421:. Stepper motors have some inherent ability to control position, as they have built-in output steps. This often allows them to be used as an open-loop position control, without any feedback encoder, as their drive signal specifies the number of steps of movement to rotate, but for this, the controller needs to 'know' the position of the stepper motor on power up. Therefore, on the first power-up, the controller will have to activate the stepper motor and turn it to a known position, e.g. until it activates an end limit switch. This can be observed when switching on an
167:
321:
36:
539:. These standard modules accept a single direction and pulse count (rotation distance) as input. They may also include over-temperature monitoring, over-torque, and stall detection features. As the encoder type, gearhead ratio, and overall system dynamics are application specific, it is more difficult to produce the overall controller as an off-the-shelf module, and so these are often implemented as part of the main controller.
1080:
496:. Absolute encoders can determine their position at power-on but are more complicated and expensive. Incremental encoders are simpler, cheaper, and work at faster speeds. Incremental systems, like stepper motors, often combine their inherent ability to measure intervals of rotation with a simple zero-position sensor to set their position at start-up.
433:
servomotor are an additional cost, but they optimize the performance of the overall system (for all of speed, power, and accuracy) relative to the capacity of the basic motor. With larger systems, where a powerful motor represents an increasing proportion of the system cost, servomotors have the advantage.
499:
Instead of servomotors, sometimes a motor with a separate, external linear encoder is used. These motor + linear encoder systems avoid inaccuracies in the drivetrain between the motor and linear carriage, but their design is made more complicated as they are no longer a pre-packaged factory-made
432:
The lack of feedback of a stepper motor limits its performance, as the stepper motor can only drive a load that is well within its capacity, otherwise missed steps under load may lead to positioning errors and the system may have to be restarted or recalibrated. The encoder and controller of a
436:
There has been increasing popularity in closed-loop stepper motors in recent years. They act like servomotors but have some differences in their software control to get smooth motion. The main benefit of a closed-loop stepper motor is its relatively low cost. There is also no need to tune the
133:
984:
425:; the controller will move the ink jet carrier to the extreme left and right to establish the end positions. A servomotor can immediately turn to whatever angle the controller instructs it to, regardless of the initial position at power up if an
253:
servomechanism that uses position feedback (either linear or rotational position) to control its motion and final position. The input to its control is a signal (either analog or digital) representing the desired position of the output shaft.
472:
as their position encoder. These are only used at the very simplest and cheapest level and are in close competition with stepper motors. They suffer from wear and electrical noise in the potentiometer track. Although it would be possible to
265:, which when fed back causes the motor to rotate in the direction needed to bring the shaft to the desired position. The error signal reduces to zero as the desired position is approached, stopping the motor.
299:) to calculate the shaft's position and infer the speed of the output shaft. A variable-speed drive is used to control the motor speed. Both of these enhancements, usually in combination with a
261:
to provide position feedback (and potentially also speed feedback in more sophisticated designs). The controller compares the measured position with the desired position to generate an
512:
are used, owing to their simplicity and low cost. Small industrial servomotors are typically electronically commutated brushless motors. For large industrial servomotors,
520:
to allow control of their speed. For ultimate performance in a compact package, brushless AC motors with permanent magnet fields are used, effectively large versions of
919:
547:
Most modern servomotors are designed and supplied around a dedicated controller module from the same manufacturer. Controllers may also be developed around
159:
941:
1368:
1112:
1061:
780:
653:
1030:
749:
718:
858:
876:
955:
508:
The type of motor is not critical to a servomotor, and different types may be used. At the simplest, brushed permanent magnet
1055:
1024:
890:
774:
743:
712:
608:
559:
Integrated servomotors are designed to include the motor, driver, encoder, and associated electronics into a single package.
