 12 Assembly Diagram Assembled Unit 11
3-2.
TYPE 2 10 10 10 12 10 12 12 12 Assembly Diagram Assembled Unit 12 12 11 11 11 12 11 12 Assembly Diagram Assembled Unit TYPE 3 10 10 PHM 2X6 (Option) 10 9 10 PHM 2X4 (Option) 10 9 10 Assembly Diagram 12 12 Assembled Unit 12 12 12 12 12 12 Assembly Diagram Assembled Unit 13
12 12 12 12 12 12 12 12 Assembly Diagram Assembled Unit TYPE 4 10 10 9 10 9 9 10 PHM 2X6 (Option) 9 Assembly Diagram 12 12 Assembled Unit 12 12 12 12 12 Assembly Diagram Assembled Unit 12 12 12 12 12 12 Assembly Diagram Assembled Unit 14
12 12 12 12 12 12 12 Assembly Diagram Assembled Unit TYPE 5 10 10 9 9 PHM 2X6 (Option) 10 9 9 Assembly Diagram Assembled Unit 12 12 12 12 12 12 12 12 Assembly Diagram Assembled Unit 15
TYPE 6 10 10 9 PHM 2X6 (Option) 9 10 9 9 Assembly Diagram Assembled Unit 12 12 12 12 12 12 12 12 Assembly Diagram Assembled Unit TYPE 7 9 PHM 2X6 (Option) 9 9 9 Assembly Diagram Assembled Unit 16
3-3. Connector Pin & System Assembly All the Servo to Servo connectors have same Pin assingment as the diagram below. Multi Drop Network makes expansion easy. Controller RS232 Cable Controller Pin # Description 1 2 3 4 GND VDD TXD RXD RS232 Cable 232 Gender Caution Servos must be cross connected to the PC or Motion Controller. Examples of cross connection would be Servo TXD to PC or Motion Controlller RXD, Servo RXD to PC or Motion Controller TXD.
4. Operation 4-1. Communications Protocol Introduction Servo Controller communicates with the servos in the network by sending a Request Packet and receiving ACK Packet back from the servo. The example below shows the controller sending a Request Packet to the Servo n and receiving ACK packet back from the Servo n. Regardless of the number of servos in the network, only the servo with correct ID (n) will acknowledge the Request Packet and send the ACK Packet to the controller.
Header Indicates start of the Packet. Header Type Value 0xFF 0xFF Byte 1 1 Packet Size Refers to total Packe size ( in Bytes ) from Header to Data. The maximum Packet Size 233, if the packet size is larger than 223 Bytes, packet may not be recognized. Minimum packet size is 7 which is packet without any data. pID Unique pID value can range from 0 ~ 253 which is total number of servos in the network.
Check Sum1 Check Sum1 is used to check for errors in the Packet. Check Sum1 is calculated as follows, Check Sum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ …… ^ Data[n]) & 0xFE. Header, Check Sum1, Check Sum2 are not included in the calculation. ※ ‘A ^ B’ : Bit Exclusive OR Operator, A is different from B 1(True), same 0(False) Type Check Sum1 Value (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ …… ^ Data[n])&0xFE Byte 1 Check Sum2 Checksum2 is also used to check for errors in the Packet.
4-2. Register Map Register Map are values residing within the Servo and contain data pertaining to current servo status and operation. Registers are either Non-Volatile or Volatile. Users are able to control the servos by using Request Packet and ACK Packet to either check or change the data in the Register Map. Non-Volatile Register Map Non-Volatile memory retains data without power.
ADDRESS Type Bytes Default Valid Range RW 4 Baud Rate 1 0x10 Refer to Pg 26 RW 5 Reserved 1 0x00 - - 6 ID 1 0xFD 0x00 ~ 0xFD RW Servo ID(0xFE : Can be used as Broadcasing ID. ID not assignable) 7 ACK Policy 1 0x01 0x00 ~ 0x2 RW Refer to Pg 33 8 Alarm LED Policy 1 0x7F 0x00 ~ 0x7F RW Activates alarm LED according to policy 9 Torque Policy 1 0x35 0x00 ~ 0x7F RW Releases torque according to policy 10 Reserved 1 - - - 11 Max.
ADDRESS Type Bytes Default Valid Range RW Description 48 Overload Detection Period 1 0x96 0x00 ~ 0xFE RW Overload Check Interval 11.2ms/Tick, 0x96 : 1.
Volatile Register(RAM Register) MAP Volatile Memory has direct affect on the operation of the Servo and reverts to default (EEP Register) value when the Servo is reboot even though RAM register value has been changed to change the servo operating parameters. Read/Write has to be performed to RAM Register value to operate the Servo, change the operating parameters or to check servo status.
