Note: Descriptions are shown in the official language in which they were submitted.
BAhER LQ~,D SEMS~R
. .
Background of_~he Invention
The present invention is directed to improvements in
.; obtaining accurate measurements from sensors of the
type utilizing relatively movable electromagnetic
coils and ferromagnetic cores. More particulary, the
present invention is directed to an im~rovement in
such a sensor when ~sed in measuring load Eorces
applied to a structural member.
IThile the invention may find utility in a broad
variety o~ applications, the disclosure will be
facilitated by r~ference to the specific problem of
, monitoring the compressive force applied to a
- 15 quantity of forage material or hay in a baling
apparatus. The problem of accurately monitoring and
controlling the,compressive force applied during the
baling of forage material or hay by such a baling
machine has been heretofore accomplished only with
relative difficulty and expense.
In such a baling machine, it is generally desirable
-- to achieve relatively uniform density in the bales of
forage mater'ial or hay produced. The bale density is
in turn controlled by the amount of axial force
., ~
r
I ~J ~ 2
1 1.
applied to the bale by an axial compression member
driven by one or more elongate tubular "plunger
arms". The compression on this plunger arm is
further grounded in accordance ~7ith the position of
movable side wall members of the baling apparatus.
These side wall members, together with fixed top and
bottom walls, define what is generally referred to in
the art as the baling chamber.
In accordance with prior art practice, various means
were utilized to measure the compressive force
applied in the axial direction by the plunger arms
and to control the positions of the movable sidewalls
accordingly so as to achieve relatively uniform bale
density. Also, monitoring oE the compression of the
plunger arm allows the controller to "open up" the
sidewalls, if necessary to prevent excessive load on
the apparatus and consequent damage thereto.
Ho~ever, as previously noted, solutions heretofore
proposed for the problem of measuring the axial
compressive force or load have been relatively
difficult and expensive to implement.
For example, presently available stress guages and
related circuitry for obtaining accurate measurements
of this compressive force or load are relatively
complex and expensive. This is due in large part to
the non-linear characteristics of the stresses or
compressive forces experienced in the plunger arm
member in response to various compressive forces
~ applied thereto. In this regard, the plunger arm
generally comprises a tubular rectilinear structural
,
r
. I
member which is utilized to drive a movable
compression surface longitudinally of the compression
chamber. In practice, the plun~er may apply a
compressive force of up to 100,000 pounds to the
forage material. However, during this compression
the plunger arm itself is in fact compressed only a
very small amount, for example on the order of .01
inches.
It is generally known to measure relative positions
or movements of this type by the use of a coil of
wire into which a ferromagentic core extends. In the
case of a plunger arm, both the coil and
ferromagnetic core may be mounted to opposing end
surfaces of the elongate tubular plunger arm.
Accordingly, a change in flux density of the coil
will take place as the ferromagentic core is moved
relative thereto in response to the compression of
the plunger arm.
The coil of wire is often coupled in an electronic
circuit to form an oscillator, the frequency of which
varies with the movement of the core inside of the
coil of wire. However, it will be appreciated that
with a compression of only on the order of .01 inches
only relatively small changes in and flux density
occur. Hence, a high degree of resolution in
reading the corresponding changes in the electrical
signals developed across the coil is required.
Additionally, due in part to the rectilinear
structure of the tubular plunger arm, the
91~
~ ~J ~ -4-
.
relationship between the force applied thereto and
the amo~nt of axial compression is a non-linear one.
~loreover, the relationship between movement of the
core piece inside the coil of wire and frequency
developed by the oscillator is also non-linear.
Accordingly, each such sensor must be carefully
calibrated with the particular plunger on which it is
to be used. It will be appreciated that such
individual calibration can become relatively
cumbersome and expensive~
In accordance with the present invention, however, a
novel and relatively ineY.pensive method and apparatus
for achieving this individual calibration of sensors
has been discovered. Moreover, as will be seen from
the ensuing description of the invention, a number of
other advantages and novel features are achieved by
the apparatus and method of the invention.
Qbiects and S~mmary of the lny~n~iQn
Accordingly, it is a general object of the invention
to provide a novel and improved position or movement
sensor apparatus.
A more particular object is to provide a sensor
apparatus in accordance with the foregoing object for
accurately measuring the load applied to a structural
member.
~ A still more particular object is to provide a sensor
of the foregoing type for determining the a~ial load
~?~9~5~Çi
`~ ~ ;~ (
~` 5
on a plunger arm of a forage baling machine.
A further object is to provide a sensor of the
foregoing type which is capable of measuring the
! 5 reduction in effective length of the plunger arm due
to such axial compressive forces to a surprisingly
high degree of resolution and accuracy in spite of
the non-linear relationships between applied force,
compression, and the response of the circuit.
An additional object is to provide a load sensor of
the foregoing type which may be relatively simply and
inexpensively calibrated for repeatable accuracy with
a particular plunger arm at a rninimum of labor and
expense.
Briefly, and in accordance with the foregoing
objects, the invention provides a method and
apparatus for measuring a compressive load on a
structural mem~er. The method includes the steps oE
developing an oscillatory signal which varies in
frequency in accordance with a compressive force
applied to said structural member; linearizing the
rë ~ ionship of said oscillatory signal to said
compressive force in accordance with a plurality of
sai;id oscillatory signals developed in response to a
pl~rality of known compressive forces applied to said
st`r'uctural member; and calculating the compressive
loaid on said structural member in accordance with
said oscillatory signals developed and said
linearizing of said response.
r
4.~
In accordance with another aspect of the invention,
novel apparatus for measuring a compressive load on a
structural member comprises signal generating means
coupled with said structural member and responsive to
a compressive force applied thereto for producing a
frequency-variable signal at a frequency
corresponding in a predetermined fashion to said
compressive force; and measuring circuit means
responsive to said frequency-variable signal for
producing a load signal corresponding to the
compressive load on said structural member; said
measuring circuit means including linearizing circuit
mea.~s responsive to a plurality of said
frequency-variable signals produced in response to a
corresponding plurality of known compressive forces
applied to said structural member for producing a
linearizing control signal, and calculating circuit
means responsive to said frequency-variable signal
and to said linearizing control signal for
calculating said compressive load.
