A control method and equipment for EPSON industrial robots

Abstract

This invention discloses a control method for an EPSON industrial robot, comprising the following steps: powering on the industrial robot; the industrial robot initiating a background main task, which in turn initiates background tasks for TCP message processing and background tasks for real-time monitoring of the robot's status; establishing a communication connection between the host computer and the industrial robot; sending instructions and waiting for a response; the industrial robot performing background tasks, parsing TCP message processing instructions, and classifying and processing the messages; when the message is an instruction to obtain the robot's status, encapsulating the data content from the background task and replying it to the host computer; when the message is an action execution instruction, initiating a foreground task to respond to the relevant action, and replying to the host computer after execution. This invention discloses a control method and device for an EPSON industrial robot; it features resource efficiency, simple configuration, convenient expansion, and flexible operation; it eliminates the need for complex I / O wiring, improving stability and reliability.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence technology, and specifically to a control method and equipment for an EPSON industrial robot. Background Technology

[0002] Industrial robots are fast, flexible, and high-precision programmable devices widely used in automation fields such as automotive, electronics, medical, aerospace, and aviation. An increasing number of automation projects require industrial robots. However, their operation is complex, programming is labor-intensive, and their stability is limited by the developers' proficiency. Often, one-on-one guidance from professional robot manufacturers is necessary, which can impact project development cycles.

[0003] On the other hand, as more and more factories undergo "intelligent transformation and digital transformation", the demand for factory systems (such as MES, SCADA, digital twin systems, etc.) to collect production equipment status data is also increasing. Traditional PLC-based control methods (IO signal control, fieldbus control, etc.) cannot collect all the operating status of industrial robots, so it is very necessary to directly connect the factory system and the robot.

[0004] Disadvantages of traditional I / O control methods:

[0005] 1. Connecting wires are required, and a large number of wires are needed.

[0006] 2. The reliability of the wire connection is low. When a circuit break occurs, the robot may perform incorrect actions.

[0007] 3. Unable to transmit analog quantities or some complex variables.

[0008] While industrial fieldbus-based I / O control can address the issues mentioned above using industrial Ethernet or dedicated communication cables, it still suffers from the following drawbacks:

[0009] 1. The amount of data that can be transmitted is limited, generally 512 bytes, making it difficult to transmit long string variables.

[0010] 2. Industrial PCs, servers, and other host computer systems require the purchase of bus boards to communicate with them, and bus boards are generally quite expensive. Summary of the Invention

[0011] This invention overcomes the shortcomings of the prior art and provides a control method and equipment for EPSON industrial robots. This control method is resource-efficient, easy to configure, convenient to expand, and flexible in operation. It eliminates the need for complex I / O wiring, thereby improving stability and reliability.

[0012] To achieve the above objectives, the technical solution adopted by this invention is: a control method for an EPSON industrial robot, comprising the following steps:

[0013] Step S1: When the industrial robot is powered on, the background main task is automatically started. The background main task starts a background task for TCP message processing and a background task for real-time monitoring of the robot's status.

[0014] Step S2: The host computer establishes a communication connection with the industrial robot.

[0015] Step S3: The host computer sends instructions to the industrial robot and waits for its response;

[0016] Step S4: The industrial robot performs background tasks for TCP message processing, parses the message instructions for TCP message processing, and classifies the messages in the message instructions. The classification includes status acquisition instructions and action execution instructions.

[0017] Step S5: When the message is an instruction to obtain the robot status, the data content in the background task of monitoring the status is encapsulated and sent back to the host computer; when the message is an action execution instruction, the foreground task is started to respond to the relevant action, and after the action is executed, a message is sent back to the host computer.

[0018] Specifically, the status acquisition instructions include: acquiring the robot's position and orientation information and working mode information; the action execution instructions include: powering on the robot's motors and moving it to a specific position.

[0019] In a preferred embodiment of the present invention, the step of establishing a communication connection between the host computer and the industrial robot includes:

[0020] Determine if the command content of the instruction sent by the host computer is empty; if the command content is empty, report an error and the process of the host computer sending instructions to the industrial robot ends.