276:
of their motor; the motor only rotates at full speed or is stopped. This type of servomotor is not widely used in industrial
982:, Binder, Yehuda, "Method and Apparatus for Cooperative Usage of Multiple Distance Meters", issued 2024-05-30
385:
100:
818:
357:
72:
915:
404:
119:
1548:
303:
algorithm, allow the servomotor to be brought to its commanded position more quickly and more precisely, with less
364:
79:
1105:
1497:
342:
57:
1282:
568:
371:
86:
1630:
1084:
1640:
1353:
1326:
521:
338:
53:
17:
1650:
1645:
1098:
677:
353:
68:
1725:
1343:
1321:
631:
1766:
1761:
1594:
1448:
517:
1695:
1771:
1635:
1186:
933:
458:
331:
238:
46:
1458:
1363:
1292:
766:
The
Playful Machine: Theoretical Foundation and Practical Realization of Self-Organizing Robots
527:
Drive modules for servomotors are a standard industrial component. Their design is a branch of
285:
250:
198:
that allows for precise control of angular or linear position, velocity, and acceleration in a
1045:
764:
646:
1589:
1453:
1191:
1171:
1151:
1014:
733:
702:
618:
281:
1584:
1477:
1226:
1201:
600:
592:
8:
1690:
1393:
1388:
1133:
493:
226:
378:
93:
1756:
1715:
1609:
1564:
1502:
1472:
1426:
1249:
1236:
979:
872:
852:
304:
258:
962:
1675:
1579:
1507:
1299:
1287:
1277:
1051:
1020:
794:
770:
739:
708:
604:
528:
273:
199:
148:
1625:
700:
481:
that can make use of such a speed signal, generally warrant a more precise encoder.
1730:
1720:
1660:
1604:
1574:
1522:
1418:
1408:
1398:
1348:
1211:
1181:
1121:
596:
513:
489:
426:
292:
218:
and a controller (often a dedicated module designed specifically for servomotors).
141:
1665:
1705:
1655:
1517:
1338:
1316:
1304:
1272:
1176:
548:
422:
195:
191:
171:
151:
1680:
1700:
1599:
1569:
1431:
1383:
1331:
1259:
1196:
1139:
485:
478:
474:
453:
as their encoders. Much work was done with these systems in the development of
438:
300:
296:
277:
203:
155:
1750:
1710:
1378:
822:
701:
Suk-Hwan Suh; Seong Kyoon Kang; Dae-Hyuk Chung; Ian Stroud (22 August 2008).
469:
418:
269:
1735:
1670:
1358:
462:
262:
1047:
Permanent Magnet Motor
Technology: Design and Applications, Second Edition
1512:
1443:
735:
Permanent Magnet Motor
Technology: Design and Applications, Third Edition
234:
417:
Servomotors are generally used as a high-performance alternative to the
166:
1403:
1244:
1206:
345: in this Section. Unsourced material may be challenged and removed.
1685:
1438:
1216:
1090:
999:
320:
35:
1467:
1311:
1267:
937:
536:
509:
230:
215:
144:
1543:
1538:
450:
221:
Servomotors are not a specific class of motor, although the term
1221:
1145:
1079:
532:
211:
891:"How to drive a servo motor & its industrial applications"
454:
207:
132:
840:. Beckenham: Muirhead Vactric Components. pp. 7, 67–90.
154:, and the black object on top of the motor is the optical
162:. This is the steering actuator of a large robot vehicle.
795:"Servo Motor vs. Stepper Motor - What's the Difference?"
769:. Springer Science & Business Media. pp. 302–.
225:
is often used to refer to a motor suitable for use in a
170:
Industrial servomotors and gearboxes, with standardised
707:. Springer Science & Business Media. pp. 11–.
551:
in order to reduce cost for large-volume applications.
762:
229:
system. Servomotors are used in applications such as
1369:
Dual-rotor permanent magnet induction motor (DRPMIM)
268:Simple servomotors use position-only sensing via a
60:. Unsourced material may be challenged and removed.
310:
280:, but it forms the basis of the simple and cheap
1748:
477:their position signal to obtain a speed signal,
1043:
731:
147:. The black section at the bottom contains the
835:
590:
291:More sophisticated servomotors make use of an
1106:
1012:
756:
763:Ralf Der; Georg Martius (11 January 2012).
1113:
1099:
1037:
1006:
916:"Brushless DC motor cores for servomotors"
694:
449:The first servomotors were developed with
961:. Advanced Motion Control. Archived from
725:
554:
405:Learn how and when to remove this message
120:Learn how and when to remove this message
593:"A Dictionary of Mechanical Engineering"
165:
131:
934:"Compact Dynamic Brushless Servo Motor"
591:Escudier, Marcel; Atkins, Tony (2019).
14:
1749:
978:
836:Upson, A.R.; Batchelor, J.H. (1978) .
257:The motor is paired with some type of
1120:
1094:
1000:"Color detector and separator device"
997:
819:"Fastech Closed Loop Stepper Motors"
601:10.1093/acref/9780198832102.001.0001
586:
584:
343:adding citations to reliable sources
314:
58:adding citations to reliable sources
29:
1044:Jacek F. Gieras (22 January 2002).