Brief Uescriptiorl nf-hq-DL~ln~
The foregoing as well as other objects, features and
advantages of the invention will become more readily
apparent upon consideration of the following detailed
description of the illustrated embodiment, together
with reference to the drawings, wherein:
Fig. 1 is a rear perspective view of a baling machine
or baler in conjunction with which the invention may
advantageously be utilized;
-7-
Fig. 2 is an enlarged front perspective view of the
baler of Fig. 1 partially broken away and
illustrating further details thereof;
Fig. 3 is a side elevationr partially broken away
illustrating a structural member or plunger arm of
the baler of Figs. 1 and 2 in conjunction with which
the invention is utilized;
Fig. 4 is a diagrammatic view illustrating operation
of the baling machine or baler in accordance with the
invention; and
Fig. 5 is a schematic diagram illustrating a circuit
in accordance with a preferred form of the
invention.
Detailed Desc~ipti ~
Referring now to the drawings and initially to Figs.
ll and 2 a baling machine or baler is designated
generally by the reference numeral 10. ~enerally
speaking, this baler 10 is pulled in a direction 11
by suitable means such as a tractor ~not shown). A
main drive shaft 12 is utilized to operate the baler
10 with power from the tractor power take-off (PTO).
In operation, the baler 10 includes a front or intake
end or reel 15 which delivers forage material or hay
~ 16 from the Eield to be further processed into bales
17 here shown e~iting the rear of the baler 10. In
~-~v~
C ~t~ ~
this regard, the collected crop material is
pre~erably broken up by movable fingers 18, which
extend into an intake chute 19, into generally
uniform "charges" or "flakes" and delivers it to a
bale chambe.r 20.
The bale chamber 20 comprises fixed top and bottom
wall members 22, 24 and a pair of inwardly
compressible opposed side wall members 26 and 28.
Suitable means such as one or more hydraulic pistons
30 are coupled with suitable linkages 32 to effect
relatively inward and outerward movement of the side
walls 26, 28 to control the width of the bale of hay
18. At the same time, generally axial or
longitudinal compression of the hay in the chamber 20
is effected by an axial or longitudinally slidable
compression wall or sur~ace 34 which is axially or
longitudinally driven by a pair of suitable plunger.
arms 36. Only one such plunger arm 36 is illustrated
in Fig. 2 it being understood that both pl~nger arms
are substantially identical.
In operation, the Eoregoing moving components of the
baler 10 are linked by suitable chain drives or the
like to be driven from the main power shaft 12.
Accordingly, as the reel 15 rotates to take up the
previously cut hay 16, and delivers it to the chute
19, the fingers 18 are arranged to periodically
traverse the chute 19, -to cut and deliver
predetermined lengths of the crop material as a
~ "flake" or "charge" to the baling chamber 20. In
this regard, Fis. 2 illustrates the plunger arm and
15~;
_
axially movable compression surface 34 in a partially
advanced position extending over the open end l9a of
the chute 19. Accordingly, the fingers 18 are
positioned toward the lower end of the chute 19 so as
to be ready to deliver a succeeding charge to the
bale chamber 20.
It will be noted that the plunger arm 36 is driven by
a crank 31 which is in turn rotated by a shaft 33
affixed to a sprocket wheel 35. The plunger arm 36
is provided with bearings 37 and 39 at respective
ends thereof to translate this rotary motion to axial
motion of the compression wall or surface 34~
Accordingly, a suitable sensor diagrammatically
illustrated at 41 may be utilized to detect the
advanced position of fingers 18 for delivering a
charge of material to bale chamber 20. It will be
understood that when the fingers 18 are advanced in
this fashion, the compression surface 34 and plunger
arm 36 will be fully withdrawn and hence in a
non-compressed condition to allow ingress of the
flake to the bale chamber 20. ~s will be seen later,
the signal from this sensor 41 may be utilized as a
suitable indication of the uncompressed condition of
plunger arrn 36 for zeroing the apparatus of the
invention after each compression or load
measurement.
In operation it is generally desirable to obtain a
relati.vely uniform density in the bales 18 produced
by the baling chamber 20. Accordingly, the prior art
has heretofore utilize~ a suitable sensor arrangement
~9~S46
., .
to monitor or sense the amount of compressive force
applied by the axial or longitudinal compression
member or surface 34. A suitable controller then
controls the position of the si~e walls 26 and 28 by
operating the pistons 30 so as to achieve
substantially uniform density from one bale 18 to the
next.
Referring now to ~ig. 3 and in accordance with the
present invention, a novel and surprisingly simple
and inexpensive sensor is provided for monitoring the
compressive force or load on the plunger arms 36 and
hence the compressive load in the longitudinal or
axial direction upon the hay in the bale chamber 20.
As illustrated in Fig. 3, the plunger arm 36
comprises an elongate generally rectilinear tubular
member. This tube or tubular member 36 includes a
pair of similar en~ walls 40 and 42 and four elongate
and similar rectangular side walls such as side wall
44 which define a generally rectangular cross-section
of the tube or plunger arm 36. In accordance with
the invention a suitable variable-frequency signal
generator or oscillator 46 is provided for producing
a signal which varies in frequency in accordance with
the compressive force applied to the plunger arm 36
in the axial direction. The axial direction of the
member 36 is defined between end walls 40 and 42.
In this regard, the siynal generating means or
oscillator circuit 46 may be mounted to the plunger
arm itself or in any other suitable location. This
oscillator circuit 46 is coupled to a variable
~9~
~ 1 1 ~
element in the form of a coil of wire 48 which is
provided with a relatively movable ferromagnetic core
piece 50. In accordance with the illustrated
embodiment, the coil of wire is substantially
coacially mounted within the tubular plunger arm 36
and preferably coupled to an inner surface of the end
wall 42. The ferromagnetic core member 50 is
coaxially mounted to extend at least partway into t.he
coil 48 by an elongate support rod member 52,
preferably of steel. This elongate rod 52 is
preferably securely mounted to the opposite end wall
surface 40, also coaxially with the tubular plunger
arm 36. Hence, the rod member 52 defines means for
mounting the ~erromagnetic core coaxially within the
tubular plunger arm for coaxial movement within the
coil 4~.
