bpnoookqj^ `^k=~åç=hjiáåé=_ç~êç User s Guide

Transcription

1 bpnoookqj^ `^k=~åç=hjiáåé=_ç~êç User s Guide

2 Copyright The data in this document may not be altered or amended without special notification from ETAS GmbH. ETAS GmbH undertakes no further obligation in relation to this document. The software described in it can only be used if the customer is in possession of a general license agreement or single license. Using and copying is only allowed in concurrence with the specifications stipulated in the contract. Under no circumstances may any part of this document be copied, reproduced, transmitted, stored in a retrieval system or translated into another language without the express written permission of ETAS GmbH. Copyright 2006 ETAS GmbH The names and designations used in this document are trademarks or brands belonging to the respective owners. Document QH R1.0.2 EN TTN F 00K ES A CAN and K-Line Board

3 `çåíéåíë 1 Introduction Features CAN Interface K-Line and L-Line Interface General Applications System Requirements Hardware Requirements Software Support General Safety Instructions Hardware Front Panel Block Diagram Interfaces Serial CANbus Interface Serial Diagnostic Interface VME64bus Interface Analog Output Ipetronik Modules Contents 3

4 2.5 Hardware Configuration Jumpers JP1-JP Slot Firmware Update Technical Data Pin Assignment CAN1-CAN K-Line/ L-Line Backplane Connector Electrical Data Processor and Measurement Data Memory Interfaces VMEbus Interface Power Supply General Data Physical Dimensions Environmental Conditions Fulfilled Standards and Norms Cables and Accessories CAN Interface Cable CAN Cable K CAN Cable K CAN Cable K CAN Cable CBAC CAN Cable CBCX CAN Interface Cable K CAN Termination Plugs CAN Termination Plug KS1 (120 Ohm) CAN Termination Connector KS2 (120 Ohm, SUB-D) CAN Termination Plug CBCX (120 Ohm, SUB-D) K-Line Cable K-Line Cable CBK K-Line Cable K K-Line Cable K Cable Adapter KA Cable Adapter K Cable Adapter K18 (K-Line Extension) Contents

5 5 Ordering Information ES A Accessoires CAN Cable Sub-D CAN Cable Lemo OS CAN Termination Plug CAN Adapter K-Line Cable Glossary ETAS Contact Addresses List of Figures List of Tables Index Contents 5

6 6 Contents

7 1 Introduction 1.1 Features This section contains information about the basic features and applications of the ES A board. note Some components of the board may be damaged or destroyed by electrostatic discharges. Please keep the board in its storage package until it is installed. The board should only be taken from its storage package, configured and installed at a work place that is protected against static discharge. The ES A board has four CAN interfaces as well as a K-Line and L-Line interface. A VME64 slave interface enables integration to VMEbus systems, such as the ES1000 system. The board makes it possible to access serial ECU interfaces CAN Interface The CAN interface has the following features: 4 independent, DC decoupled CAN interfaces CAN protocol V2.0a (standard identifier) CAN protocol V2.0b (extended identifier) CAN Calibration Protocol V2.0/V2.1 (standardized ASAP1a CCP) KWP2000 on CAN XCP on CAN UDS on CAN (ISO 14229/ ISO 15765) ISO high-speed physical layer Baud rates of up to 1 MBaud can be set using software Intel 82C527 communication controller Connection of measuring instruments which communicate via CAN, e.g. IPETRONIK modules K-Line and L-Line Interface The K-Line and L-Line interface has the following features: Galvanic isolation from VMEbus Conforms to ISO requirements for diagnostic testers Transfer rates of up to 250 kbaud Introduction 7