ADDRESS Type Bytes Valid Range RW 1 0x00 ~ 0xFE RW 1 0x00 ~ 0xFE RW Description 40 ADC Fault Detection Period Packet Garbage Detection Period 41 Stop Detection Period 1 0x0000 ~ 0x7FFF RW 42 Overload Detection Period 1 0x00 ~ 0xFE RW Temp/Voltage error check interval 11.2ms/Tick, 0x2D : 504ms Packet Error check interval, 11.2ms/Tick, 0x12 : 201ms Stop detection check interval, 11.2ms/Tick, 0x1B : 302ms Overload check interval, 11.2ms/Tick, 0x96 : 1.
Register Detail NO Type Bytes EEP ADDR RAM ADDR 1 Model No1 1 0 - 2 Model No2 1 1 - 3 Version1 1 2 - 4 Version2 1 3 - RW RO Servo Model Name RO Firmware Version 5 Baud Rate 1 4 - RW 6 Reserved 1 5 - - 7 8 9 ID ACK Policy Alarm LED Policy 1 1 1 6 0 7 1 8 2 RW RW Sets Alarm LED policy when error.
NO 15 구분 Acceleration Ratio Bytes 1 EEP ADDR RAM ADDR 14 8 RW RW Description Acceleration ratio regarding velocity Profile Ratio of operation time of Motion command (I_JOG, S_JOG), % Acceleration ratio is same as decceleration ratio Maximum r(Acceleration Ratio) value is 50 Ex) When operating time is 100ms and r(Acceleration Ratio) is 20 : Acceleration time is 100 X 0.
NO Type Bytes EEP ADDR RAM ADDR RW 26 Position Kp 2 30 24 RW Proportional Gain 27 Position Kd 2 32 26 RW Derivative Gain 28 Position Ki 2 34 28 RW Integral Gain 29 Position Feedforward 1st Gain 2 36 30 RW Refer to Pg 35 30 Position Feedforward 2nd Gain 2 38 32 RW Refer to Pg 35 31 Reserved 2 40 34 - Reserved 32 Reserved 2 42 36 - Reserved 33 LED Blink Period 1 44 38 RW Alarm LED blink period according to policy 11.
NO Type Bytes EEP ADDR RAM ADDR RW Description 48 LED Control 1 - 53 RW Servo LED control When corresponding Bit value 1 = On, 0 = Off (0x01 : Green, 0x02 : Blue, 0x04 : Red) ※ When alarm LED activated by r(Status Error) and r(Alarm LED Policy). r(Led Control) Write value ignored 49 Voltage 1 - 54 RO Input Voltage = 0.
Acceleration Ratio(RAM Register Address 8) Acceleration Ratio is controlled by changing the parameter value and any change in the acceleration ratio is applied to the decceleration ratio by exactly the same amount. The default Acceleration Ratio parameter shows a trapezoidal type speed profile. Velocity ※ Increasing the acceleration ratio will lead to sudden change in speed accompanied by vibration as shows in blue rectangle graph.
0x02 : Blue 0x04 : Red ※ Whe Alarm LED is activated by the r(Status Error)or r(Alarm LED Policy), value in r(LED Control) is ignored. Voltage(RAM Register Address 54) Shows the ADC(Analog Digital Conversion) value of the input voltage in raw data. The conversion formula to actual voltage is shown below. Refer to the voltage ADC conversion table in page 49. Voltage = 0.074 X ADC Temperature(RAM Register Address 55) Shows the ADC(Analog Digital Conversion) value of the current temperature in raw data.
Absolute Position(RAM Register Address 60) Shows uncalibrated current position in raw data. Relationshop between Raw Data and actual degree is as follows. Degree = Position Raw Data X 0.325 512 1002 21 (159.8˚) (-159.8˚) Recommended Range 1023 (166.7˚) 0 26.7˚ Full Range (-166.7˚) Diff Position(RAM Register Address 60) Shows velocity measurement, velocity is measured in 11.2ms intervals. ※ r(Diff Position) 1 = 29.
Velocity Position Absolute Goal Position Play Time Absolute Desired Trajectory Position Desired Velocity Time Command recevied Time Command recevied Current Current ACK Policy(RAM Register Address 1) Sets ACK Packet reply policy when Request Packet is received. 0 : No reply to any Request Packet 1 : Only reply to Read CMD 2 : Reply to all Request Packet ※ When the CMD is “STAT” ACK Packet will be sent regardless of r(ACK Policy).
Maximum Temperature(RAM Register Address 5) Maximum operational temperature shown in Raw Data. When internal servo temperature r(Temperature) exceeds r(Max Temperature), "Exceeded Temperature Limit" in r(Status Error) becomes active. Resulting Alarm LED and Torque status can be changed using r(LED Policy), r(Servo Policy). Default value is 0xDF(approximatley 85℃). Refer to conversion chart (Pg 51) for actual temerature.