783:from the original on 20 March 2017.
752:from the original on 21 March 2017.
721:from the original on 21 March 2017.
24:
644:
25:
1783:
1072:
1064:from the original on 13 May 2018.
1019:. Nova Publishers. pp. 44–.
581:
531:, usually based on a three-phase
441:on a closed loop stepper system.
1078:
1033:from the original on 2018-05-13.
956:"Brushless PWM Servo Amplifiers"
944:from the original on 2012-10-13.
922:from the original on 2013-12-25.
879:from the original on 2012-10-07.
861:from the original on 2007-12-02.
704:Theory and Design of CNC Systems
319:
34:
991:
972:
948:
926:
908:
883:
865:
844:
821:. Fastech Korea. Archived from
732:Jacek F. Gieras (3 June 2011).
659:from the original on 2012-09-07
516:are typically used, often with
330:needs additional citations for
140:The grey/green cylinder is the
45:needs additional citations for
1498:Timeline of the electric motor
1016:Frontiers in Robotics Research
857:. Vol. 1. US Navy. 1957.
829:
811:
787:
670:
638:
311:Servomotors vs. stepper motors
13:
1:
1283:Dahlander pole changing motor
574:
569:Direct-drive sim racing wheel
206:, and consists of a suitable
1050:. CRC Press. pp. 283–.
873:"Accupoint™ Linear Encoders"
838:Synchro Engineering Handbook
522:Brushless DC electric motors
244:
7:
1327:Brushless DC electric motor
889:
738:. CRC Press. pp. 26–.
562:
468:Simple servomotors may use
444:
202:. It constitutes part of a
10:
1788:
854:Naval Ordnance and Gunnery
647:"Hobby Servo Fundamentals"
542:
475:electrically differentiate
1618:
1557:
1531:
1486:
1417:
1344:Switched reluctance (SRM)
1322:Brushed DC electric motor
1258:
1235:
1160:
1128:
518:variable frequency drives
503:
1532:Experimental, futuristic
1449:Variable-frequency drive
470:resistive potentiometers
1549:Superconducting machine
1187:Coil winding technology
484:Modern servomotors use
459:anti-aircraft artillery
286:radio-controlled models
239:automated manufacturing
1013:Max A. Denket (2006).
682:www.wakeindustrial.com
626:Cite journal requires
555:Integrated servomotors
175:
174:for interchangeability
163:
1590:Power-to-weight ratio
1454:Direct torque control
169:
137:Industrial servomotor
135:
1585:Open-loop controller
1478:Ward Leonard control
1202:DC injection braking
1087:at Wikimedia Commons
339:improve this article
54:improve this article
1488:History, education,
1134:Alternating current
514:AC induction motors
227:closed-loop control
1651:Dolivo-Dobrovolsky
1610:Voltage controller
1565:Blocked-rotor test
1503:Ball bearing motor
1473:Motor soft starter
1427:AC-to-AC converter
1288:Wound-rotor (WRIM)
1250:Electric generator
998:Chowdhury, Rasel.
249:A servomotor is a
176:
164:
1744:
1743:
1580:Open-circuit test
1419:Motor controllers
1300:Synchronous motor
1122:Electric machines
1083:Media related to
1057:978-0-8247-4394-9
1026:978-1-60021-097-6
776:978-3-642-20253-7
745:978-1-4398-5901-8
714:978-1-84800-336-1
610:978-0-19-883210-2
529:power electronics
415:
414:
407:
389:
274:bang-bang control
200:mechanical system
160:position feedback
130:
129:
122:
104:
16:(Redirected from
1779:
1595:Two-phase system
1575:Electromagnetism
1523:Mouse mill motor
1490:recreational use
1364:Permanent magnet
1293:Linear induction
1146:Permanent magnet
1115:
1108:
1101:
1092:
1091:
1082:
1066:
1065:
1041:
1035:
1034:
1010:
1004:
1003:
995:
989:
988:
987:
983:
976:
970:
969:
967:
960:
952:
946:
945:
930:
924:
923:
912:
906:
905:
903:
901:
887:
881:
880:
875:. Epilog Laser.