In accordance with a preferred orm of the invention,
a quantity of resilient material such as a foam
rubber-like material 5~ is provided to fill the
interior volume of the plungec arm 36 intermediate
the steel rod 52 and side walls 44 thereof to hold
the rod in the substantially coa~cial alignment just
described.
From the foregoing it will be appreciated that the
amount oE compressive force applied to the plunger
arm during compression of the charge in the baling
chamber 20 will bear a given, though not necessarily
linear, relationship with the amount of axial
~ compression, that is, a reduction in acial length, of
the rectangular tubular plunger arm 36. Stated
".j
-12-
alternatively, the plunger arrn 36 may be generally
viewed as a structural member to which a load force
is applied. Hence, the reduction in length of a
given dimension of the structural member in response
to this load or force is measured by the apparatus of
the invention. Still more generally, the invention
provides means for measuring a change in the relative
displacement or position between any two relatively
movable points, for example coaxially aligned points
in the end walls 40 and 42 of the tubular plunger arm
36. Hence, the relative position of the
ferromagnetic core 50 with respect to the coil 48
will also vary or change by a corresponding, but
again not necessarily linearly, related amount.
Correspondingly, the frequency of the oscillatory or
frequency-variable signal produced by the oscillator
46 of which the coil 4~ is a part, will also vary hy
a corresponding, but again not necessarily linearly,
related amount.
Referrin~ briefly to Fig. 4, as previously mentioned
~he sensor arrangement in accordance with the
invention may advantageously be used with both of a
pair of plunger arms 36, 36a, commonly ernployed in a
baling machine such as the machine 10 of Figs. 1 and
2. Advantageously, a suitable controller or control
circuit, which forms no part of the present
invention, here designated generally by reference
numeral 50, may be utilized to control the flow o~
hydraulic fluid to the cylinders 3~ which control the
positioning of the sides 24, 26 of the baling chamber
as previously described.
:~9~5~6
~ { -13-
~ , .
As just described, a number of non-linear
relationships exist between the load or focce applied
to the plunger arm 36 and the frequency of the signal
produced b~ the oscillator circuit 46.
Advantageously, the present invention includes a
novel measuring circuit means, illustrated in Fig. 5,
responsive to the frequency-variable signal produced
by the sensor arrangement of Fig. 3 for producing a
load signal which corresponds to the compressive load
on the plunger arm 36. Moreover, in accordance with
the invention, this measuring circuit includes novel
linearizing means responsive to a plurality of the
frequency-variable signals developed in response to a
corresponding plurality of known compressive forces
applied to the plunger arm member 36 for producing a
suitable linearizing control signal or signals to
effectively linearize the response of the foregoing
components for the particular plunger arm 36 with
which they are associated. Hence, accurate and
repeatable load calculations may then be made by
calculating means of the novel measuring circuit of
the invention based upon the frequency-variable
signal developed in response to loads applied in
operation and the linearizing control signals
previously developed and stored.
Advantageously and referring now more particularly to
Fig. 5, the foregoing operations may be simply and
economically carried out by a suitable microprocessor
or microcomputer circuit component designated
generally by the reference numeral 70. In the
S46
!
~_~ {
., ~,
illustrated embodiment a microcomputer of the type
generally desi~nated 8748 is utilized. This
microprocessor or microcomputer includes one or more
suitable programmable register means, in the form of
programmable read only memory, for receiving and
storing linearizing data or information developed in
response to the frequency-variable signals produced
in response to known compressive forces applied to
the structural member or plunger arm 36. This
linearizing data may then be utilized together with-
the oscillatory or frequency-variable signals
developed in operation for producing accurate and
repeatable calculations of the axial loads being
applied to the plunger arm 36 during operation.
From the foregoing it will be seen that the novel
monitoring arrangement in accordance with the
invention is equally useful for determining relative
displacement or movement between any two members to
which the coil 48 and core 50 are coupled. Hence,
the invention is not limited to the compressive load
measurement of the illustrated embodiment but may be
utilized in other applications as well.
Advantageously, then, the invention facilitates and
simplifies the accurate and repeatable measurement of
essentially non-linear load or displacement
information.
In operation, the linearizing operation may be simply
and rapidly carried out with respect to each plunger
arm or other relatively movable or displaceable
member or members by the simple expedient of applying
9~
15~ r
a plurality of known loads to effect different
relative displacements or movements, and recording
the resuling data. Hence, the recorded data may
thereafter be utilized to accurately measure loads
applied to displacements experienced during
operation. In this regard, the microprocessor 70 may
be suitably programmed to carry out the linearizing
operation, or alternatively, another processor or
computer may be utilized in conjunction with the
microprocessor 70 to effect the linearizing
opera-tionO
To this end, the processor 70 is provided with a
plurality of input/output ~I/O) ports 72 and an 8-bit
data bus 74 to communicate with a suitable computer
(not shown) to effect the linearizing operation. In
this regard, the use o a second computer permits the
usage of a simpler and relatively cheaper
microprocessor component 70, such as the
microcomputer oE the type 8748 previously described.
Referring more particularly to Fig. 5, suitable
frequency-to-digital converting circuitry is coupled
intermediate the coil 48 and the microco~puter or
microprocessor 70 to convert the frequency or
oscillatory signals developed into digital forms
suitable for further processing by the microprocessor
70.
The fre~uency-to-digital converting circuitry
~ includes a first pair of counters 80, 82, the coil 48
being coupled across suitable terminals of the first
5~6
; , -16-
counter 80. Selected count outputs 84 of the eounter
80 are then coupled by a plurality of diodes 86 to an
input line or conductor 88. This con~uctor 88 feeds
one input of a two-input MOR-gate 90 which receives
its second input from a high frequency crystal
oscillator circuit 92. The output of this NOR-gate
90 is fed to the count input of a second eounter
circuit which in the illustrated embodiment comprises
a pair oE sequentially or series-coupled integrated
circuit counter components 94, and 96. The count
outputs of these latter counters 94 and 96 feeds
suitable I/O ports, designated generally 98, o~ the
microprocessor 70.
