Low-cost, node-saving and easy-wiring module based on ethercat protocol

Abstract

The utility model provides a low cost, save node, easy wiring module group based on etherCAT agreement, including slave station coupler and at least one group digital quantity IO module group, slave station coupler includes protocol chip, first MCU, power module, first DCDC voltage reducing module and a plurality of first RS485 transceivers, protocol chip and a plurality of first RS485 transceivers all electric connection in first MCU, power module passes through first DCDC voltage reducing module electric connection in protocol chip, first MCU and first RS485 transceiver, wherein a first RS485 transceiver electric connection in a group digital quantity IO module group, the rest every first RS485 transceiver electric connection in up to a group digital quantity IO module group, and digital quantity IO module group includes at least one digital quantity IO module, when digital quantity IO module group in digital quantity IO module is at least two, at least two digital quantity IO module chain connection, solved the prior art in the technical problem of high hardware cost, node occupies many, wiring complex, construction maintenance difficult of etherCAT distributed IO module group.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation technology, and in particular to a low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol. Background Technology

[0002] The EtherCAT distributed I / O system, a core control architecture in industrial automation, enables high-speed data interaction between controllers and field devices via the real-time Ethernet protocol. Employing a master-slave communication mode, the system allows slave modules to be distributed across factory equipment under the unified scheduling of the master station. These modules acquire sensor signals in real time and drive actuators, making it widely applicable in discrete manufacturing scenarios with stringent real-time requirements, such as automotive manufacturing, packaging machinery, and semiconductor production lines. Its topology supports linear, tree, or star connections, facilitating flexible expansion of I / O points based on production line layout.

[0003] Currently, EtherCAT distributed I / O modules still have significant shortcomings in practical applications. Traditional integrated EtherCAT slave modules require each physical node to be equipped with an independent dedicated ESC chip, resulting in high hardware costs. Furthermore, each ESC occupies a node on the controller, which can easily lead to insufficient controller node capacity in large-scale distributed deployment scenarios. While plug-in EtherCAT slave modules can share some resources through couplers, their reliance on dedicated cables, high customization costs, and the need for additional coupler relay nodes with ESC communication chips for long-distance laying significantly increase wiring complexity, resulting in long, tangled cables, difficult construction and maintenance, and unsuitability for dispersed factory environments. Utility Model Content

[0004] The purpose of this application is to provide a low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol, in order to solve the technical problems of high hardware cost, large number of nodes, complex wiring, and difficult construction and maintenance of existing EtherCAT distributed IO modules.

[0005] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0006] A low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol includes a slave coupler and at least one set of digital I / O modules.

[0007] The slave coupler includes a protocol chip, a first MCU, a power module, a first DC-DC step-down module, and several first RS485 transceivers;

[0008] The protocol chip and several of the first RS485 transceivers are electrically connected to the first MCU. The protocol chip is connected to the master station for communication. The power module is electrically connected to the protocol chip, the first MCU and the first RS485 transceivers through the first DC-DC step-down module to provide operating voltage to the protocol chip, the first MCU and the first RS485 transceivers.

[0009] One of the first RS485 transceivers is electrically connected to a group of digital I / O modules, and each of the remaining first RS485 transceivers is electrically connected to at most one group of digital I / O modules. The digital I / O module group includes at least one digital I / O module. When there are at least two digital I / O modules in the digital I / O module group, the at least two digital I / O modules are chained together.

[0010] In the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol described in the embodiments of this application, the digital I / O module includes a second RS485 transceiver, a second DC-DC converter circuit, a second MCU, and an I / O terminal block;

[0011] The input terminal of the second RS485 transceiver is electrically connected to the slave coupler and the subsequent digital I / O module in the same digital I / O module group, or the input terminal of the second RS485 transceiver is electrically connected to two digital I / O modules located in the preceding and following stages in the same digital I / O module group. The output terminal of the second RS485 transceiver is electrically connected to the second MCU. The input terminal of the second DC-DC step-down module is electrically connected to the power module or the preceding digital I / O module in the same digital I / O module group. Its output terminal is electrically connected to the second RS485 transceiver and the second MCU. The I / O terminal block is electrically connected to the second MCU.