869:
863:
862:
848:
842:
841:
833:
827:
826:
815:
809:
808:
806:
805:
791:
785:
784:
760:
754:
753:
729:
723:
722:
698:
692:
691:
689:
688:
674:
668:
667:
665:
664:
658:
651:
645:Sawicz, Darren.
642:
636:
635:
629:
624:
622:
614:
588:
549:microcontrollers
427:absolute encoder
410:
403:
399:
396:
390:
388:
347:
323:
315:
293:absolute encoder
259:position encoder
172:flange mountings
125:
118:
114:
111:
105:
103:
62:
38:
30:
21:
1787:
1786:
1782:
1781:
1780:
1778:
1777:
1776:
1767:Electric motors
1762:Control devices
1747:
1746:
1745:
1740:
1614:
1553:
1527:
1518:Mendocino motor
1491:
1489:
1482:
1413:
1273:Induction motor
1254:
1231:
1177:Braking chopper
1165:
1163:
1156:
1124:
1119:
1075:
1070:
1069:
1058:
1042:
1038:
1027:
1011:
1007:
996:
992:
985:
977:
973:
965:
958:
954:
953:
949:
932:
931:
927:
918:. Maxon Motor.
914:
913:
909:
899:
897:
888:
884:
871:
870:
866:
850:
849:
845:
834:
830:
817:
816:
812:
803:
801:
793:
792:
788:
777:
761:
757:
746:
730:
726:
715:
699:
695:
686:
684:
676:
675:
671:
662:
660:
656:
649:
643:
639:
627:
625:
616:
615:
611:
589:
582:
577:
565:
557:
545:
506:
486:rotary encoders
479:PID controllers
447:
411:
400:
394:
391:
348:
346:
336:
324:
313:
247:
196:linear actuator
139:
126:
115:
109:
106:
63:
61:
51:
39:
28:
23:
22:
15:
12:
11:
5:
1785:
1775:
1774:
1772:Motion control
1769:
1764:
1759:
1742:
1741:
1739:
1738:
1733:
1728:
1723:
1718:
1713:
1708:
1703:
1698:
1693:
1688:
1683:
1678:
1673:
1668:
1663:
1658:
1653:
1648:
1643:
1638:
1633:
1628:
1622:
1620:
1616:
1615:
1613:
1612:
1607:
1602:
1600:Inchworm motor
1597:
1592:
1587:
1582:
1577:
1572:
1570:Circle diagram
1567:
1561:
1559:
1558:Related topics
1555:
1554:
1552:
1551:
1546:
1541:
1535:
1533:
1529:
1528:
1526:
1525:
1520:
1515:
1510:
1508:Barlow's wheel
1505:
1500:
1494:
1492:
1487:
1484:
1483:
1481:
1480:
1475:
1470:
1465:
1464:
1463:
1462:
1461:
1459:Vector control
1456:
1441:
1436:
1435:
1434:
1432:Cycloconverter
1423:
1421:
1415:
1414:
1412:
1411:
1406:
1401:
1396:
1391:
1386:
1381:
1376:
1371:
1366:
1361:
1356:
1351:
1346:
1341:
1336:
1335:
1334:
1329:
1324:
1319:
1309:
1308:
1307:
1302:
1297:
1296:
1295:
1290:
1285:
1280:
1264:
1262:
1256:
1255:
1253:
1252:
1247:
1241:
1239:
1233:
1232:
1230:
1229:
1224:
1219:
1214:
1209:
1204:
1199:
1197:Damper winding
1194:
1189:
1184:
1179:
1174:
1168:
1166:
1162:Components and
1161:
1158:
1157:
1155:
1154:
1148:
1142:
1140:Direct current
1136:
1129:
1126:
1125:
1118:
1117:
1110:
1103:
1095:
1089:
1088:
1074:
1073:External links
1071:
1068:
1067:
1056:
1036:
1025:
1005:
990:
971:
968:on 2014-11-27.
947:
925:
907:
895:Components CSE
882:
864:
851:"Chapter 10".
843:
828:
825:on 2015-03-17.