[0021] If the command content is not empty, it checks whether the host computer is connected to the robot. If connected to the robot, the command content is sent, and after waiting for the response, the process of the host computer sending instructions to the industrial robot ends. If not connected to the robot, the content of the receive buffer is cleared, and the process of the host computer sending instructions to the industrial robot ends.

[0022] In a preferred embodiment of the present invention, the workflow of the industrial robot includes the following steps:

[0023] Set at least one foreground task to execute the robot's actions; set a background master task to manage the robot's background tasks and ensure that necessary background tasks can be executed automatically after power-on; set at least two background tasks for processing background TCP messages and monitoring the robot's status.

[0024] In a preferred embodiment of the present invention, the foreground task includes the following steps:

[0025] The foreground task is started on demand by the TCP message processing background task. The background task extracts the remote code content from the action execution instruction and passes it to the foreground task. The foreground task parses the remote code content and then executes the action corresponding to the parsed remote code content. At the same time, it determines whether there is an error during the execution of the action. If there is an error, it returns an error code and ends the foreground task. If there is no error, it waits for the action to be executed and then returns a task completion instruction, ending the foreground task.

[0026] In a preferred embodiment of the present invention, there are at least two background tasks, including the following steps;

[0027] Send background main task:

[0028] The main background tasks include background task one and background task two;

[0029] The first background task is to start a TCP message processing background task, wait for TCP messages, and determine whether the TCP connection is closed. When the TCP connection is closed, all other tasks started by this task are terminated, and the process jumps to waiting for TCP messages. When the TCP connection is open, the message instructions are parsed, and then it is determined whether to execute remote code. If remote code needs to be executed, the foreground task is started, and then the process waits for the result of the foreground task. The content of the foreground task result is then used as the reply content, and the process jumps to waiting for TCP messages.

[0030] The second background task is to start the status monitoring background task and then periodically refresh to obtain the robot's real-time status.

[0031] In a preferred embodiment of the present invention, the background task is implemented using the Nestar Robot API, and the Nestar Robot API includes the EStop property and the GetCurrentPos and / or GoABS methods.

[0032] In a preferred embodiment of the present invention, the EStop attribute is used by the host computer to obtain the emergency stop status of the robot; and the implementation method of the host computer includes: calling the SendCommand method, the command content of which can be customized, such as "GetEStop", and then parsing the content in the output parameter reply; the implementation method of the robot includes: the robot uses the CtrlInfo function, the 8th bit of the robot's return value represents the emergency stop status, the status monitoring background task will execute the function in a loop, and take its 8-bit result and assign it to the global variable IsEstopped; when the TCP message processing background task receives a request message about the Estop status, it immediately replies the value of IsEstopped to the host computer.

[0033] In a preferred embodiment of this invention, the GetCurrentPos method is used by the host computer to obtain the robot's current position. The host computer's implementation includes: calling the SendCommand method, where the command content can be customized, such as "GetCurrentPos," and then parsing the content in the output parameter reply. The robot's implementation includes: taking the X-axis coordinate as an example, executing FmtStr$(CX(RealPos), "00000.000") in the robot code formats the X-axis coordinate parameter into a format with a 5-digit integer part and a 3-digit decimal part. Similarly, replacing CX with CY, CZ, CU, CV, and CW respectively obtains the data for each of the Y, Z, U, V, and W axes. In the TCP message processing background task, upon receiving a request message for current position data, the system immediately combines the coordinate data of each axis and replies to the host computer.