[0012] In the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol described in this application embodiment, the slave coupler is provided with a plurality of first RJ45 network ports, and the digital I / O module is provided with a second RJ45 network port and a third RJ45 network port. Each RJ45 network port is connected to a first RS485 transceiver, and the plurality of first RJ45 network ports are electrically connected to the power supply module. One end of the second RJ45 network port is connected to the first RJ45 network port or the same digital I / O module via an Ethernet shielded twisted-pair cable. The third RJ45 network port of the preceding digital I / O module in the module group is electrically connected at one end to the third RJ45 network port, the second RS485 transceiver, and the second DC-DC step-down module. One end of the third RJ45 network port is electrically connected to the second RJ45 network port and the second RS485 transceiver, and the other end is connected to the second RJ45 network port of the following digital I / O module in the same digital I / O module group. The input terminal of the second DC-DC step-down module is connected to the second RJ45 network port.

[0013] In the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol described in this application embodiment, when the number of digital I / O modules in the digital I / O module group is one, the second RJ45 network port of the digital I / O module is connected to the first RJ45 network port through an Ethernet shielded twisted pair cable, and the third RJ45 network port of the digital I / O module is connected to a terminating resistor.

[0014] When the number of digital I / O modules in the digital I / O module group is at least two, the second RJ45 port of the digital I / O module at the beginning of the digital I / O module group is connected to the first RJ45 port via an Ethernet shielded twisted pair cable, the third RJ45 port of the digital I / O module at the end of the digital I / O module group is connected to a terminating resistor, and the third RJ45 port of the digital I / O module in the preceding stage of the digital I / O module group is connected to the second RJ45 port of the digital I / O module in the following stage.

[0015] In the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol described in the embodiments of this application, the Ethernet shielded twisted pair cable is at least an Ethernet shielded twisted pair cable that meets the CAT5E specification.

[0016] In the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol described in this application embodiment, the first RS485 transceiver and the second RS485 transceiver are both model TPT75176H-SO1R.

[0017] In the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol described in this application embodiment, the number of the first RS485 transceivers is four.

[0018] In the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol described in the embodiments of this application, each group of digital I / O modules includes at most 16 digital I / O modules.

[0019] In the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol described in the embodiments of this application, the total number of digital I / O modules in all the digital I / O module groups is at most 32.

[0020] In the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol described in this application embodiment, the power module model is Mornsun VRB2424LD-20WR3.

[0021] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0022] As can be seen from the above technical solutions, the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol provided in this application embodiment has a slave coupler consisting of a protocol chip, a first MCU, and several first RS485 transceivers. Each first RS485 transceiver can be communicatively connected to a group of digital I / O modules, including at least one digital I / O module. By replacing multiple ESCs with one protocol chip, a first MCU, and several first RS485 transceivers, hardware costs are saved and the number of master station nodes is reduced. Furthermore, the chain connection of multiple digital I / O modules within the same digital I / O module group simplifies wiring and maintenance, solving the technical problems of high hardware cost, high node occupation, complex wiring, and difficult construction and maintenance of existing EtherCAT distributed I / O modules. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The drawings are not intended to be drawn to scale, and for clarity, not every component will be labeled in each drawing. The drawings described below are merely some embodiments of this application. Those skilled in the art can obtain other drawings based on these drawings without creative effort. Wherein:

[0024] Figure 1 This is an architecture diagram of an embodiment of this application.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1-Slave Coupler, 2-Protocol Chip, 3-First MCU, 4-Power Module, 5-First DC-DC Step-Down Module, 6-First RS485 Transceiver, 7-Digital I / O Module, 8-Second RS485 Transceiver, 9-Second DC-DC Step-Down Module, 10-Second MCU, 11-I / O Terminal Block, 12-First RJ45 Network Port, 13-Second RJ45 Network Port, 14-Third RJ45 Network Port, 15-Ethernet Shielded Twisted Pair Cable, 16-Terminal Resistor. Detailed Implementation

