Dynamic work Offset in 5-Axis XYZAC
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20 Jul 2023 14:18 #275898
by akg1904
Dynamic work Offset in 5-Axis XYZAC was created by akg1904
Hi,
Recently I was able to crack down on the proper 5-Axis XYZAC setup for my CNC machine.
Now when I was going through some other features of 5-Axis machine, I came across concept called Dynamic Work Offset(DWO) as shown in link .
When I was going through the forum for the same, I found out a post on DWO ( link ) where @plopes9000 talks about it, but I could not find the proper detail or documentation on it.
Has anyone implemented DWO? If yes, can you please help me with it.
Thanks in advance.
Regards
Abhishek
Recently I was able to crack down on the proper 5-Axis XYZAC setup for my CNC machine.
Now when I was going through some other features of 5-Axis machine, I came across concept called Dynamic Work Offset(DWO) as shown in link .
When I was going through the forum for the same, I found out a post on DWO ( link ) where @plopes9000 talks about it, but I could not find the proper detail or documentation on it.
Has anyone implemented DWO? If yes, can you please help me with it.
Thanks in advance.
Regards
Abhishek
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- Aciera
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20 Jul 2023 17:40 - 20 Jul 2023 17:41 #275907
by Aciera
Replied by Aciera on topic Dynamic work Offset in 5-Axis XYZAC
To implement the DWO as presented in the thread you linked you have to enter the relevant geometric offsets in your ini file and then add the two remaps.
Have a look at the two ngc remap files and the ini setup in this post
forum.linuxcnc.org/10-advanced-configura...ics?start=150#143582
Once that is done you should be able activate DWO by calling the Gcode (eg G55.4) and an additional G52 offset is added to the current work offset position using current A anc C rotary positions.
Have a look at the two ngc remap files and the ini setup in this post
forum.linuxcnc.org/10-advanced-configura...ics?start=150#143582
Once that is done you should be able activate DWO by calling the Gcode (eg G55.4) and an additional G52 offset is added to the current work offset position using current A anc C rotary positions.
Last edit: 20 Jul 2023 17:41 by Aciera.
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20 Jul 2023 19:28 #275911
by spumco
Replied by spumco on topic Dynamic work Offset in 5-Axis XYZAC
plopes9000 kindly posted his entire config on his github page when I asked him for assistance on my ATC config. I didn't use his config - too complicated for me - but his DWO macros are in it.
I just checked GH, and I believe it has since been removed. I've got a copy of everything, but if he took it down I'm not sure it'd be polite to attach everything without verifying with him first.
He responded to a comment I made on one of his YT vids, so you might try that or on his GH page.
Moderators: If the consensus is it's OK (polite, not just legal) to post his config here - copied from his public GH page - then I'll be happy to.
I just checked GH, and I believe it has since been removed. I've got a copy of everything, but if he took it down I'm not sure it'd be polite to attach everything without verifying with him first.
He responded to a comment I made on one of his YT vids, so you might try that or on his GH page.
Moderators: If the consensus is it's OK (polite, not just legal) to post his config here - copied from his public GH page - then I'll be happy to.
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21 Jul 2023 09:39 - 21 Jul 2023 11:49 #275943
by akg1904
Replied by akg1904 on topic Dynamic work Offset in 5-Axis XYZAC
Last edit: 21 Jul 2023 11:49 by akg1904.
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21 Jul 2023 11:31 #275950
by spumco
Replied by spumco on topic Dynamic work Offset in 5-Axis XYZAC
I was mistaken about the config being pulled from GH. It's still there:
github.com/plopes9000/linuxCNC-2.9.0pre-...c-config/tree/master
github.com/plopes9000/linuxCNC-2.9.0pre-...c-config/tree/master
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24 Jul 2023 06:38 - 24 Jul 2023 06:48 #276129
by akg1904
Replied by akg1904 on topic Dynamic work Offset in 5-Axis XYZAC
Hi,
Thank you spumco for sharing the link.
I made the changes as shown in plopes9000 ini files, but for some reason the G55.4 and G55.5 remap is not working.