In operation, the first counter component 80
comprises an integrated circuit eomponent of the type
generally designated CD 4060. In addition to a
counter circuit, this component includes a buffer
circuit coupled between terminals 10 and 11 thereoE
to form an oscillator eircuit with the coil 48.
These buEfer components are then internally coupled
with the counter circuit portion of integrated
circuit 80 to provide a count output on terminals 8
thereof corresponding to the frequency of the
oscillator thus formed. The additional counter
component 82 is provided in sequence to form a
"programmable" counter with the counter circuit of
the integrated circuit component 80. This provides
additional terminals 84a from which to select to
"program" a suitable si~nal onto the line 88. In
~ this regard, the duty cycle of the signal produced at line 88 may then be varied or scaled to bear a
L5~6
-17- ~ ~
desired relationship to the fLequency developed by
the oscillator circuit portion 46.
This variable duty cycle signal in turn gates through
a corresponding number of high Erequency pulses from
the high frequency oscillator circuit 92 at the gate
90. The succeeding counter circuit comprising
counters 94 and 96 counts these gated through pulses
to deliver a parallel format count to the
microprocessor 70. Hence, the parallel count
delivered on I/O ports 98 is scaled to bear a
preselected relationship with the frequency developed
at the oscillator 46, in accordance with the
selection of outputs 84, ~4a of the counters 80, 82.
Accordingly, the programming of the microprocessor
enables automatic determination of the frequency of
oscillator 46 from the count received at ports 98.
In the illustrated embodiment the zero or low level
of the variable duty cycle signal produced on line 88
is utilized to gate pulses through gate 90. The
intervening logic high states of this signal are
utilized to signal the microprocessor by way of a
buffer 97 o~ the end of one cycle oE gated high
frequency pulses. Hence, the processor calculates
the load based upon the number of counts received at
ports 98 intermediate pulses delivered by the buffer
97.
The previously mentioned sensor 41 associated with
~ the fingers 19 feeds a suitable interrupt ~INT) port
of the microprocessor 70 by way oE an input circuit
~;~9~5~
{
-18-
including an operation ampli~ier 99 which is provided
with a reference level Vref to be described later.
Similarly, the output control signal developed for
the controller 50 is fed out to the terminal
designated SIG~AL OUT by way of a similar operational
amplifier 101 which is referenced against the same
level Vref.
An additional conventional voltage supply including a
suitable integrated circuit voltage regulator 100
provides a stable plus 5 volt DC supply for the
microprocessor 70 and other circuit components thus
far illustrated. This voltage supply is preferably
coupled to a vehic]e battery ~TV B~TT) for example,
that of the tractor pulling the baler 10.
Additionally, a suitable reference DC voltage level
Vref is also provided from the regulated plus 5 volts
by a suitable resistive voltage divider designated
generally by reference numeral 102. This reference
voltage and the plus 5 regulated DC volts are fed
through a suitable power-up circuit 104 to inputs of
the microprocessor for 70 by a power-up or initiating
circuit 104 to initiate the microprocessor 70 in
accordance with conventional practice.
In order to fully illustrate a specific embodiment of
the invention, a suitable program or software listing
for the microprocessor 70 is reproduced on the
following pages.
- While the invention has been illustrated and
described herein with reference to a specific
~L:~15~
~ -19- .t'.~ ~ ~
~.
embodiment, the invention is not limited thereto.
Those skilled in the art may devise various changes,
alternatives and modifications upon reading the
foregoing description. The invention includes such
changes, alternatives and modifications insofar as
they fall within the scope of the appended claims.
- 20- ~9~
M48 ~IJ~ER.LOD ~G PAGEWII)TH(85~ PA~lG17i(60) PRl~(~
IS--II MCS-48/t~PI-41 ~) ASSEME~LER, V3.0
3; HESSI~ P~ I~D OONq~L PP~GRAM Ft~:R T~
4; SENSCR
6 ; ORIG~L OOPY I~E M~H 13, 1982
8 ; ~ r REV. 8-11-82
9 1~:45 ~1
ll; AUI~OR V. Gt~E)CEWE~
12
13
14; THIS E~RAM IS USE:D WII~ ~N LC
15; OSCIL~IOR ~: E~CY IS CH~
16; BY ADJUSIING P. SLUG INSIDE A Ct~IL
17; ~I THE SIUG IS M~VED
18; IffE CH~NGE IN FREQUENCY IS
19: RECORDED AND S~ IN IDC~ NS
20; 300 H TO 3F~H ~F AN 8748.
21; IffIS INF~ IS THEN USED AS A L~OKDP T~BLE F0R
22; IHE DISPL~CEMENT OF THE S~UG IN THE COIL
~3
24; 3FA, 3FB & 3FC CONTAIN TffE LDWER
25; Fh2QUENCY IIMITS OF THE SYSTEM
26
27; 3FD, 3FE ~ 3FF CCNIAINS THE
28; FRE~UENCY IIMITS OF THE
29; DISPL~C$MENT #
31
32; THE W~Y YCU USE TffIS P~ IS IO
33
34; 1) PROGRAM AN 8748 FR0M O TILL INIT16
35; qYIS GIVES YW THE C~LI~RArE M0DE CNLY
36; Pq4 IS PULLED 13W TO PUr YOU IN THE
3378; CALIBRATE M~DE.