8 K-Line: automatic configuration on 12 V and 24 V operation voltage Protocols: McMess, KWP2000, Keyword71 Dallas DS87C520 communication controller General The ES A board has the following features: Integrated in ASCET-RP, INTEGRIO and INCA Firmware of the ES A can be updated using the service software HSP running on the connected PC while the board is mounted in the ES1000 system Up to four ES A can be operated simultaneously on an ES1000 Motorola MPC555 with 40 MHz to reduce the system processor load 1 MByte SRAM 1 MByte Flash Independent bus systems for communication controllers and MPC555 VME64 slave interface integrated programming module for generating programming voltage for Flash EPROMs in ECUs Connector solution for extrem mechanical load in the vehicle Automotive temperature range: -40 C to +85 C/ -40 F to +185 F 1.2 Applications You can use the ES A board for the following tasks: connecting external devices using the CAN interface with VMEbus systems ECU calibration using CANbus and/or diagnostic interface ECU diagnostics Flash programming of ECUs measuring external measurands using Ipetronik modules recording and acquiring communication data in one or more CAN networks simulation of CAN interfaces in CAN networks 8 Introduction

9 1.3 System Requirements This section tells you which hardware and software are needed to operate your ES A. note Carefully check the software version numbers and cable names. Wrong software versions and cables could impair the proper functioning of your ES A damage the ES A and the connected devices Hardware Requirements You need an ETAS VME system ES or ES for the ES A board. The ES A is not supported by an ES or an INCA-VME system Software Support You need following software versions to support the ES A board: Software Min. Version HSP INCA ASCET-RP INTECRIO General Safety Instructions Please be aware that this board interacts with the application system. These interactions alter the application system behavior. Failures or unexpected operational results may be critical to the application system behavior. Attention Using the board is only allowed in application systems with additional safe or redundant systems (e.g. emergency stop, backup system). Using the board in any way other than described in this documentation is not permissible and can lead to connected products being damaged or destroyed. The safety instructions must be heeded at all times! Liability cannot be accepted for damage caused by non adherence to the instructions contained in this document. Introduction 9

10 10 Introduction

11 2 Hardware This chapter contains information about interfaces, hardware configuration, usage of Ipetronik modules and firmware update of the ES A board. 2.1 Front Panel The following figure shows the front panel of the ES A board, detailing the position of the interface connectors. CAN 3 CAN 2 CAN 4 CAN 1 K-Line ES A Fig. 2-1 ES A Front Panel 2.2 Block Diagram The following block diagram shows how the ES A board works. Fig. 2-2 on page 12 represents the ES A in a simplified diagram with the ECU interfaces on the left and the controller unit and the slave VMEbus slave interface on the right. Hardware 11

12 Both the communication controller and the MPC555 microprocessor have their own bus system. The two bus systems are connected via a buffer. pao^j 16 MB hjiáåé `^k=n `^k=o `^k=p hjiáåé aêáîéê `^k qê~åëåéáîéê `^k qê~åëåéáîéê `^k qê~åëåéáîéê `^k `çåíêçääéê `^k `çåíêçääéê `^k `çåíêçääéê jáåêçj ÅçåíêçääÉê cä~ëü 128 KB U amo^j 16 KB U a~í~=^åèìáëáíáçå=c jé~ëìêéãéåí=`çåíêçääéê=ea^j`f NS PO jáåêçj ÅçåíêçääÉê amo^j 128 KB PO PO cä~ëü 1 MB po^j 1 MB pä~îé sjbäìë=fåíéêñ~åé `^k=q `^k qê~åëåéáîéê `^k `çåíêçääéê Fig. 2-2 Block Diagram The VME slave interface contains the buffers for data and address lines as well as the interrupt logic. The two dual-ported RAMs can be accessed both from the VMEbus and the communication controller. The communication controller makes four CAN interfaces available as well as the K-Line and L-Line interfaces. Their signals are routed to the connectors on the front panel via dc decoupling. At an analog output a programm voltage for Flash EPROMs is available. 2.3 Interfaces The ES A board has four CANbus interfaces and a serial K-Line and L- Line interface for connecting VMEbus systems with external devices. It also has a communication controller for data exchange via the serial interfaces. This guarantees high data transfer rates Serial CANbus Interface The ES A board has four CANbus interfaces. The CANbus signals are routed to four 8-pin connectors, CAN1 to CAN4, on the front panel. The four connectors, CAN1-CAN4, are 8-pin Lemo sockets. Protocols The connection to the external device has a maximum transfer rate of 1 MBaud (ISO high-speed). The following CAN protocols are supported: 12 Hardware