[0034] In a preferred embodiment of the present invention, the GoABS method is used by the host computer to command the robot to perform the PTP action to move to the TargetPoint;

[0035] The implementation method on the host computer side includes: first, parsing the data of TargetPoint into a specific format, then calling the SendCommand method, the command content can be customized, such as "Execute, "GO XY(XXX,YYY,ZZZ,UUU,VVV,WWW)"", and then parsing the content in the output parameter reply;

[0036] The robot-side implementation method includes: when a request message for executing a PTP action is received in the TCP message processing background task, the foreground program Main63 (number 63) is started. In Main63, the action instruction GO XY(XXX,YYY,ZZZ,UUU,VVV,WWW) is executed, and errors that may occur during the execution are captured. When the action is completed normally, error code 0 is returned. If an error occurs during the action, the current error code is returned.

[0037] Specifically, XXX to WWW are the specific coordinate values.

[0038] In a preferred embodiment of the present invention, an apparatus for implementing a control method for an EPSON industrial robot includes: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the control method for the EPSON industrial robot.

[0039] This invention addresses the shortcomings of the prior art:

[0040] This invention discloses a control method and device for EPSON industrial robots. The control method is resource-efficient, easy to configure, convenient to expand, and flexible in operation. It eliminates the need for complex I / O wiring, thereby improving stability and reliability.

[0041] This invention uses TCP / IP messages for data acquisition and control. The robot program includes a real-time background task that receives and responds to TCP messages. The host computer portion utilizes the Nestar RobotAPI, developed in C#, to handle communication with the robot, and can be called during host computer system development. This low-cost approach facilitates the acquisition of robot status data and the control of robot movements by industrial PCs, MES, and other host computer systems. Attached Figure Description

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0043] Figure 1 This is a schematic diagram of the control method for an EPSON industrial robot according to a preferred embodiment of the present invention.

[0044] Figure 2 This is a flowchart of the upper computer SendCommand process for a control method of an EPSON industrial robot according to a preferred embodiment of the present invention.

[0045] Figure 3 This is a flowchart of the process of an industrial robot, which is a control method for an EPSON industrial robot according to a preferred embodiment of the present invention.

[0046] Figure 4 The following is a schematic diagram of the interface program defined in the Nestar Robot API, written in C#, illustrating a control method for an EPSON industrial robot according to a preferred embodiment of the present invention. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention and therefore only show the components relevant to the present invention. Example 1

[0048] like Figures 1-3 As shown, a control method for an EPSON industrial robot includes the following steps:

[0049] Step S1: When the industrial robot is powered on, the background main task is automatically started. The background main task then starts background tasks for TCP message processing and background tasks for real-time monitoring of the robot's status. Specifically, the status acquisition instructions include: acquiring the robot's position and orientation information and working mode information; the action execution instructions include: powering on the robot's motors and moving it to a specific position.

[0050] Step S2: The host computer establishes a communication connection with the industrial robot.

[0051] Step S3: The host computer sends instructions to the industrial robot and waits for its response.

[0052] Step S4: The industrial robot performs background tasks for TCP message processing, parses the message instructions for TCP message processing, and classifies the messages in the message instructions into categories, including status acquisition instructions and action execution instructions.

[0053] Step S5: When the message is an instruction to obtain the robot status, the data content in the background task of monitoring the status is encapsulated and sent back to the host computer; when the message is an action execution instruction, the foreground task is started to respond to the relevant action, and after the action is executed, a message is sent back to the host computer.

[0054] Specifically, the steps for the host computer to send instructions to the industrial robot include:

[0055] Check if the command content is empty; if the command content is empty, report an error and the process of the host computer sending instructions to the industrial robot ends.

[0056] If the command content is not empty, it determines whether the robot is connected. If the robot is connected, the command content is sent, and after waiting for the response, the process of the host computer sending instructions to the industrial robot ends. If the robot is not connected, the receive buffer is cleared, and the process of the host computer sending instructions to the industrial robot ends.

[0057] Specifically, the workflow of an industrial robot includes the following steps:

[0058] Set at least one foreground task to execute the robot's actions; and set at least two background tasks for processing background TCP messages and monitoring the robot's status.