It shows error when I load a ngc file using the G55.4 and G55.5, the error says.
"Named parameter #<ini[xyzac_kins]x-rot-point> not defined"
I am also attaching my INI file for reference.
Thank you spumco for sharing the link.
I made the changes as shown in plopes9000 ini files, but for some reason the G55.4 and G55.5 remap is not working.
It shows error when I load a ngc file using the G55.4 and G55.5, the error says.
"Named parameter #<ini[xyzac_kins]x-rot-point> not defined"
I am also attaching my INI file for reference.
Attachments:
Last edit: 24 Jul 2023 06:48 by akg1904.
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24 Jul 2023 10:02 #276143
by Aciera
Replied by Aciera on topic Dynamic work Offset in 5-Axis XYZAC
I missed the part that needs to be added to the hal. Doing the following seems to work for me:
1. Add these lines to your 'switchkins_postgui.hal':
2. Alter your ini to this:
1. Add these lines to your 'switchkins_postgui.hal':
Warning: Spoiler!
setp xyzac-trt-kins.y-offset [XYZAC_KINS]Y-OFFSET
setp xyzac-trt-kins.z-offset [XYZAC_KINS]Z-OFFSET
setp xyzac-trt-gui.y-offset [XYZAC_KINS]Y-OFFSET
setp xyzac-trt-gui.z-offset [XYZAC_KINS]Z-OFFSET
setp xyzac-trt-kins.x-rot-point [XYZAC_KINS]X-ROT-POINT
setp xyzac-trt-kins.y-rot-point [XYZAC_KINS]Y-ROT-POINT
setp xyzac-trt-kins.z-rot-point [XYZAC_KINS]Z-ROT-POINT
setp xyzac-trt-kins.z-offset [XYZAC_KINS]Z-OFFSET
setp xyzac-trt-gui.y-offset [XYZAC_KINS]Y-OFFSET
setp xyzac-trt-gui.z-offset [XYZAC_KINS]Z-OFFSET
setp xyzac-trt-kins.x-rot-point [XYZAC_KINS]X-ROT-POINT
setp xyzac-trt-kins.y-rot-point [XYZAC_KINS]Y-ROT-POINT
setp xyzac-trt-kins.z-rot-point [XYZAC_KINS]Z-ROT-POINT
2. Alter your ini to this:
Warning: Spoiler!
[APPLICATIONS]
# uncomment to enable:
#APP = halshow --fformat %.5f switchkins.halshow
[EMC]
VERSION = 1.1
MACHINE = sim-xyzac-trt-kins (switchkins)
[DISPLAY]
GEOMETRY = XYZ-A
OPEN_FILE = ./demos/xyzac_switchkins.ngc
PYVCP = ./xyzac-trt.xml
JOG_AXES = XYZC
DISPLAY = axis
MAX_ANGULAR_VELOCITY = 360
MAX_LINEAR_VELOCITY = 1000
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2
PROGRAM_PREFIX = ../../nc_files
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 1
#EDITOR = geany
TOOL_EDITOR = tooledit z diam
TKPKG = Ngcgui 1.0
NGCGUI_FONT = Helvetica -12 normal
NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc
NGCGUI_SUBFILE = centering.ngc
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
HAL_PIN_VARS = 1
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
REMAP = M430 modalgroup=10 ngc=430remap
REMAP = G55.4 modalgroup=1 ngc=dwo_on
REMAP = G55.5 modalgroup=1 ngc=dwo_off
PARAMETER_FILE = xyzac.var
[KINS]
#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
# default switchkins-type == 0 is xyzac-trt-kins
# here switchkins-type == 0 is identity kins
KINEMATICS = xyzac-trt-kins sparm=identityfirst
JOINTS = 5
[XYZAC_KINS]
Y-OFFSET = -0.15
Z-OFFSET = -27.59
X-ROT-POINT = 407.565
Y-ROT-POINT = 154.229
Z-ROT-POINT = -225.9
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x
HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y
HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z
HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a
HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
#HALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset
#HALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset
#HALCMD = sets :y-offset 20
#HALCMD = sets :z-offset 10
# not currently supported by xyzac-trt-gui:
#HALCMD = setp xyzac-trt-kins.x-rot-point 0
#HALCMD = setp xyzac-trt-kins.y-rot-point 0
#HALCMD = setp xyzac-trt-kins.z-rot-point 0
[HALUI]
# NOTE: kinstype==0 is identity kins because sparm=identityfirst
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzac kins (motion.switchkins-type==1)
# M430:userk kins (motion.switchkins-type==2)
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430
[TRAJ]
COORDINATES = XYZAC
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 20
MAX_LINEAR_VELOCITY = 35
MAX_LINEAR_ACCELERATION = 400
DEFAULT_LINEAR_ACCELERATION = 300
[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT = 1
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = xyzac-trt.tbl
[AXIS_X]
MIN_LIMIT = -200
MAX_LIMIT = 200
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Y]
MIN_LIMIT = -100
MAX_LIMIT = 100
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Z]