13 CAN protocol V2.0a standard identifier (11 bit identifier) CAN protocol V2.0b extended identifier (29 bit identifier) CAN Calibration Protocol V2.0/V2.1 (standardized ASAP1b CCP) KWP2000 on CAN XCP on CAN UDS on CAN The four CANbus interfaces support the ASAP1b protocol to guarantee ECU calibration, and the acquisition and monitoring of CANbus communication data in the vehicle bus. If you use the ES A board for ECU calibration via the CANbus channels, the ASAP1b protocol has to be implemented in the ECU. CANbus Data Acquisition The ES A board makes flexible recording and acquisition of communication data possible, which is exchanged between ECUs in a CAN network. Data from up to four individual CAN busses can be acquired and recorded. If CANbus data is acquired using interfaces such as the KWP2000 or CCP, the data is acquired synchronously to the ECU data. The number and configuration possibilities of the CAN bus and its messages are prescribed by the relevant control software. By configuring with jumpers JP1-JP3, you can connect two CAN buses in parallel on the ES A board. For more information on the configuration of jumpers JP1-JP3, please refer to the section "Jumpers JP1-JP3" on page Serial Diagnostic Interface There is a 14-pin K-Line connector (a socket) on the front panel of the ES A board for connecting the K-Line and L-Line of the ECU diagnostic interface. The system s control software determines the functionality of the K- Line interface of the ES A board. Protocols The transfer rate can be a maximum of 250 kbaud. The transfer rate and system frequency are set using the control software. The interface supports the following calibration and diagnostic protocols: McMess Keyword71 KWP2000 Hardware 13

14 If you use the ES A board for ECU calibration with the K-Line, certain protocols have to be implemented in the ECU: Function Measuring and calibration Diagnostics ECU programming using flash memory Protocol McMess or KWP2000 calibration protocol Keyword71 and KWP2000 diagnostic protocols KWP2000 diagnostic protocol Switching 12 V / 24 V The ES A board detects whether the K-Line interface operates with 12 V or 24 V power supply. The K-Line interface is configured automatically for the operation at the attached net VME64bus Interface The board has a VME64 slave interface. The system controller identifies and configures the address ranges and interrupts once the VMEbus system has been switched on Analog Output The ES A board has an analog output voltage on the K-Line connector for programming ECUs. The output voltage varies between 3 V and 24 V with a resolution of 12 bits. 2.4 Ipetronik Modules The Ipetronik modules have a CANbus interface. The various Ipetronik modules can be connected in series and connected to the ES1000 using a CANbus of the ES A board. Note For more details on the support of Ipetronik modules, please consult the ETAS product catalog or contact ETAS directly. The following modules are supported: Ipetronik Module VIN SENS DMS Function voltage measurement - 8 channels voltage measurement with sensor supply - 8 channels strain gauge - 8 channels 14 Hardware

15 Ipetronik Module CNT THERMO SENS / THERMO 2/6 SENS / THERMO 4/4 SENS / THERMO 6/2 THERMO II PT100 Function universal counter - 4 channels thermocouple temperature measurement - 8 channels voltage measurement with sensor supply - 2 channels; Thermoelementmessung - 6 channels voltage measurement with sensor supply - 4 channels; thermocouple temperature measurement - 4 channels voltage measurement with sensor supply - 6 channels; thermocouple temperature measurement - 2 channels thermocouple temperature measurement - 16 channels PT100 element measurement - 8 channels 2.5 Hardware Configuration The following sections contain information on the configuration of the hardware using jumpers. The following figure shows you the position of the jumpers on the ES A board. O Q OQOQ gmp gmn N P NP NP gmo Fig. 2-3 Position of the Jumpers Hardware 15