39; 2) C~LI~RArE l~E SEN~OR BY C~NGING THE SLUG
40; P06ITION IN THE COIL AND TAXING A READING oVT
41; OF THE BUS AND P15 P16 AND P17
42; P15, 6 ~ 7 ARE THE L~ICH 9ITS
43; THE BUS IS I~E DhI~ - P15 IS THE LSB
44: LAICH IN QN HIGH PULSE - - I USED
45; 6 CD4042 / S ~OR qHIS
46
47; 3) WHEN n~IA IS TAXEN -- THIS DArA IS PRC3RKMMED
48; IN ~3CAIIONS 300 l~ 3F9
- 21 ~
IS-II MCS-48/UPI-41 MACRO AS~E:qBLER, V3.0
~C OBJ LINE S~ ~TE~ÆNT
49
50; 4~ 3FA THRU 3FF ARE USED TO SET LIMITS
51; ON I~E COUNTS OCMING IN AS EXPlAi~ED
52: LATE~ IN IHE PRCGR~M
53
S4
55; FIAGS
56
57; ~0 - ~ NCr USED
58
59; Fl ~ USED AS AN ERR~R FIAG - IF IT IS
60; ZERO TffERE IS SOME KIND OF H~ RE
61; PROBLEM - - 'F' IS OUTPUT TO THE C0NSOLE
62; PR0CESSOR
63
64
20 66; REGISTER M~P
67
68; REGISTER ~NK O
69
70; R0 AMD Rl WDRKING REGISTERS
25 71
0002 72 TIME EQU R2 : L00P CW~CER
73 ; EQU R3 ; W3RKING REGISTERS
74 : EQU R4
75 ; E~U R5
30 0006 76 LMTl E~U R6 : DISPL~CEMENT P ~ ISTERS
0007 77 ~MI2 EQU R7 : SERIAL CUTPUT INFO
78
79 ; N0TE: ~MTl AND DMT2 ARE USED AS TEMP~RARY
; REGISTERS TE~CCGECUT THE PR~GRAM
81
82
83 ; REGISTER EANK 1
84
40 001A 86 TEMPD EQU 01AH ; REGISTER EANK 1
87 ; E~U 01~H ; TEMPOR~RY DISPLACEMENT
88
89
91
92
93
94 ; REFE:R TO SPECIFIC SLE~OUTLNES TO FIND
; WHEN THE REGISTERS ARE USED
96
97
-22 -
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LI II' ~ I L I NE '-;CILIR~:E :-;T~TEMENT
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~JCI~:5 11:)4 F'RESF3EC~!I IC), ~iH
105
Cl~ 0~. ~;TI IF 1El !l lO-J~.H ; ~;TUFFER C:YC:LE C:I~ILINTER01 l ~ 7 11:)7 I~.TLIF:~El.!l l (~7H
'1 l:):~:
(:)CI2~-: 1~ ,' SERf!~L1 EI !L~ O~:H ; ~;ERIAL CII_ITPUT INFC AL:;~El~:!I IC)~: ~H
111
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114
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O;I~J[I 117 ZERCI3 EI.. !I I O~ H
11,~
1II2E 12C) FEA~'1 El!ll CI'.'EH ; TEI~IPI-IRQRY FEAR REI3Il;TER"-;
:IC) -'F 1 2 1 F'EA~::2 El II J C\2FH ; C :CIN-rA I N~.; THE H I C;HE -;T F'EAt::
:ll:l:-,C~ F'E~ : EI.. !I I o:~-:(:IH
1~4
00 _ ~ J~ ITF~Eh'El !l JCl~-: l H : LIEC:L I 1`~ r Nl:i F'E~R C:CIIJNTER
12~ THI'-; I:--; LI:;E~I QS THE LIIQ~I I'-:
1 ~7 ~IEI-:REA'-;INI:; TCI ~IETERlvIIhlE TH~T
12:--1 : THE F'EQk: H~'; CIl-:l~I IRE~I
1 ~'~J
1: :11
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1 : :2
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1:~4
1 ._:~
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141; INITIQLIZATICII\I
14_
143 ; C:LEQR ALL FREI-; I '-;TER';
144
1 4.'.
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b
-23-
:.I';--II MC~ 4::/UF'I--41 MAI:Rl-l A'-;:-;EM~LEF~. V~:.CI -
L~ CIBJ L I NE ~-;CIUR~l-:E STATEMENT
C~ . :5 147 INIT: rlIc; TC:NTI
C)l~l:)A 15 14:: D I :--;
C)C)OE~ ~7 14 ~ llR A
B:3:3F 1.51) Ml IV RC) . #: :FH
151
152 INIT1C):
1 5:~:
OC)C)E Al:) 154 MCIV ~RI:), A
C)l:)l:)F E:-:C)E 1~5 rluNz Rl:) . I N I T 1 C
15~.
'157
15.C:; Bl IS TCI LOW STATE
C)C) 1 1 Cl2 1~.1 ) Cll ITL Bl l:-: . A
1~.1
1 ~..:; Pl-lRT ~ H I C;H
1~.4
C1l~ C-:7 1~-.5 L-:F~L A
C)/:)1:3 :3A 1~:.C-. c l~lTL R2.
1~:.7
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lC.~.~
(:1~:)14 2~:14 1 7C) MCIV ~ 1 4H
C)~ 31.~ 171 C IUTL P1, A
17
1 7: :
174; NCIW C:HEI :~. TCI ';EE IF THE C:ALIE~FRATE PIhl
1 75 ; I i; LC IW -- I F 1~:O WE ~I~IC;T ~UTPI IT Cll\l THE
7~; B~ IEI LQTI::H CIN F~CIF~T 1 THE C~CI~INT
1477; F~EC:EIvErl FRI:l~ THE NF'UT F~CIUTINE
~`~'7:~:
17~
.--1l:) INIT1$:
' '1:-:1
C)C) 17 :-:~.. 71 C) ~ :i :-:2 C IF~L F~ 1 C)H
C)l:) i ~.~ C)~;~ . 1:3:3 I N A . F~ 1
C)C) 1~ 2~ i: :4 J~4 I h~ I T 1~.