MIN_LIMIT = -120
MAX_LIMIT = 120
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_A]
MIN_LIMIT = -100
MAX_LIMIT = 50
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[AXIS_C]
MIN_LIMIT = -36000
MAX_LIMIT = 36000
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[JOINT_0]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -200
MAX_LIMIT = 200
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -100
MAX_LIMIT = 100
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -120
MAX_LIMIT = 120
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -100
MAX_LIMIT = 50
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_4]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -36000
MAX_LIMIT = 36000
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
# uncomment to enable:
#APP = halshow --fformat %.5f switchkins.halshow
[EMC]
VERSION = 1.1
MACHINE = sim-xyzac-trt-kins (switchkins)
[DISPLAY]
GEOMETRY = XYZ-A
OPEN_FILE = ./demos/xyzac_switchkins.ngc
PYVCP = ./xyzac-trt.xml
JOG_AXES = XYZC
DISPLAY = axis
MAX_ANGULAR_VELOCITY = 360
MAX_LINEAR_VELOCITY = 1000
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2
PROGRAM_PREFIX = ../../nc_files
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 1
#EDITOR = geany
TOOL_EDITOR = tooledit z diam
TKPKG = Ngcgui 1.0
NGCGUI_FONT = Helvetica -12 normal
NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc
NGCGUI_SUBFILE = centering.ngc
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
HAL_PIN_VARS = 1
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
REMAP = M430 modalgroup=10 ngc=430remap
REMAP = G55.4 modalgroup=1 ngc=dwo_on
REMAP = G55.5 modalgroup=1 ngc=dwo_off
PARAMETER_FILE = xyzac.var
[KINS]
#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
# default switchkins-type == 0 is xyzac-trt-kins
# here switchkins-type == 0 is identity kins
KINEMATICS = xyzac-trt-kins sparm=identityfirst
JOINTS = 5
[XYZAC_KINS]
Y-OFFSET = -0.15
Z-OFFSET = -27.59
X-ROT-POINT = 407.565
Y-ROT-POINT = 154.229
Z-ROT-POINT = -225.9
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x
HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y
HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z
HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a
HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
#HALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset
#HALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset
#HALCMD = sets :y-offset 20
#HALCMD = sets :z-offset 10
# not currently supported by xyzac-trt-gui:
#HALCMD = setp xyzac-trt-kins.x-rot-point 0
#HALCMD = setp xyzac-trt-kins.y-rot-point 0
#HALCMD = setp xyzac-trt-kins.z-rot-point 0
[HALUI]
# NOTE: kinstype==0 is identity kins because sparm=identityfirst
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzac kins (motion.switchkins-type==1)
# M430:userk kins (motion.switchkins-type==2)
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430
[TRAJ]
COORDINATES = XYZAC
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 20
MAX_LINEAR_VELOCITY = 35
MAX_LINEAR_ACCELERATION = 400
DEFAULT_LINEAR_ACCELERATION = 300
[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT = 1
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = xyzac-trt.tbl
[AXIS_X]
MIN_LIMIT = -200
MAX_LIMIT = 200
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Y]
MIN_LIMIT = -100
MAX_LIMIT = 100
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Z]
MIN_LIMIT = -120
MAX_LIMIT = 120
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_A]
MIN_LIMIT = -100
MAX_LIMIT = 50
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[AXIS_C]
MIN_LIMIT = -36000
MAX_LIMIT = 36000
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[JOINT_0]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -200
MAX_LIMIT = 200
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -100
MAX_LIMIT = 100
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -120
MAX_LIMIT = 120
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -100
MAX_LIMIT = 50
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_4]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -36000
MAX_LIMIT = 36000
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
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25 Jul 2023 11:15 - 25 Jul 2023 11:27 #276215
by akg1904
Replied by akg1904 on topic Dynamic work Offset in 5-Axis XYZAC
Hi,
Thanks for the reply.