16 2.5.1 Jumpers JP1-JP Slot You use jumpers JP1-JP3 to configure the parallel connection of the CAN buses. Jumper Pin Meaning JP1 1-2 and 3-4 closed CAN1 connected with CAN2 JP1 Open No function JP2 1-2 and 3-4 closed CAN2 connected with CAN3 JP2 Open No function JP3 1-2 and 3-4 closed CAN3 connected with CAN4 JP3 Open No function The ES A board has to be installed to the right of the bus master board. Up to four ES A can be used in one VMEbus system. ID1 to ID4 are assigned to the ES A boards from left to right depending on the installation order in the VMEbus system Firmware Update The firmware can be updated by the user. It means that future firmware versions can also be used on the ES A board. The update takes place using service software from the connected PC. HSP V3.2 or higher is required for the firmware update of the ES A board. 16 Hardware

17 3 Technical Data 3.1 Pin Assignment The following section contains details of the assignment of the pins on the front panel CAN1-CAN4 Q R P U S O N T Fig. 3-1 Connector - CAN1 to CAN4 (Lemo EPC.1B.308 ) Pin Signal 1 Reserved 2 CAN low 3 CAN GND 4 Reserved 5 Reserved 6 CAN GND 7 CAN high 8 Reserved Tab. 3-1 Lemo Pin Assignment - CAN1 to CAN4 Technical Data 17

18 3.1.2 K-Line/ L-Line Fig. 3-2 K-Line/ L-Line Connector Pin Signal A KL. 15 B ECU GND C ECU GND D K-Line E L-Line F Reserved G Reserved H Vpp I Reserved J Reserved K Reserved L Reserved M Reserved N Reserved O UBD Tab. 3-2 K-Line Pin Assignment 18 Technical Data

19 3.1.3 Backplane Connector The following table shows the assignment of the 160-pin backplane connector. The signals marked "/" are low-active. Pin Row Z Row A Row B Row C Row D 1 Open D00 /BBSY D08 Open 2 VME64 D01 /BCLR D09 Open 3 Open D02 /ACFAIL D10 Open 4 GND D03 /BG0IN D11 Open 5 Open D04 /BG0OUT D12 Open 6 GND D05 /BG1IN D13 Open 7 Open D06 /BG1OUT D14 Open 8 GND D07 /BG2IN D15 Open 9 Open GND /BG2OUT GND Open 10 GND SYSCLK /BG3IN /SYSFAIL Open 11 Open GND /BG3OUT /BERR Open 12 GND /DS1 /BR0 /SysReset Open 13 Open /DS0 /BR1 /LWORD Open 14 GND /WRITE /BR2 AM5 Open 15 Open GND /BR3 A23 Open 16 GND /DTACK AM0 A22 Open 17 Open GND AM1 A21 Open 18 GND /AS AM2 A20 Open 19 Open GND AM3 A19 Open 20 GND /IACK GND A18 Open 21 Open /IACKIN Res. A17 Open 22 GND /IACKOUT Res. A16 Open 23 Open AM4 GND A15 Open 24 GND A07 /IRQ7 A14 Open 25 Open A06 /IRQ6 A13 Open 26 GND A05 /IRQ5 A12 Open 27 Open A04 /IRQ4 A11 Open 28 GND A03 /IRQ3 A10 Open 29 Open A02 /IRQ2 A09 Open Technical Data 19

20 Pin Row Z Row A Row B Row C Row D 30 GND A01 /IRQ1 A08 Open 31 Open -12 V +5 V Stby +12 V Open 32 GND +5 V +5 V +5 V Open Tab. 3-3 Backplane Pin Assignment 3.2 Electrical Data Processor and Measurement Data Memory Processor Processor Memory Motorola PowerPC MPC555, 40 MHz 1 MByte SRAM (32-bit, burstable) 1 MByte Flash (16-bit) Measurement Data Memory On-board Memory extension 16 MByte Planned Interfaces CANbus Interface CAN1 to CAN4 Protocols Controller 4 independent interfaces Physical layer ISO high-speed to 1 MBaud DC decoupled from the VMEbus CAN V2.0a (Standard Identifier), CAN V2.0b (Extended Identifier), CAN Calibration Protocol V2.0/V2.1 (standardized ASAP1b CCP, KWP2000 on CAN, XCP on CAN, UDS on CAN Intel 82C Technical Data