1~ ~ 5
1: :7 ; C :~L I ~RATE F~ I N I ~~; LC~ C:rl C:~LL NF~I IT
1:--::: ; ANEI Cl UTF UT THE ~t
1: :..~
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1 .~1
CICi 1 E B: :~~: 1 'I2 MCIV RC~ F~REI :F 1 ; LEA:-;T ~~; I CiN I F I l-:A~T
FCi 1~.71: ~1CIV A . ~ ; BYTE
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~IS-I I MC~ 43/lJRI-4l MAC:RCl A~ EM~LER7 V: :. Cl P~ :
Ll~15 CIB I LINE :--;CIlJFi:l :E :--;TATE11ENT
C)t )24 ~J~ F I ~7~ ANL P 1, $~ lFH
1 :~7
0(:!2~:~ I: I~,/:E: - INC: F~
C)1:)_~7 Fl:) I ~ ,/ Ml IV A . @RC)
o0'. :-: C)'-! -Joo ~IJTL Bl_l~ A ; MI~I~lLE BYTE
1ll) r~ ,/4" ~ 1 CIRL PI, #4C)H
C" )2E~ BF ~C)~ ANL R 1 1 $~C)E~FH
--~'1 1:_:
OC)2~ -: 2C)4 INC: Rl) ; MCI~;T SIC;NIFIC:ANT
Cll:):~E Fll -~C15 MClV A7 ~Rl:l ; BYTE
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215
2 I ~. ; NCIW C:HEI :~' TC~ EE I F
_~ I 7 ; THE I Nl::l IM I NCi FRE~ EN13 Y W I TH I N
~I':; LI1~1IT~; CIF THE ~ Ihl 3FA7 3F~ ~ _:FI-:
'' 1'..' ; ANI:I THE $i I N 3FI:l ~ :FE ~ :-:FF ~ THO:-;E # ' :-;
~21:) ; ~iRE I N 2 ' -; C:ClMF L I 11ENT FClRIVl
_'l
2 J~:; THE $~ IN -:FA AN[I :-:F~ ANCI 3FI-: I~; THE "Cl" FClINT
J_~3 ; ~ TRAI :T 1 C12~ Fr~CIlvl THE RF~E ;ENT FF~EI .!l lEN;~Y
224; TC~ 'E l-;llF~'E WE ~F~E Nl lT TCI C:LCI'-;E TCI THE
2';~5; "C)" F'CIINT -- ~ICl THI:-; EIY ~;UEITPf~l :TINC; ~ FF~'O~I
22~:. ; THE. PF;E:-;EhlT FFi'ENl lEhlC:Y
:~_'7
J2::
J2~ THAT ~ ~ELCIW THE ~ :F~l 7 .'-:FE ANCI 3FF
': :CI : I AM LC~ Ihll3 Fl lF~ THE C:Ar~RY ClNLY
2.-:I
oll: :~. 541~-. _' ''! INIT1~ C:ALL NF'UT
_: :::
CICl3~ .-:23 2~:4 MClV RCI 7 ~PRE ;F I
C~l:)::A 2:-:F~l 2: :5 MCIV A7 I$C)F~IH
OC): :C: E:: ~ MClVR3 A7 @A
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Cl~ 'F 2: :FE ~ 4C) MCIV A7 ~C)FEH
C)1:)4 1 E:: 24 I MClVF':: A 7 ~A
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4
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5~L6
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;IS--II MOS--4 r~/lJFrI~41 MAI Rl-l A'r' EMEILER~ V-.l~) F 1?_ ~r
LOl~ CIEl~ I L I NE ~;OllF;l-:E ~;TATEI lENT
01)44 ;~3FF ~4~i MC)V A~ #C)FFH
Oq4~ E3 2 4~ 1`10VF _ A 7 @P7
C~C~47 70 ~47 - Anclc A . @R,:
~4~
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~51; LIMIT~i
~5~
C)4r F/r~:7 ~ IC INIT-O ; IF CIlJT OF LIMIT~;
r~,4 ; I~CI TO INIT~C
5~i
~.5~.
:~i7
5~r ; I r; THE # AE~l-lVE THAT I N -- FA 7 '- FE~ rFC
1 C)~4
~:.1 ; I AM LflClk:~ lCi FOR A C ARf~Y CINLY
, ~,,
r ~ . ~
~r~ EITF;IAI-T 1C)~4 TC I THE F'fiE'--;ENT FF;EI !LIENCY
l04f ~ 4 '-J~ :. MCIV F;l ) ~ $~F F;E ;F ;~
OC )41~ FC) ~- 7 MCIV Q 7 @fil )
C)04~ F~ l A~ $~CIFI H
01)4F AC) ~: J MCIV @RI)~ A
Cll:)~ 7C) I NO F;O
O~ l FO 271 Ml lV f~ 7 ~fi'C)
~:)C)'~ :FF ~7'~' ~ 7 $~oFFH
C)C)54 AC) j~7 MCIV @RI:) 7 ~q
~74
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~77
;~ 7
CI55 E~ 7~ MOV FiC) . $~F F;E'-;F 1
OC)57 ~-FA 2 ~) MOV A 7#1)FAH
O~ ',' E~-: 2~ VF':--' A~ @A
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C)l )~E E ~ _ ~ MCIVP A ~ (~A
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546
-26-
;-II M~ 4~ FI-4l MAI:F;l-l A`-;SEME~LEfi. V--:.O `~ E
LCII- CIB. I LINE SI~IJRl-:E STATEMENT
--..--,4
. '--!~5
-".-~. ; I F THEF~E I ~ _:ARpy WE APE ~E:CIVE THE # I N ~:FI-~ NL
?~J7 : ~-:F~I ---- Sl I WE Ar',E Cl~ CI FQR
.':
; IF 0~ TO INIT50
_:1:)1 1
CIC)~:.'. Ff .7~ ~:C11 ~IC I N I T'lt
. ( ,,,
.-:1 ):-:
_:1 )4
~-~q5
~-C)f-, ; fF~EI !LIENC:Y IC; CIlJT CIF LIMITS -- ~'C I
~:C)7 ; I-;ET THE C;ER I ~L t lLlTF'UT L I NE H I CiH FCIF~
~-:C)::; A LClNI-i El`~CIUC;H TIME THAT THE I~CIN~ ;CILE
';'1 )'.-J 7 PI~CILEc;' :CIF~ ~f~N4W'--~ WE AfiE Cll_IT C IF L I M I T~:
. :1 r.