[0027] Traditional integrated EtherCAT slave modules require each physical node to be equipped with an independent dedicated ESC chip, resulting in high hardware costs. Furthermore, each ESC occupies a controller node, which can easily lead to insufficient controller node capacity in large-scale distributed deployment scenarios. While plug-in EtherCAT slave modules can share some resources through couplers, their reliance on dedicated cables, high customization costs, and the need for additional coupler repeater nodes with ESC communication chips for long-distance laying significantly increase wiring complexity, resulting in long, tangled cables, and difficult construction and maintenance, making them unsuitable for dispersed factory environments.

[0028] In view of this, the embodiments of this application provide a low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol. The concept is to set up a protocol chip, a first MCU, and several first RS485 transceivers in the slave coupler. Each first RS485 transceiver can be communicatively connected to a group of digital I / O modules, including at least one digital I / O module. By replacing multiple ESCs with one protocol chip, a first MCU, and several first RS485 transceivers, hardware costs are saved and the occupation of master station nodes is reduced. Moreover, multiple digital I / O modules within the same digital I / O module group are chained together, simplifying wiring and maintenance. This solves the technical problems of high hardware cost, high node occupation, complex wiring, and high construction and maintenance difficulty of the existing EtherCAT distributed I / O module.

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0030] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0032] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0033] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0034] This application provides a low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol, such as... Figure 1 As shown. A low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol, including a slave coupler 1 and at least one set of digital I / O modules.

[0035] The slave coupler 1 includes a protocol chip 2, a first MCU 3, a power module 4, a first DC-DC step-down module 5, several first RS485 transceivers 6, and several first RJ45 network ports 12.

[0036] Specifically, there are four of each of the first RS485 transceiver 6 and the first RJ45 network port 12. The model of the first RS485 transceiver 6 is TPT75176H-SO1R, the model of the protocol chip 2 is Microchip LAN9253, the model of the first MCU is AT32F403A, and the model of the first DC-DC step-down module 5 is VRB2403LD-20WR3.

[0037] The protocol chip 2 and several first RS485 transceivers 6 are electrically connected to the first MCU3. The protocol chip 2 communicates with the PLC master station through an RJ45 network port and an Ethernet bus. The power module 4 is connected to the protocol chip 2, the first MCU3, and the first RS485 transceivers 6 through the first DC-DC step-down module 5 to provide a 3.3V operating voltage to the protocol chip 2, the first MCU3, and the first RS485 transceivers 6. Each first RJ45 network port 12 is connected to one first RS485 transceiver 6, and each RJ45 network port is electrically connected to the power module 4.

[0038] Specifically, the power module 4 is a Mornsun VRB2424LD-20WR3, used to receive external input voltage and stably output 24V DC voltage to the subsequent circuits. It also provides voltage isolation protection to protect sensitive components in the subsequent circuits, such as the protocol chip 2 and the MCU. The first DC-DC step-down module 5 is used to stably step down the 24V DC voltage output by the power module 4 to 3.3V and output it to the protocol chip 2, the first MCU 3, and the first RS485 transceiver 6. The first RJ45 network port 12 obtains 24V DC voltage from the power module 4.

[0039] One of the first RS485 transceivers 6 is electrically connected to a group of digital I / O modules, and each of the remaining first RS485 transceivers 6 is electrically connected to at most one group of digital I / O modules. The digital I / O module group includes at least one digital I / O module 7. When there are at least two digital I / O modules 7 in the digital I / O module group, the at least two digital I / O modules 7 are chained together.

[0040] in, Figure 1 This is an architecture diagram of an embodiment of the present application with two sets of the aforementioned digital I / O module groups.