810:
786:
775:
755:
744:
724:
713:
693:
669:
637:
628:|journal=
609:
579:
578:
576:
573:
572:
571:
564:
561:
556:
553:
544:
541:
505:
502:
446:
443:
439:PID controller
423:inkjet printer
413:
412:
327:
325:
318:
312:
309:
297:rotary encoder
278:motion control
246:
243:
204:servomechanism
156:rotary encoder
152:reduction gear
128:
127:
42:
40:
33:
26:
9:
6:
4:
3:
2:
1784:
1773:
1770:
1768:
1765:
1763:
1760:
1758:
1755:
1754:
1752:
1737:
1734:
1732:
1729:
1727:
1724:
1722:
1719:
1717:
1714:
1712:
1709:
1707:
1704:
1702:
1699:
1697:
1694:
1692:
1689:
1687:
1684:
1682:
1679:
1677:
1674:
1672:
1669:
1667:
1664:
1662:
1659:
1657:
1654:
1652:
1649:
1647:
1644:
1642:
1639:
1637:
1634:
1632:
1629:
1627:
1624:
1623:
1621:
1617:
1611:
1608:
1606:
1603:
1601:
1598:
1596:
1593:
1591:
1588:
1586:
1583:
1581:
1578:
1576:
1573:
1571:
1568:
1566:
1563:
1562:
1560:
1556:
1550:
1547:
1545:
1542:
1540:
1537:
1536:
1534:
1530:
1524:
1521:
1519:
1516:
1514:
1511:
1509:
1506:
1504:
1501:
1499:
1496:
1495:
1493:
1485:
1479:
1476:
1474:
1471:
1469:
1466:
1460:
1457:
1455:
1452:
1451:
1450:
1447:
1446:
1445:
1442:
1440:
1437:
1433:
1430:
1429:
1428:
1425:
1424:
1422:
1420:
1416:
1410:
1407:
1405:
1402:
1400:
1397:
1395:
1394:Piezoelectric
1392:
1390:
1389:Electrostatic
1387:
1385:
1382:
1380:
1377:
1375:
1372:
1370:
1367:
1365:
1362:
1360:
1357:
1355:
1352:
1350:
1347:
1345:
1342:
1340:
1337:
1333:
1330:
1328:
1325:
1323:
1320:
1318:
1315:
1314:
1313:
1310:
1306:
1303:
1301:
1298:
1294:
1291:
1289:
1286:
1284:
1281:
1279:
1276:
1275:
1274:
1271:
1270:
1269:
1266:
1265:
1263:
1261:
1257:
1251:
1248:
1246:
1243:
1242:
1240:
1238:
1234:
1228:
1225:
1223:
1220:
1218:
1215:
1213:
1210:
1208:
1205:
1203:
1200:
1198:
1195:
1193:
1190:
1188:
1185:
1183:
1180:
1178:
1175:
1173:
1170:
1169:
1167:
1159:
1153:
1149:
1147:
1143:
1141:
1137:
1135:
1131:
1130:
1127:
1123:
1116:
1111:
1109:
1104:
1102:
1097:
1096:
1093:
1086:
1081:
1077:
1076:
1063:
1059:
1053:
1049:
1048:
1040:
1032:
1028:
1022:
1018:
1017:
1009:
1001:
994:
981:
975:
964:
957:
951:
943:
939:
935:
929:
921:
917:
911:
896:
892:
886:
878:
874:
868:
860:
856:
855:
847:
839:
832:
824:
820:
814:
800:
799:This vs. That
796:
790:
782:
778:
772:
768:
767:
759:
751:
747:
741:
737:
736:
728:
720:
716:
710:
706:
705:
697:
683:
679:
673:
655:
648:
641:
633:
620:
612:
606:
602:
598:
594:
587:
585:
580:
570:
567:
566:
560:
552:
550:
540:
538:
534:
530:
525:
523:
519:
515:
511:
501:
497:
495:
491:
487:
482:
480:
476:
471:
466:
464:
460:
456:
452:
442:
440:
434:
430:
428:
424:
420:
419:stepper motor
409:
406:
398:
387:
384:
380:
377:
373:
370:
366:
363:
359:
356: –
355:
351:
350:Find sources:
344:
340:
334:
333:
328:This Section
326:
322:
317:
316:
308:
306:
302:
298:
294:
289:
287:
283:
279:
275:
271:
270:potentiometer
266:
264:
260:
255:
252:
242:
240:
236:
235:CNC machinery
232:
228:
224:
219:
217:
214:for position
213:
210:coupled to a
209:
205:
201:
197:
193:
189:
185:
181:
173:
168:
161:
157:
153:
150:
146:
143:
138:
134:
124:
121:
113:
102:
99:
95:
92:
88:
85:
81:
78:
74:
71: –
70:
66:
65:Find sources:
59:
55:
49:
48:
43:This article
41:
37:
32:
31:
27:Type of motor
19:
1373:
1046:
1039:
1015:
1008:
993:
974:
963:the original
950:
928:
910:
898:. Retrieved
894:
885:
867:
853:
846:
837:
831:
823:the original
813:
802:. Retrieved
798:
789:
765:
758:
734:
727:
703:
696:
685:. Retrieved
681:
678:"MKD Series"
672:
661:. Retrieved
640:
619:cite journal
558:
546:
526:
507:
498:
483:
467:
463:World War II
448:
435:
431:
416:
401:
392:
382:
375:
368:
361:
354:"Servomotor"
349:
337:Please help
332:verification
329:
305:overshooting
290:
267:
263:error signal
256:
248:
222:
220:
187:
183:
179:
177:
136:
116:
107:
97:
90:
83:
76:
69:"Servomotor"
64:
52:Please help
47:verification
44:
1513:Lynch motor
1278:Shaded-pole
1164:accessories
1085:Servomotors
980:20240175678
494:incremental
301:PID control
295:(a type of
251:closed-loop
184:servo motor
18:Servo motor
1751:Categories
1409:Axial flux
1399:Ultrasonic
1374:Servomotor
1354:Doubly fed
1349:Reluctance
1245:Alternator
1237:Generators
1207:Field coil
1192:Commutator
1152:commutated
1150:SC - Self-
900:31 January
804:2024-06-01
687:2024-06-01
663:2012-10-12
575:References
395:March 2016
365:newspapers
223:servomotor
186:or simply
180:servomotor
142:brush-type
110:March 2016
80:newspapers
1757:Actuators
1726:Steinmetz
1641:Davenport
1439:Amplidyne
1339:Universal
1317:Homopolar
1305:Repulsion
1217:Slip ring
510:DC motors
488:, either
429:is used.
284:used for
245:Mechanism
149:planetary
1731:Sturgeon
1661:Ferraris
1646:Davidson
1468:Metadyne
1384:Traction
1332:Unipolar
1312:DC motor
1268:AC motor
1172:Armature
1062:Archived
1031:Archived
942:Archived
938:Moog Inc
920:Archived
877:Archived
859:Archived
781:Archived
750:Archived
719:Archived
654:Archived
563:See also
537:H bridge
535:or IGBT
500:system.
490:absolute
451:synchros
445:Encoders
231:robotics
216:feedback
145:DC motor
1721:Sprague
1716:Siemens
1691:Maxwell
1656:Faraday
1605:Starter
1544:Railgun
1539:Coilgun
1379:Stepper
1227:Winding
543:Control
461:during
379:scholar
190:) is a
94:scholar
1711:Saxton
1696:Ørsted
1681:Jedlik
1676:Jacobi
1666:Gramme
1631:Barlow
1619:People
1444:Drives
1359:Linear
1260:Motors
1222:Stator
1054:
1023:
986:
773:
742:
711:
607:
533:MOSFET
504:Motors
381:
374:
367:
360:
352:
282:servos
237:, and
212:sensor
192:rotary
96:
89:
82:
75:
67:
1736:Tesla
1706:Pixii
1671:Henry
1636:Botto
1626:Arago
1212:Rotor
1182:Brush
1144:PM -
1138:DC -
1132:AC -
966:(PDF)
959:(PDF)
657:(PDF)
650:(PDF)
455:radar
386:JSTOR
372:books
208:motor
188:servo
101:JSTOR
87:books
1701:Park
1686:Lenz
1404:TEFC
1052:ISBN
1021:ISBN
902:2023
771:ISBN
740:ISBN
709:ISBN
632:help
605:ISBN
457:and
358:news
272:and
182:(or
158:for
73:news
597:doi
492:or
341:by
194:or
56:by
1753::
1060:.
1029:.
940:.
936:.
893:.
797:.
779:.
748:.
717:.
680:.
652:.
623::
621:}}
617:{{
603:.
595:.
583:^
524:.
465:.
307:.
288:.
241:.
233:,
178:A
1114:e
1107:t
1100:v
1002:.
904:.
807:.
690:.
666:.
634:)
630:(
613:.
599::
408:)
402:(
397:)
393:(
383:·
376:·
369:·
362:·
335:.
123:)
117:(
112:)
108:(
98:·
91:·
84:·
77:·
50:.
20:)
Text is available under the Creative Commons Attribution-ShareAlike License. Additional terms may apply.