: : 1 1
INIT2C):
C)C)67 :--:~JC)1 ~:14 CIF;L F~l 7 ~iC)
:-: 1 .5
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J B~:~')C) ~ .' Ml:IV h~:), tt~:)C)
Ql:)f ~B E~.-'C)~: :-:2C) MOV F~ tC):-:H
:)C)f:.CI C)~' r ~~ I hl I T2l 1: I N A . F' 1 : TCll:il:iLE THE WATC:HCII 113
~C)~:~E n~ :::2:-: Xfi'L A. ~tlC)H
C)C)7~ :24 4UTL F' 1 7 A
I~C)71 E~ CI 32!~i D. INZ pl:), INIT_'1
OC)7~' E~CI r _~ Cl-J~ Z F~ l I l\I I T:~ 1
~:27
NCll~J C:EP I AL CllJTplJT L I NE LCIW
3_' .~
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77 1:)4~ 3:--' 1 .JI~IP l )l:)
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: ::~.:
:~:4
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:-: 17; Is; THE CIIF~EC:T RE~ ll IT .-I~IMFEP LCIW --- IF '-;CI
--- R~THEP THAN Cil IINI~ INTI-l THE MAIN LCIl Ip
: :~:'.-J; WHIC:H ~IC;El--; THE F'EA~ ~IETEC:Tl-lP ---- WE ~.--;TAY
:-14l:); HEF;E I N A Lfll Ip TH~T --;I11F~LY l~l-lMF~AF\E: THE
:--:41; F~;'E~:ENT FF~EII! WITH THE " C )" FF;EClCIENI-:Y AN[
:-:4. ~ Cll ITPl_IT'-: THE ~ IN Bl :1:1 FnRM CIN THE Bl ll-: ANC
~9~5~
Yl ~
-27 -
-~;I:-;-II MC:~;-4:-:/UPI-41 MhC:RI-~ SEME~LEF~. V~:.CI F'~
LCII' C~B~ I LINE : ;OLlRl :E ST~TEMENT
_:4_~; F'CIRT
~4
_:4~. I N I T~
7'~ )4 '-:4~ L F'1. #1:)4~1
C)~7~ '? --.47 I N ~ .~7 F~1
C~ 7)~ 'B .-:4:-: .IB;~ I N I T61:
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3'~1)
3~.1 ; WE ~E REh[l I Nl-; THE LClh[l CIUT rl I kEC:TLY -- NCIT
35~ NI~7 THE F'EA~ nETE~T~ FINrl THE P~ECENT
~S~: ; FREC.!I_IENCY
~ ;4
CIC)7E 5416 ~:55 C:~LL NFI IT
: :5~.
~. ~. 7
_. .~ ::
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:3~:-C); E~LI:-; ~Nn F'CIRT 1
': 1 ) :: 4 4 ~ 4
_ ~':.._:
. 4
3/'~ ; O~ITPI IT I NFI I C IUT CIF F'CIRT 1 f~ CI THE BU:;
3~ ; LCI~I INF~ `7'~ R.3 I lF REI1
--~:7; ~C:CI RCIIJTINE I'-; C~LLEEI WITH RB1 SELEI_:TE~I
I lcl -:~ rl., . :~ .-;EL
~.~7~:~
Cl~::: 54OC~ ':7 1 C:~LL BC CI
':7:;~
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:74
Cll ):-:5 FC: ~-:75 MCIV ~7~4
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C-:7::; ~10ST ~I~N clllr F~14 THRII F'17
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C)()~l? 5-:FC) .-~ NL h7*(~FOH
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:3.-~1 ; rl) IE--;N~ T FL~'_;H
L5~i
.
-28-
5-4~:/UF'I-41 M~C~ ;';EM~LEF~, V::~ q '~
LC11' C1c J LINE 5111 Ip1 :E '-;T~TEMENT
~ C~ .,
l )l:) -. c~ Ml IV R~ C~
C)1:;: :F E1E~'-:1:) -. c~4 - M1 1V F;:~ C):~:C)H
~ C,~5
C)C)?1 C)'~ . INIT'.'J: IN . ~.P1 ; TO131iLE WQT~:H E11-1)-i
7 XRL ~q, #I:):--:H
C)C)'.-J4 --:C-J ~ -: 01 ITL F'1. ~
.5 EQ~ 7~ rlJN Z R' ', I N I T5'.-'
1:)C)~J7 EB~1 4qC) Cl. 1NZ fi':--:, INIT
41:) 1
4 C) _
C)C) ''~ ~:)47~ 4C):: JMP INIT5C)
4~)4
4C)5; f!~l L FINI5HE~1 IIITH THE INITIQLIZf`TI11N F;C11JTIt`~E
4C)~.; 5 ET THE ~ -;PLQl-:EMENT ~$ Tl 1 tEF~C1
4~:)7 ; ~NC1 5TQF~T E~ I T 5ET TC1 Q
4~ ):-:
4C) ~ INIT~:.(:):
411:)
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01 ) .-.~C1 E:l:)c) 1 41~ -lv @r~ C) 1 ; 5ET 5TQF~T El I T
C1~ F 1:--: 41:-: I NC: F~)
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41 '
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417
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4 ~:~
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4'~ h'; THE ~1IRE1-T fi'E~I~ll 11lT RCILlTINE rlID --- H4WEVEF; IT
4~,'. ; C1ETER1~1INE'.~ WHI~T THE F'EQ~:; LC1~D IS QN~I C 111TF'LIT'; C1NLY
4:~C) : TH~T I NFO
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1C~ 4: :7I IF'I--41 I'lAC:RCI A':';EMEILER, . V~:. O F~iF
LOI-I-IEI- J L I NE ~:CILIF~ E -;TATEMENT
441; F1 I~; = O -- TH~T l'lEf!tN~; THERE WA:~; A F'RCIElLElq
44 ; I N THE NF ~ IT Rl-llJT I NE --- THE 1~1-l I L CI~; I LL~TLIF;
44.~:; CII[r NI-~T CILITRIIT THE HICiH LEVEL IN THE PRCIF'EF;
444 7 Al~ -IUNT I IF TIME ---- -;ET THE SEF;IAL Cl UTRI IT
445 7 REC;I';TEFR TI I ALL 1 '~; -- TCI IN~IIC:~TE T~I THE
44~ l-IN:-;I-ILE FF;I-ICES. ;l IF~ THAT THERE I'; ~ PF;CIEtLEM
447
44c
44.7 I`l~IN11:):
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ACI C)4A'-' 4.~i4 ' I1~1F M~IN