[0041] Specifically, the digital I / O module 7 includes a second RS485 transceiver 8, a second DC-DC step-down module 9, a second MCU 10, and an I / O terminal block 11. One end of the second RS485 transceiver 8 is electrically connected to the slave coupler 1 and the subsequent digital I / O module 7 within the same digital I / O module group, or one end of the second RS485 transceiver 8 is electrically connected to two digital I / O modules 7 within the same digital I / O module group, one in front and one in back. The other end of the second RS485 transceiver 8 is electrically connected to the second MCU 10. The input terminal of the second DC-DC step-down module 9 is electrically connected to the power module 4 or the preceding digital I / O module 7 within the same digital I / O module group, and its output terminal is electrically connected to the second RS485 transceiver 8 and the second MCU 10. The I / O terminal block 11 is electrically connected to the second MCU 10. More specifically, the digital I / O module 7 also... The system is equipped with a second RJ45 network port 13 and a third RJ45 network port 14. One end of the second RJ45 network port 13 is connected to the first RJ45 network port 12 or the third RJ45 network port 14 of the preceding digital I / O module 7 in the same digital I / O module group via an Ethernet shielded twisted pair cable 15. The other end is electrically connected to the second RS485 transceiver 8, the second DC-DC step-down module 9, and the third RJ45 network port 14. One end of the third RJ45 network port 14 is electrically connected to the second RJ45 network port 13 and the second RS485 transceiver 8. The other end is connected to the second RJ45 network port of the following digital I / O module in the same digital I / O module group. The input terminal of the second DC-DC step-down module 9 is connected to the second RJ45 network port, so that it can be electrically connected to the power module 4 or the preceding digital I / O module 7 in the same digital I / O module group via the second RJ45 network port.

[0042] Among them, the model of the second DC-DC step-down module 9 is VRB2403LD-20WR3, the model of the second MCU10 is AT32F425R8T7, and the model of the second RS485 transceiver is TPT75176H-SO1R.

[0043] Specifically, when there is one digital I / O module 7 in the digital I / O module group, the second RJ45 port 13 of the digital I / O module 7 is connected to the first RJ45 port 12 via an Ethernet shielded twisted pair cable 15, and the third RJ45 port 14 of the digital I / O module 7 is connected to a terminating resistor 16; when there are at least two digital I / O modules 7 in the digital I / O module group, the second RJ45 port 13 of the digital I / O module 7 at the beginning of the digital I / O module group is connected to the first RJ45 port 12 via an Ethernet shielded twisted pair cable 15, the third RJ45 port 14 of the digital I / O module 7 at the end of the digital I / O module group is connected to a terminating resistor 16, and the third RJ45 port 14 of the digital I / O module 7 at the previous stage of the digital I / O module group is connected to the second RJ45 port 13 of the digital I / O module 7 at the next stage.

[0044] The terminating resistor 16 is a terminating cap that matches the RJ45 network port, and its resistance is 120 ohms. One set of wire pairs (e.g., orange-white, orange) of the Ethernet shielded twisted pair cable 15 is used to transmit RS485 differential signals, and the other set of wire pairs (e.g., green-white, green) is used to transmit DC power. The Ethernet shielded twisted pair cable 15 is at least a CAT5E Ethernet shielded twisted pair cable 15, for example, it can be a Cat5e Ethernet shielded twisted pair cable 15, a Cat6e Ethernet shielded twisted pair cable 15, or a Cat6A Ethernet shielded twisted pair cable 15.

[0045] In some preferred embodiments, each group of digital I / O modules includes up to 16 digital I / O modules 7.

[0046] In some preferred embodiments, to prevent excessive power consumption that could damage the slave coupler 1, the total number of digital I / O modules 7 in all the digital I / O module groups is at most 32.

[0047] In summary, the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol provided in this application embodiment has a slave coupler consisting of a protocol chip, a first MCU, and several first RS485 transceivers. Each first RS485 transceiver can be communicatively connected to a group of digital I / O modules, including at least one digital I / O module. By replacing multiple ESCs with one protocol chip, a first MCU, and several first RS485 transceivers, hardware costs are saved and the number of master station nodes is reduced. Furthermore, the chain connection of multiple digital I / O modules within the same digital I / O module group simplifies wiring and maintenance, solving the technical problems of high hardware cost, high node occupancy, complex wiring, and difficult construction and maintenance of existing EtherCAT distributed I / O modules.