[0059] Furthermore, the foreground task includes the following steps:

[0060] Foreground task 63 is started on demand by the TCP message processing background task. This background task extracts the remote code content from the action execution instruction and passes it to foreground task 63. The foreground task then parses the remote code content and executes the action corresponding to the parsed remote code content. At the same time, it determines whether there is an error during the execution of the action. If an error occurs, it returns an error code and terminates the foreground task. If no error occurs, it waits for the action to be completed and returns a task completion instruction, terminating the foreground task.

[0061] Furthermore, in EPSON industrial robots, there can be up to 64 main functions, with program numbers ranging from 0 to 63. Since daily programming usually starts from 0, number 63, which is not commonly used, was selected for foreground tasks started by background tasks.

[0062] Furthermore, there is one main background task and at least two background tasks, including the following steps;

[0063] Start the main background task;

[0064] The main background task starts background task one and background task two in sequence.

[0065] The first background task is to start a TCP message processing background task, wait for TCP messages, and determine whether the TCP connection is closed. When the TCP connection is closed, all other tasks started by this task are terminated, and the process jumps to waiting for TCP messages. When the TCP connection is open, the message instructions are parsed, and then it is determined whether to execute remote code. If remote code needs to be executed, the foreground task is started, and then the process waits for the result of the foreground task. The content of the foreground task result is then used as the reply content, and the process jumps to waiting for TCP messages.

[0066] The second background task is to start the status monitoring background task and then periodically refresh to obtain the robot's real-time status.

[0067] More specifically, the background tasks are implemented using the Nestar Robot API, which includes properties such as Estop and methods such as GetCurrentPos and GoABS. Specifically, the Nestar Robot API defines the following: Figure 4 This includes the robot's state information (attributes) and the functions (methods) for operating the robot.

[0068] The EStop attribute is used by the host computer to obtain the robot's emergency stop status. The host computer's implementation includes calling the SendCommand method (the command content can be customized, such as "GetEStop") and then parsing the content in the output parameter reply. The robot's implementation includes using the CtrlInfo function; the 8th bit of the robot's return value represents the emergency stop status. The status monitoring background task will repeatedly execute this function and assign its 8-bit result to the global variable IsEstopped. In the TCP message processing background task, upon receiving a request message regarding the Estop status, the value of IsEstopped is immediately replied to the host computer.

[0069] The `GetCurrentPos` method is used by the host computer to obtain the robot's current position. The host computer's implementation includes calling the `SendCommand` method, where the command content can be customized, such as "GetCurrentPos", and then parsing the content in the output parameter `reply`. The robot's implementation includes, for example, executing `FmtStr$(CX(RealPos), "00000.000")` in the robot code, which formats the X-axis coordinate parameter into a 5-digit integer part and a 3-digit decimal part. Similarly, replacing `CX` with `CY`, `CZ`, `CU`, `CV`, and `CW` will obtain the data for the Y, Z, U, V, and W axes respectively. In the TCP message processing background task, upon receiving a request message for current position data, it immediately combines the above axis coordinate data and replies to the host computer.

[0070] Among them, the GoABS method is used by the host computer to command the robot to perform the PTP action and move to the TargetPoint;

[0071] The implementation method on the host computer side includes: first, parsing the data of TargetPoint into a specific format, then calling the SendCommand method, the command content can be customized, such as "Execute, "GO XY(XXX,YYY,ZZZ,UUU,VVV,WWW)"", and then parsing the content in the output parameter reply;

[0072] The robot-side implementation method includes: when a request message for executing a PTP action is received in the TCP message processing background task, the foreground program Main63 (number 63) is started. In Main63, the action instruction GO XY(XXX,YYY,ZZZ,UUU,VVV,WWW) is executed, and errors that may occur during the execution are captured. When the action is completed normally, error code 0 is returned. If an error occurs during the action, the current error code is returned. Example 2