Maximum Position(RAM Register Address 22) Maximum operational angle in Raw Data. When requested position angle is greater than r(Max Position), "Exceed Allowed POT Limit" in r(Max Position) becomes active and the operation is limited to r(Max Position). Default value is 0x3EA(approximately 159.8˚). Refer to conversion chart in (Pg 53) for actual angle. Position Kp(RAM Register Address 24) Shows the Proportional Gain.
Stop Detection Period(RAM Register Address 41) Set time limit by which the servo stoppage is measured to determine if it has stopped. 1 is equivalent to 11.ms. If the servo stoppage lasts beyond the time limit, it is determined to be stopped. Default value is 0x1B ( Approximately 302ms ) Overload Detection Period(RAM Register Address 42) Set time limit by which the servo overload is measured to determine if the overload has occured.
PWM Offset(RAM Address 14) When the 0 point of the PWM is moved, PWM will increase output by the amount of the Offset. This output could be used to act as a compensator in a system where load is on one side ( Ex: Gravity ). By moving the 0 point, constant force directed towards 0 pont can applied. +PWM Force purshing upwards when position reached.
+PWM Dead Zone r(Saturator Offset) r(PWM MIN) +Position r(PWM MIN) Goal Position r(Saturator Offset) r(Saturator Slop)/256 -PWM +PWM +Position PWM limited by Dead Zone Goal Position Saturator Saturator output PWM -PWM Final output PWM PWM limited by Saturator Calibration Difference(RAM Register Address 47) Used to calibrate newtral point(standard). Used to make adjustments to compensate for assembly variations when servos are used to build a system.
Status Error, Status Details(RAM Register Address 48, 49) Status REG (Status Error) Bits 7 6 Bits Value 5 4 3 2 REG (Status Error) 1 0 Bits Comment 7 6 Bits Value 5 4 3 2 1 0 Comment 0 0X01 Exceed Input Voltage limit 0 0X01 Moving flag 1 0X02 Exceed allowed POT limit 1 0X02 Inposition flag 2 0X04 Exceed Temperature limit 2 0X04 Checksum Error 3 0X08 Invalid Packet 3 0X08 Unknown Command 4 0X10 Overload detected 4 0X10 Exceed REG range 5 0X20 Driver fault
5. Command Set To control the Servo, CMD is sent to the servo from the Controller in Binary format. Our servos are controlled by 9 different CMDs. Once the Servo receives Request Packet with included CMD, Servo performs requested operation and returns the result to the Controller by ACK Packet. 5-1.
Type CMD Explanation RAM_WRITE 0x43 CMD(0x03) Reply Packet Default is no reply, reply possible by changing r(ACK Policy) setting RAM_READ 0x44 CMD(0x04) Reply Packet May not reply depending on r(ACK Policy) setting.
6. Command Examples 5-1. EEP_READ Request 4 Bytes of information from EEP Register 0x1E Address of Servo ID(253). 4 Bytes from EEP Register 0x1E Address are e(Position Kp)and e(Position Kd).
ACK Packet Header EEP_READ ACK of Example1 Packet Size pID CMD Check Sum1 Check Sum2 6 0xB2 0 1 2 3 4 5 0xFF 0xFF 0x0F 0xFD 0x42 0x4C Data 7 8 Data[0] Data[1] 0x1E (Address) 9 10 11 12 13 14 (Length) Data[2] Data[3] Data[4] Data[5] (Status Error) (Status Detail) 0x04 0xB8 0x01 0x40 0x1F 0x00 0x00 Data[4] Data[5] CMD : Request Packet CMD(0x02) + 0x40, Reply with 0x42 e(Position Kp) : 440(0x1B8) Position Kd : 8000(0x1F40) Last 2Bytes of all ACK Packet contain Sta
6-3. RAM_WRITE Example 1 ID(253), r(LED Control), Address(0x35(53)) Request Green LED On. Example 2 ID(253), r(Status Error, Status Detail), Request to Clear Address(0x30(48)) to "0". Example 3 ID(253), r(Torque Control), Request to write 0x60 to Address(0x34(52)) for Torque On. ※ Make sure to haveTorque On before (I_JOG, S_JOG) command to avoid error.
RAM_READ ACK Reply to RAM_READ(CMD 0x04)with Packet, reply CMD is 0x44, last 2Bytes of All ACK Packet contain r(Status Error) and r(Status Detail). ACK Packet reply option can be changed by r(ACK Policy) Data[2] 0x01 is r(LED Control) value, it means Green LED is on. Data[3] Data[3] is Status Error: No Error, Data[4] 0x42 means Torque On and Inposition, Arrived at goal position.