21 K-Line Interface note The K-Line interface is not sustained-short-circuit-proof against U Batt! K-Line interface K-Line and L-Line in acc. with ISO kbaud can be set via software DC decoupled from the VMEbus Operation Voltage 12 V / 24 V, automatically detection Protocols McMess, KWP2000, Keyword71 Controller Dallas DS87C520 Analog Interface Analog output on K-Line/ L-Line Connector (pin H) Output voltage V pp Resolution Output current 3 V bis 24 V 12 Bit max. 50 ma VMEbus Interface Type Slave (A24:D16; A40:MD32) Configuration Standard Auto-ID configuration Connector 160-pin DIN Power Supply Power supply voltage Power consumption +5 V (via VME backplane) 5 W / 7 W (Standard / Maximum) Technical Data 21

22 3.3 General Data Physical Dimensions Circuit board Front panel 100 mm x 160 mm / 3.94 in x 6.30 in mm x 20.3 mm / 5.05 in x 0.80 in Environmental Conditions Operating temperature -40 C to +85 C / -40 F to +185 F Storage temperature -55 C to +85 C / -67 F to +185 F Relative humidity 0 % to 95 %, non-condensing Fulfilled Standards and Norms EN B EN EN EN EN Technical Data

23 4 Cables and Accessories This section provides you with an overview of the cables, adapters and accessories currently available for the ES A together with their order numbers. 4.1 CAN Interface Cable CAN Cable K106 Lemo 1B - 9-pin SUB-D Fig. 4-1 CAN Cable (ES1222-A) Product Length Order number K106 2 m F 00K CAN Cable K107 Lemo 1B - Lemo 0S Fig. 4-2 CAN Cable K107 Product Length Order number K107 2 m F 00K Cables and Accessories 23

24 4.1.3 CAN Cable K15 Lemo 2-pin connector - Lemo 2-pin socket Fig. 4-3 CAN Cable K15 Product Length Order number K15 2 m Y 261 A CAN Cable CBAC Cable SubD - Lemo 0S FFA (9fc-2mc) FMH1 CBAC F 00K CAN (no CAN GND) Fig. 4-4 CAN Cable CBAC Product Length Order number CBAC m F 00K CAN Cable CBCX Cable SubD - SubD (9fc-9mc) FMH1 CBCX F 00K CAN FMH1 Fig. 4-5 CAN Cable CBCX Product Length Order number CBCX m F 00K Cables and Accessories

25 4.1.6 CAN Interface Cable K95 CAN Cable Adapter SIC - SUB-D Fig. 4-6 CAN Interface Cable K95 Product Length Order number K95 2 m F 00K CAN Termination Plugs CAN Termination Plug KS1 (120 Ohm) Fig. 4-7 CAN Termination Plug KS1 (120 Ohm) Product Order number KS1 Y 261 A CAN Termination Connector KS2 (120 Ohm, SUB-D) Fig. 4-8 CAN Termination Connector KS2 (120 Ohm) Product Order number KS2 F 00K Cables and Accessories 25

26 4.2.3 CAN Termination Plug CBCX (120 Ohm, SUB-D) Cable SubD - SubD (9fc-9mc, 0 m), 120 Ohm Resistor Ohm Fig. 4-9 CAN Termination Plug CBCX (120 Ohm, SUB-D) Product Order number CBCX F 00K K-Line Cable K-Line Cable CBK pin round connector - 14-pin round connector Fig K-Line Cable CBK100 Product Length Order number CBK m5 1,5 m F 00K Cables and Accessories

27 4.3.2 K-Line Cable K78 14-pin round connector - 14-pin round connector. Fig K-Line Cable K78 Product Length Order number K78 3 m F 00K K-Line Cable K96 14-pin round connector - 14-pin round connector. Fig K-Line Cable K96 Product Length Order number K96 8 m F 00K Cable Adapter KA45 14-pin cable box - cluster plug Fig Cable Adapter KA45 Product Length Order number KA45 0,2 m F 00K Cables and Accessories 27