[0073] Based on Example 1, such as Figures 1-4 As shown, the industrial robot is powered on, and the robot starts its main background task. This main task then initiates background tasks for TCP message processing and real-time robot status monitoring. A communication connection is established between the host computer and the industrial robot. The main background task consists of four tasks: foreground task #63, the main background task, the TCP message processing background task, and the status monitoring background task. The execution order is: robot powers on, automatically starts the main background task, and the main background task automatically starts the TCP message processing and status monitoring background tasks. When the TCP message processing background task receives a robot action execution command, it initiates foreground task #63. This is because the EPSON robot can only execute actions within a foreground task. Example 3

[0074] like Figures 1-4 As shown, an apparatus for implementing a control method for an EPSON industrial robot includes: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the control method for the EPSON industrial robot. Example 4

[0075] like Figures 1-4 As shown, a computer-readable storage medium stores computer programs / instructions to implement the steps of an EPSON industrial robot control method.

[0076] Working principle:

[0077] like Figures 1-4As shown, an EPSON industrial robot control method and device are disclosed. This control method features resource efficiency, simple configuration, convenient expansion, and flexible operation. It eliminates the need for complex I / O wiring, improving stability and reliability. This invention uses TCP / IP messages for data acquisition and control. A real-time background task is written in the robot program to receive and respond to TCP messages. The host computer part utilizes the C# language to develop the Nestar Robot API for handling communication with the robot, which can be called during host computer system development. This low-cost approach facilitates the acquisition of robot status data and the control of robot actions by industrial PCs, MES, and other host computer systems. This invention also eliminates the need to purchase expensive bus boards and achieves higher data throughput than bus boards. This method has wide applications and can be used in host computer-based industrial systems, enabling flexible configuration of robot operations. It allows for flexible and efficient import of new product formulas into automated equipment without modifying the robot program, thus achieving standardization. It can also be used in factory systems such as MES for data acquisition, such as collecting real-time robot pose data for digital twin system model construction.

[0078] It is understood that the various implementation methods described in this specification can be implemented individually or in combination, and the implementation methods in this specification are not limited in this respect.

[0079] Unless otherwise stated, all technical and scientific terms used in the embodiments of this specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification.

[0080] The term “and / or” as used in this specification includes any and all combinations of one or more of the associated listed items. The singular forms “a,” “the,” and “the” as used in the embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0081] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this specification.

[0082] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0083] Based on the preferred embodiments of the present invention, and through the above description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A control method of an EPSON industrial robot, characterized by, The method comprises the following steps: Step S1, the industrial robot is powered on to automatically start the background main task, and the background main task starts the background task for TCP message processing and the background task for real-time monitoring of the robot state; Step S2, the host computer establishes a communication connection with the industrial robot Step S3, the host computer sends an instruction to the industrial robot and waits for a reply; Step S4, the industrial robot performs the background task for TCP message processing, parses the message instruction for TCP message processing, and classifies and processes the message in the message instruction, the classification including a state acquisition instruction and an action execution instruction; Step S5, when the message is the instruction for acquiring the state of the robot, the data content in the background task for monitoring the state is encapsulated and replied to the host computer; when the message is the instruction of the action execution type, the foreground task is started to respond to the related action, and after the action execution is completed, a message is replied to the host computer; The foreground task comprises the following steps: The foreground task is started by the background task for TCP message processing as needed, the background task extracts the remote code content from the action execution instruction and delivers it to the foreground task, the foreground task parses the remote code content, then executes the action corresponding to the parsed remote code content, and judges whether an error occurs in the execution of the action; when an error occurs, an error code is returned and the foreground task is ended; when no error occurs, the task completion instruction is returned after the action execution is completed, and the foreground task is ended.

2. The control method of the EPSON industrial robot according to claim 1, characterized in that: The step of establishing a communication connection between the host computer and the industrial robot comprises: judging whether the command content of the instruction sent by the host computer is empty; when the command content is empty, an error is reported, and the process of the host computer sending an instruction to the industrial robot is ended; when the command content is not empty, it is judged whether the host computer is connected to the robot; when the host computer is connected to the robot, the command content is sent, and after receiving the reply content, the process of the host computer sending an instruction to the industrial robot is ended; when the host computer is not connected to the robot, the content of the receiving buffer is emptied, and the process of the host computer sending an instruction to the industrial robot is ended.