Header I_JOG Packet Size pID CMD Check Sum1 Check Sum2 5 6 0 1 2 3 4 0xFF 0xFF 7+(5XI_JOG) Servo ID 0x05 Example1 0xFF 0xFF 0x0C(12) 0xFD 0x05 0x32 0xCC Example2 0xFF 0xFF 0x0C(12) 0xFD 0x05 0x7E 0x80 (Refer to Checksum Formula) Optional Data 7 8 9 10 11 I_JOG_S(0) JOG(LSB) JOG(MSB) SET ID playtime 0x00 0x02 0x04 0xFD 0x3C 40 0x01 0x0A 0x0A 0x3C Refer to Packet structure below for explanation of each Bit in I_JOG Able to use Structure as below for conve
Header S_JOG Packet Size pID CMD Check Sum1 Check Sum2 5 6 0 1 2 3 4 0xFF 0xFF 7+(5XI_JOG #) Servo ID 0x06 Example1 0xFF 0xFF 0x0C(12) 0xFD 0x06 0x30 0xCE Example2 0xFF 0xFF 0x0C(12) 0xFD 0x06 0xFE 0x00 (Refer to Checksum Formula) Optional Data 7 8 PLAY TIME 9 10 11 S_JOG_S(0) JOG(LSB) JOG(MSB) SET ID 0x3C(60) 0x00 0x02 0x04 0xFD 0x3C(60) 40 0x01 0x0A 0x0A Refer to Packet structure below for explanation of each Bit in S_JOG Able to use Structure as belo
I_JOG, S_JOG Packet Structure I_JOG_TAG Type JOG Information Bytes Bits 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 2 3 4 5 6 7 2 S_JOG_TAG Comments JOG ID 1 Playtime 1 Valid Range : 0~0XFE 1 Information Bytes Bits Case) JOG Desired Goal POS (Calibration applied) Case) Infinite turn Desired PWM ※ Infinite turn Sign : 0X4000 MEMS Negative Sig@Infinite turn Reserved=0 Stop flag MODE LED GREEN LED BLUE LED RED JOG Invalid(No Action) Reserved=0 Reserved=0 Valid Range : 0~0XFE SET Type SET 0 1 2
Header STAT Packet Size pID CMD Check Sum1 Check Sum2 5 6 0 1 2 3 4 0xFF 0xFF 7 Servo ID 0x07 Example2 0xFF 0xFF 0x07 0xFD 0x07 0xFC 0x02 STAT ACK 0xFF 0xFF 0x09 0xFD 0x47 0xF2 0x0C (Refer to Pg 20) Optional Data 7 8 Data[0] Data[1] 0x00 0x40 0x00 0x40 6-8.
6-9.
Reference 51
ADC Voltage Coversion Chart ADC Decimal HEX 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 0 1 2 3 4 5 6 7 8 9 A B C D E F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F VIN 0.000 0.074 0.148 0.222 0.296 0.370 0.444 0.519 0.593 0.667 0.741 0.815 0.889 0.963 1.037 1.111 1.185 1.
ADC Temperature Coversion Chart ADC Decimal HEX 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 0 1 2 3 4 5 6 7 8 9 A B C D E F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F 40 41 42 43 44 ℃ -79.47 -71.78 -63.20 -57.81 -53.80 -50.58 -47.86 -45.49 -43.40 -41.
ADC Position Coversion Chart ADC Decimal HEX 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 0 1 2 3 4 5 6 7 8 9 A B C D E F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F 40 41 42 43 44 degree -166.650 -166.324 -165.998 -165.673 -165.347 -165.021 -164.695 -164.
ADC Decimal HEX 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 114 115 116 117 118 119 11A 11B 11C 11D 11E 11F 120 121 122 123 124 125 126 127 128 129 12A 12B 12C 12D 12E 12F 130 131 132 133 134 135 136 137 138 139 13A 13B 13C 13D 13E 13F 140 141 142 143 144 145
ADC Decimal HEX 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 23C 23D 23E 23F 240 241 242 243 244 245 246 247 248 249 24A 24B 24C 24D 24E 24F 250 251 252 253 254 255 256 257 258 259 25A 25B 25C 25D 25E 25F 260 261 262 263 264 265 266 267 268 269 26A 26B 26C 26D
ADC Decimal HEX 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 364 365 366 367 368 369 36A 36B 36C 36D 36E 36F 370 371 372 373 374 375 376 377 378 379 37A 37B 37C 37D 37E 37F 380 381 382 383 384 385 386 387 388 389 38A 38B 38C 38D 38E 38F 390 391 392 393 394 395