[0048] The above provides a detailed description of the low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol, characterized in that: Includes a slave coupler and at least one set of digital I / O modules; The slave coupler includes a protocol chip, a first MCU, a power module, a first DC-DC step-down module, and several first RS485 transceivers; The protocol chip and several of the first RS485 transceivers are electrically connected to the first MCU. The protocol chip is connected to the master station for communication. The power module is electrically connected to the protocol chip, the first MCU and the first RS485 transceivers through the first DC-DC step-down module to provide operating voltage to the protocol chip, the first MCU and the first RS485 transceivers. One of the first RS485 transceivers is electrically connected to a group of digital I / O modules, and each of the remaining first RS485 transceivers is electrically connected to at most one group of digital I / O modules. The digital I / O module group includes at least one digital I / O module. When there are at least two digital I / O modules in the digital I / O module group, the at least two digital I / O modules are chained together.

2. The low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol as described in claim 1, characterized in that, The digital I / O module includes a second RS485 transceiver, a second DC-DC step-down module, a second MCU, and an I / O terminal block; One end of the second RS485 transceiver is electrically connected to the slave coupler and the subsequent digital I / O module in the same digital I / O module group, or one end of the second RS485 transceiver is electrically connected to two digital I / O modules located in the preceding and following stages in the same digital I / O module group. The other end of the second RS485 transceiver is electrically connected to the second MCU. The input end of the second DC-DC step-down module is electrically connected to the power module or the preceding digital I / O module in the same digital I / O module group. Its output end is electrically connected to the second RS485 transceiver and the second MCU. The I / O terminal block is electrically connected to the second MCU.

3. The low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol as described in claim 2, characterized in that, The slave coupler is provided with a plurality of first RJ45 network ports, and the digital I / O module is provided with a second RJ45 network port and a third RJ45 network port. Each RJ45 network port is connected to a first RS485 transceiver. The plurality of first RJ45 network ports are electrically connected to the power supply module. One end of the second RJ45 network port is connected to the first RJ45 network port or the third RJ45 network port of the preceding digital I / O module in the same digital I / O module group via an Ethernet shielded twisted pair cable. The other end is electrically connected to the third RJ45 network port, the second RS485 transceiver, and the second DC-DC step-down module. One end of the third RJ45 network port is electrically connected to the second RJ45 network port and the second RS485 transceiver. The other end is connected to the second RJ45 network port of the following digital I / O module in the same digital I / O module group. The input terminal of the second DC-DC step-down module is connected to the second RJ45 network port.

4. The low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol as described in claim 3, characterized in that, When the number of digital I / O modules in the digital I / O module group is one, the second RJ45 network port of the digital I / O module is connected to the first RJ45 network port through an Ethernet shielded twisted pair cable, and the third RJ45 network port of the digital I / O module is connected to a terminating resistor. When the number of digital I / O modules in the digital I / O module group is at least two, the second RJ45 port of the digital I / O module at the beginning of the digital I / O module group is connected to the first RJ45 port via an Ethernet shielded twisted pair cable, the third RJ45 port of the digital I / O module at the end of the digital I / O module group is connected to a terminating resistor, and the third RJ45 port of the digital I / O module in the preceding stage of the digital I / O module group is connected to the second RJ45 port of the digital I / O module in the following stage.

5. The low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol as described in claim 3, characterized in that, The Ethernet shielded twisted pair cable must at least meet the CAT5E specification.

6. The low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol as described in claim 2, characterized in that, The first RS485 transceiver and the second RS485 transceiver are both model TPT75176H-SO1R.

7. The low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol as described in claim 1, characterized in that, The number of the first RS485 transceivers is four.

8. The low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol as described in claim 1, characterized in that, Each group of digital I / O modules may contain up to 16 digital I / O modules.

9. The low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol as described in claim 1, characterized in that, The total number of digital I / O modules in all the aforementioned digital I / O module groups is at most 32.

10. The low-cost, node-saving, and easy-to-wire module based on the EtherCAT protocol as described in claim 1, characterized in that, The power module is model number Mornsun VRB2424LD-20WR3.

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