3. The control method of the EPSON industrial robot according to claim 2, characterized in that: The working process of the industrial robot comprises the following steps: preset at least one foreground task for executing the action of the robot; set a background main task for managing the background tasks of the robot to ensure that the necessary background tasks can be automatically executed after being powered on; set at least two background tasks for the background TCP message processing and the monitoring of the robot state.

4. The control method of the EPSON industrial robot according to claim 3, characterized in that: The at least two background tasks comprise the following steps: sending the background main task: The background main task comprises a background task one and a background task two; The background task one is: starting the background task for TCP message processing, waiting for a TCP message, judging whether the TCP connection is disconnected; when the TCP connection is disconnected, terminating all other tasks started by the task, jumping to waiting for a TCP message; when the TCP connection is connected, parsing the message instruction, then judging whether to execute the remote code, when the remote code needs to be executed, starting the foreground task, then waiting for the foreground task result, then taking the content of the foreground task result as the reply content, and then jumping to waiting for a TCP message; The second background task is to start the state monitoring background task, and then refresh the real-time state of the robot periodically. 5.The control method of the EPSON industrial robot according to claim 4, characterized in that: The Nestar Robot API is used in the background task, and the Nestar Robot API includes an EStop attribute and a GetCurrentPos and / or GoABS method; The EStop attribute is an emergency stop attribute, and is used by the upper computer to obtain the emergency stop state of the robot. The GetCurrentPos method is a current position obtaining method, and is used by the upper computer to obtain the current position of the robot. The GoABS method is an absolute motion method, and is used by the upper computer to command the robot to perform a PTP action to move to a TargetPoint. 6.The control method of the EPSON industrial robot according to claim 5, characterized in that: The implementation method of the EStop attribute on the upper computer includes: calling the SendCommand method, customizing the command content as "GetEStop", and then parsing the content in the output parameter reply; the implementation method of the robot includes: the robot uses the CtrlInfo function, the 8th bit of the return value of the robot represents the emergency stop state, the state monitoring background task cyclically executes the function, and the 8th bit result is assigned to the global variable IsEstopped; in the TCP message processing background task, when a request message related to the Estop state is received, the value of IsEstopped is immediately returned to the upper computer.

7. The control method of the EPSON industrial robot according to claim 6, characterized in that: The implementation method of the GetCurrentPos method on the upper computer includes: calling the SendCommand method, customizing the command content as "GetCurrentPos", and then parsing the content in the output parameter reply; the implementation method on the robot side includes: taking the X-axis coordinate as an example, the robot code executes FmtStr$(CX(RealPos), "00000.000"), so that the X-axis coordinate parameter can be formatted into an integer part of 5 digits and a decimal part of 3 digits; similarly, replacing CX with CY, CZ, CU, CV, and CW can obtain the data of Y, Z, U, V, and W axes respectively; in the TCP message processing background task, when a request message related to the current position data is received, the above axis coordinate data is immediately combined and returned to the upper computer. 8.The control method of the EPSON industrial robot according to claim 7, characterized in that: The implementation method of the GoABS method on the upper computer side includes: first parsing the data of the TargetPoint into a specific format, then calling the SendCommand method, customizing the command content as "Execute,"GO XY(XXX,YYY,ZZZ,UUU,VVV,WWW)””, and then parsing the content in the output parameter reply. The robot-side implementation method comprises: in the TCP message processing background task, when a request message about executing a PTP action is received, starting the foreground program No. 63 Main63, in Main63, executing the action instruction of GO XY(XXX, YYY, ZZZ, UUU, VVV, WWW) and capturing possible errors occurring in the execution process; when the action is normally executed and completed, replying with error code 0, and when an error occurs in the middle of the action, replying with the current error code.

9. An implementation device of a control method of an EPSON industrial robot, characterized by, Comprise: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the control method of the EPSON industrial robot as claimed in any one of claims 1 to 7.

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