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4. .-~
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4~
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C)l:lE~ l E~ E 4~: 4 MI-IV R 1 $~F'Ef~ 1 ; FR 1 --~ F'~:~T F'E~ C:NT
4~
1:)1)~:--: Fl:) 4~ I)-IV A7 @RI:
C)I:)~4 -:7 4~-.7 C :F'L f!l
OI:)E15 ~: 1 4~ CIrl Q 7 @R 1
4~: C~
47C); ~;TCIF~E THE REC;llLT TEMFClfiARILY IN R:~ ANCI h'~'
471
47~ M)-)V R ' 7 A
4 7: :
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MI~C~;-4:~ PI-41 MAC:r;CI AC;C~;E~ LEr~, V~ AI-.~C
r~. I LINE ~;CILlF~i :E C;TATEMENT
4.~
4~ F PEAh~ I~; LE'~;C; F~r~E~-;EN-r -- Nl I C:APF~Y
4~ ; Pr~E~. ;ENT l :I-IUNT I S NCIT ::~ THAN THE CLI~PENT PEA~
4.~:; VAL~IE
4 .-~4
ClOl :~ F~lO 4~-~S JC: MA I NSC)
4~
4~7
4~J:~
4 .~ ; THE F'P~E~;ENT C:CIUN;T I '; :~ THE CIL~I F EA~
t" ~1~ ; __ ._;0 TPANC;FEF THE PPE~ENT
',C)1 ; C:Ol INT INTO THE FEA~ LclArl c:cluNTEr~;
5~
OC)C:4 ~ :51):: ' Ml-lV RC), ~F RE~;F 1
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.511) ; IS U --;E~I TCI C :CII INT THE ~ C IF NEl~ ~ ~LC:ULQTE~I
51 1 ; LCIA~I; THAT QRE LE~;~C; THAI`J THE c:l-lririENT
51~; FEQ~ VALLIE -- WHEN THAr )I:l-ll-lNTErt = :3
51 l: -- WE hNI-lW THAT THE FEA~ HA; AC:TUALLY
5 1 4 : HQF~PENE~I
~, 1 ~, .
C)C)C:A ~ -: :1 S 1~:. MQ I N4C): MCIV F;C) ~C:NTPE~
:) .517 Ml lV @F~
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51~-/
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S_l
5~J~: ; THE PREI ;ENT FF~EF.l~IENC:Y ~JAI-; LE ~ THAN
5~ ; THE F'EA~'; -- WA --; THE ~1 I FFEPENI-:E
5~14 ; CiF~EATE~ THAN 51 ~ F I T I ~; NCIT
5_'5; THEN hlE PEQLLY ~I'I NI~T HAVE A PEA~
S J~ ; __ .SCI ZERCI THE FEA~ C:CIUNTEP
~1~7 THE n I FFEPENI~E C:l-il INT I '~ F~' AN~I PC-
S~
C) M~ I NC :~
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FA '1~ . A. F~
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5--::--: ; IS LE'-;'i THQN 51 !
s~ ~
- 3 1 -
;I~-,-II Ml-~45XllF'I-41 MAC:F~C~ ;Er1BLEp~ v~ ) pf~:F
L~ Cl~. IL I NE SCIUPC:E ST~TEMENT
il l T4 MA I N41:
'14
541
'.4
'.4~:; THE PPE~;ENT C:CIl INT I 5 LE~-;--; TH~N THE FE~k~
544: CCILINT AN~I THE rlIFFEF~lENl-:E I~: ~ 512
'.4', ~ ; C:NTF'E~ -- IF SCI WE H~VE
e,4~. ; QLREQrly ~;ENT 01 IT THE F E~ LOArl TO
547; THE HP 41 ~NCI UFB~TE~I THE 5ERIAL Cll IT
54~ T~ -- Sl I ~IU. ;T l~l~l TC I r~ IN
54~.~
~'f.l ; I S PE~k' C:CIl INTEF;
'~51
~:II:)Cl' ~ - Ml-IV R~:t 7 -~ TF-E~
oo~l~ FC~.553 r1c'v ~ 7 ~RI:)
rl-:o:-:554 XPL A, ~C1:-:H
C:~ i5 .IZ r~ rJ
'~5t:.
5.57
55:~: ; I NC:RE~lENT PEQ~ c:cllJNTEr
C~CIBF 1 Cl 5~ C) I NC: @~0
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7~:.4 ; I N THE METAL h'CICl -- THEFi'EFI:lRE I Wl-ll ILEI
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lC)7~ ULTIFLY THE REMQIN[IEF~ ~Y 4 ~NCI rlIVI~IE ~Y THQT
11:)7:-~ fCIINTEEl TCI ~Y Rl AN~I WE HQVE THE FF~AI~TIllNAL
11:)74 ; F~FT CIF 4 ~N
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-42-
II M~ -4::/UFI-4I M~C:RCI f~'`';EM~LER, V~:.C) PAC;i~
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C~ln4 1~FF 11~7 A~17;11- A7 ~CIFFH
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11 '-:4 ; WE A~E NCIT 7;10NE -- ~IEC:F;EMENT THE fi'EMA I l~l~lER
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: 1 F~u-lTINE Il-; EXITED I~Y THE JNTI~ NFUT:~
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LC1l3 OB. I LINE SCIl lRl3E ~-;TQTE11ENT
1 47C
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147~; C:HEC:~ TO C;EE IF THE ZERCl LIhlE ICi HIl:iH -- IF IT I';
147_ ; THEN THE Ffi~E'-;ENT FRE~!LlENl-:Y C;l-lE'~ TC I THE ZERCl1, r~ ~ 3
1474 ; REC; I C;TER ---- THE C :NTCI REC~ I C;TER I S ';ET TO :~ SCl TH~T 4
1475; REAElINlZ~'-; WILL E~E AVEF~AC~EEl TClC;ETHEk FCiR THE "1~" FREl!l_lENli`.1 47~.
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14~,?'~7 ~7 I .'; r~ ~- ;ll IN ~' T 7;1):1 ANYTH I NCi
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15~ C:ClI INT Tl:l THE ZEfi'Cl RECiIC;TEF;~; -- IF IT
1 5C)~' : .Jl_l.';'r LlEC:F;'EMENTEC~ Tl-l ~ C) " THEl\J ~l I V I CIE
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