I tried what @Aciera suggested and changed my "switchkins_postgui.hal", but when I tried to launch my linuxcnc I got following error:
note: jog_order='XYZC'
note: jog_invert=set()
switchkins_postgui.hal:15: pin 'xyzac-trt-kins.y-offset' is connected to a signal
Shutting down and cleaning up LinuxCNC...
task: 112 cycles, min=0.000005, max=0.011349, avg=0.008768, 0 latency excursions (> 10x expected cycle time of 0.010000s)
is there any other changes which I need to do?
I have attached my INI and Switchkins_postgui.hal file with all the changes suggested by @Aciera
Regards
Abhishek
Thanks for the reply.
I tried what @Aciera suggested and changed my "switchkins_postgui.hal", but when I tried to launch my linuxcnc I got following error:
note: jog_order='XYZC'
note: jog_invert=set()
switchkins_postgui.hal:15: pin 'xyzac-trt-kins.y-offset' is connected to a signal
Shutting down and cleaning up LinuxCNC...
task: 112 cycles, min=0.000005, max=0.011349, avg=0.008768, 0 latency excursions (> 10x expected cycle time of 0.010000s)
is there any other changes which I need to do?
I have attached my INI and Switchkins_postgui.hal file with all the changes suggested by @Aciera
Regards
Abhishek
Attachments:
Last edit: 25 Jul 2023 11:27 by akg1904.
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25 Jul 2023 12:26 #276219
by Aciera
Replied by Aciera on topic Dynamic work Offset in 5-Axis XYZAC
Compare the [HAL] section in your ini to mine.
The section should look like this (delete or comment out everything else):
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x
HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y
HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z
HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a
HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
The section should look like this (delete or comment out everything else):
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x
HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y
HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z
HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a
HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
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25 Jul 2023 14:34 #276225
by akg1904
Replied by akg1904 on topic Dynamic work Offset in 5-Axis XYZAC
Hi,
Thank you for your quick reply.
I was able to solve the previous problem thanks to @Aciera and now linuxcnc is opening with the given configuration.
Now I am facing another problem, the DWO offsets are mentioned in INI file but it seems that linuxcnc is not able to configure the offset and move the 5-Axis to it's new Rotation Point accordingly.
It is still using the Old Rotation Point.
Right now I am not able to figure out what is going wrong and how can I fix this Problem.
Please help me figure this out, as I think it might be some stupid thing which I might have missed.
I have attached my INI and Switchkins_postgui.hal file.
Thanks and Regards
Abhishek
Thank you for your quick reply.
I was able to solve the previous problem thanks to @Aciera and now linuxcnc is opening with the given configuration.
Now I am facing another problem, the DWO offsets are mentioned in INI file but it seems that linuxcnc is not able to configure the offset and move the 5-Axis to it's new Rotation Point accordingly.
It is still using the Old Rotation Point.
Right now I am not able to figure out what is going wrong and how can I fix this Problem.
Please help me figure this out, as I think it might be some stupid thing which I might have missed.
I have attached my INI and Switchkins_postgui.hal file.
Thanks and Regards
Abhishek
Attachments:
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