28 4.3.5 Cable Adapter K72 Connecting cable CARB connector - 14-pin jack Fig Cable Adapter K72 Product Length Order number K72 0,2 m F 00K Cable Adapter K18 (K-Line Extension) 14-pin jack - 14-pin jack Fig Cable Adapter K18 (K-Line Extension) Product Length Order number K18 0,2 m Y 261 A Cables and Accessories

29 5 Ordering Information 5.1 ES A Order name Short name Order number ES A CAN- and K-Line Board ES A F 00K Accessoires CAN Cable Sub-D Order name Short name Order number CAN Cable, Lemo 1B - 9-pin SUB-D socket, 2 m K106 F 00K CAN Cable SubD - Lemo 0S FFA (9fc-2mc, 2 m) CBAC130-3 F 00K CAN Cable SubD - SubD (9fc-9mc, 2 m) CBCX130-2 F 00K CAN Cable Lemo OS Order name Short name Order number CAN Cable, Lemo 1B - Lemo OS, 2 m K107 F 00K CAN Cable, Lemo 2-pin connector - Lemo 2-pin socket, 2 m K15 Y 261 A CAN Termination Plug Order name Short name Order number CAN Cable SubD - SubD (9fc-9mc, 0 m), 120 CBCX131-0 F 00K Ohm Resistor CAN Termination Plug, Lemo 2-pin connector, KS1 Y 261 A Ohm CAN Termination Connector, SUBD, 120 Ohm KS2 F 00K Ordering Information 29

30 5.2.4 CAN Adapter Order name Short name Order number CAN Interface Cable, DSUB, 2m K95 F 00K K-Line Cable Order name Short name Order number Cable K-Line (14mc-14mc, 1m5) CBK100-1m5 F 00K Cable K-Line (14mc-14mc, 3 m) K78 F 00K Cable K-Line (14mc-14mc, 8 m) K96 F 00K Cable Adapter for K-Line, 14-pin Cable box - cluster KA45 F 00K Plug, 0.2m Cable Adapter for K-Line, 14-pin jack - 14-pin KA18 Y 261 A jack, 0.2 m Cable Adapter for K-Line, CARB connector pin jack, 0.2m K72 F 00K Ordering Information

31 6 Glossary ASAP CAN CCP DMS UDS Activity Group for the Standardization of Application Systems. Controller Area Network CAN Calibration Protocol Strain gauge Unified Diagnostic Services Glossary 31

32 32 Glossary

33 7 ETAS Contact Addresses ETAS HQ ETAS GmbH Borsigstraße 14 Phone: Stuttgart Fax: Germany WWW: North America ETAS Inc Miller Road Phone: ETAS INC Ann Arbor, MI Fax: USA WWW: Japan ETAS K.K. Queen's Tower C-17F Phone: , Minatomirai, Nishi-ku Fax: Yokohama Japan WWW: Great Britain ETAS Ltd. Studio 3, Waterside Court Phone: Third Avenue, Centrum 100 Fax: Burton-upon-Trent Staffordshire DE14 2WQ WWW: Great Britain ETAS Contact Addresses 33

34 France ETAS S.A.S. 1, place des Etats-Unis Phone: SILIC 307 Fax: Rungis Cedex sales@etas.fr France WWW: Korea ETAS Korea Co. Ltd. 4F, 705 Bldg Phone: Yangjae-dong, Seocho-gu Fax: Seoul sales@etas.co.kr Korea China ETAS (Shanghai) Co., Ltd Bank of China Tower Phone: Yincheng Road Central Fax: Shanghai , P.R. China sales.cn@etasgroup.com WWW: 34 ETAS Contact Addresses

35 iáëí=çñ=cáöìêéë Fig. 2-1 ES A Front Panel Fig. 2-2 Block Diagram Fig. 2-3 Position of the Jumpers Fig. 3-1 Connector - CAN1 to CAN4 (Lemo EPC.1B.308 ) Fig. 3-2 K-Line/ L-Line Connector Fig. 4-1 CAN Cable (ES1222-A) Fig. 4-2 CAN Cable K Fig. 4-3 CAN Cable K Fig. 4-4 CAN Cable CBAC Fig. 4-5 CAN Cable CBCX Fig. 4-6 CAN Interface Cable K Fig. 4-7 CAN Termination Plug KS1 (120 Ohm) Fig. 4-8 CAN Termination Connector KS2 (120 Ohm) Fig. 4-9 CAN Termination Plug CBCX (120 Ohm, SUB-D) Fig K-Line Cable CBK Fig K-Line Cable K Fig K-Line Cable K Fig Cable Adapter KA Fig Cable Adapter K Fig Cable Adapter K18 (K-Line Extension) List of Figures 35

36 36 Contents

37 iáëí=çñ=q~ääéë Tab. 3-1 Lemo Pin Assignment - CAN1 to CAN Tab. 3-2 K-Line Pin Assignment Tab. 3-3 Backplane Pin Assignment List of Tables 37

38 38 Contents

39 fåçéñ A ^ÅÅÉëëçáêÉë OV ^ÅÅÉëëçêáÉë OP ^å~äçö=fåíéêñ~åé ON ^å~äçö=çìíéìí NQ ^ééäáå~íáçåë U ^p`bqjom U B _~Åâéä~åÉ=`çååÉÅíçê NV _äçåâ=aá~öê~ã NN _äçåâ=çá~öê~ã NO C `~ÄäÉë OP `~äáäê~íáçå=ëçñíï~êé V `^k=ãéëë~öéë NP `^knj`^kq NT `^käìë=a~í~=^åèìáëáíáçå NP `^käìë=fåíéêñ~åé OM `çåñáöìê~íáçå NR `çååéåíçê `^knj`^kq NT hjiáåé NU ijiáåé NU `çååéåíçê=éáå=~ëëáöåãéåí NT D a^j`q ëéé bqh=áåíéêñ~åé E båîáêçåãéåí~ä=`çåçáíáçåë OO bpnmmm U bqh=áåíéêñ~åé V F cé~íìêéë T cáêãï~êé=réç~íé U, NS cêçåí=m~åéä NN G déåéê~ä=a~í~ OO Index 39

40 déåéê~ä=p~ñéíó=fåëíêìåíáçåë V H e~êçï~êé NN e~êçï~êé=åçåñáöìê~íáçå NR e~êçï~êé=oéèìáêéãéåíë V epm NS I fåíéêñ~åé ~å~äçö NQ, ON `^käìë NO, OM hjiáåé ON ëéêá~ä=çá~öåçëíáå NP sjb=sqj NQ fééíêçåáâ=ãççìäéë NQ J gìãééêë gmnjgmp NS éçëáíáçå NR K hjiáåé NU hjiáåé=fåíéêñ~åé ON L ijiáåé NU M j~ëíéê=_ç~êç NS jé~ëìêéãéåí=a~í~ ãéãçêó OM jççìäéë fééíêçåáâ NQ müóëáå~ä=aáãéåëáçåë OO máå=~ëëáöåãéåí NT `^knj`^kq NT hjiáåé NU mçïéê=pìééäó ON mêçåéëëçê OM mêçíçåçäë NO, NP R oéèìáêéãéåíë Å~äáÄê~íáçå=ëçÑíï~êÉ V bqh=áåíéêñ~åé V m`=áåíéêñ~åé V S päçí NS pçñíï~êé=pìééçêí V pí~åç~êçë OO pïáíåüáåö=no=s=l=oq=s NQ póëíéã=oéèìáêéãéåíë V póëíéã=êéèìáêéãéåíë ëéé oéèìáêéãéåíë T qéåüåáå~ä=a~í~ NT V sjbsqñ=fåíéêñ~åé NQ sjbäìë NS bäéåíêáå~ä=a~í~ ON N kçêãë OO O lêçéêáåö=fåñçêã~íáçå OV P m`=áåíéêñ~åé V 40 Index