TWINCAT. PLC and Motion Control on the PC. TwinCAT

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T W I N C A T

®

PLC and Motion Control on the PC

Tw in C A T 961

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The Windows Control and

Automation Technology

New Automation Technology BECKHOFF Tw in C A T 962

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Product overview

PC-based control technology PLC and Motion Control on the PC TwinCAT PLC TwinCAT NC PTP TwinCAT NC I TwinCAT CNC TwinCAT I/O TwinCAT CP TwinCAT PLC Libraries

TwinCAT PLC Controller Toolbox TwinCAT PLC

Temperature Controller TwinCAT PLC Hydraulic Positioning TwinCAT PLC Modbus RTU TwinCAT PLC Serial Communication TwinCAT PLC Serial Communication 3964R / RK512 TwinCAT PLC Serial Communication EnOcean TwinCAT PLC Building Automation TwinCAT PLC

Building Automation DALI TwinCAT PLC IEC 60870-5-101 Slave / IEC 60870-5-104 Slave TwinCAT PLC IEC 60870-5-104 Master TwinCAT PLC IEC 60870-5-101 Master / IEC 60870-5-103 Master TwinCAT NC PTP Libraries TwinCAT NC Camming TwinCAT NC FIFO Axes TwinCAT NC Flying Saw TwinCAT PLC Remote Synchronisation

TwinCAT System Software

TwinCAT ECAD Import TwinCAT Engineering Interface Server TwinCAT Eventlogger TwinCAT XML Data Server TwinCAT Backup

TwinCAT Simulation Manager TwinCAT Database Server CE TwinCAT PLC HMI

TwinCAT Building Automation Framework

TwinCAT System Software Motion

TwinCAT Cam Design Tool TwinCAT Digital Cam Server TwinCAT DriveTop Server TwinCAT DriveCom OPC Server TwinCAT Valve Diagram Editor

TwinCAT System Software Connectivity

TwinCAT ADS TwinCAT OPC Server TwinCAT OPC UA Server TwinCAT SMTP/SMS Server TwinCAT Modbus TCP Server TwinCAT TCP Server

TwinCAT

964 967 969 972 983 984 984 985 992 992 974 976 978 980 982 985 985 986 986 987 987 988 989 990 990 990 991 992 993 993 994 994 997 997 998 998 999 999 1000 1000 1001 1002 1002 1003 995 1003 988 996 991 995

New Automation Technology BECKHOFF Tw in C A T 963

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TwinCAT System

TwinCAT CP TwinCAT I/O TwinCAT PLC TwinCAT NC PTP System Manager System Softw are NC Libraries PLC Libraries TwinCAT Supplement TwinCAT NC I TwinCAT CNC

TwinCAT PLC

PC hardware standard PC/IPC hardware, no extras

Operating systems Windows NT/2000/XP/Vista, NT/XP Embedded, CE

Real-time Beckhoff real-time kernel

I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and PC hardware

Run-time system 4 multi-tasking PLCs each with 4 tasks in each PLC run-time system, development and run-time systems on one PC or separately (CE: only run-time)

Memory process image size, fl ags area, program size, POU size, number of variables only limited by the size of the user memory (max. 2 GB with NT/ 2000 / XP/Vista)

Cycle time adjustable from 50 µs

Link-time 1 µs (Pentium® 4 2.8 GHz) for 1,000 PLC commands

Programming IEC 61131-3: IL, FBD, LD, SFC, ST, powerful library management, convenient debugging

TwinCAT PLC Libraries

Libraries TwinCAT PLC Controller Toolbox TwinCAT PLC Temperature Controller TwinCAT PLC Hydraulic Positioning TwinCAT PLC Modbus RTU TwinCAT PLC Serial Communication TwinCAT PLC Building Automation TwinCAT PLC IEC 60870-5-101/4

TwinCAT NC PTP

TwinCAT PLC inclusive

PC hardware standard PC/IPC hardware, no extras

Operating systems Windows NT/2000/XP/Vista, NT/XP Embedded, CE

Real-time Beckhoff real-time kernel

I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and PC hardware

Programming performed using function blocks for TwinCAT PLC according to IEC 61131-3 (standardised PLCopen Motion Control libraries), convenient axis commis-sioning menus in the System Manager

Run-time system NC point-to-point including TwinCAT PLC

Number of axes up to 255

Axis types electrical and hydraulic servo drives, frequency converter drives, stepper motor drives, switched drives (fast/crawl axes)

Cycle time 50 µs upwards, typically 1 ms (selectable)

Axis functions standard axis functions: start / stop / reset / reference, speed override,

special functions: master/slave cascading, cam plates, electronic gearings, online distance compensation of segments, “fl ying saw”

TwinCAT NC PTP Libraries

Libraries TwinCAT NC Camming TwinCAT NC FIFO Axes TwinCAT NC Flying Saw

TwinCAT PLC Remote Synchronisation

Software NC PTP

Software

PLC

985 985 987 988 985 984 984 990 990 991 991 974 972 972

New Automation Technology We reserve the right to make technical changes.

BECKHOFF Tw in C A T 964

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P R O D U C T O V E R V I E W T W I N C A T

TwinCAT NC I

TwinCAT PLC inclusive

TwinCAT NC PTP inclusive

PC hardware standard PC/IPC hardware, no extras

Operating systems Windows NT/2000/XP/Vista, NT/XP Embedded, CE

Real-time Beckhoff real-time kernel

I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and PC hardware

Programming DIN 66025 programs for NC interpolation, access via function blocks from TwinCAT PLC according to IEC 61131-3

Run-time system NC interpolation, including TwinCAT NC PTP and PLC

Number of axes max. 3 axes and up to 5 auxiliary axes per group, 1 group per channel, max. 31 channels

Axis types electrical servo axes, stepper motor drives

Interpreter subroutines and jumps, programmable loops,

functions zeroshifts, tool compensations, M and H functions

Geometries straight lines and circular paths in 3-D space, circular paths in all main planes, helixes with base circles in all main planes

Axis functions online reconfi guration of axes in groups, path override, slave coupling to path axes, auxiliary axes

TwinCAT CNC

TwinCAT PLC inclusive

TwinCAT NC PTP inclusive

TwinCAT NC I inclusive

PC hardware standard PC/IPC hardware, no extras

Operating systems Windows NT/2000/XP/Vista, Windows NT/XP Embedded

Real-time Beckhoff real-time kernel

I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and PC hardware

Programming DIN 66025 programming language with high-level language extensions, mathematical functions, programming of parameters/variables, user macros, subroutine techniques, spindle and help functions, tool functions, zero offset shifts

Run-time system CNC, including TwinCAT NC I, NC PTP, PLC

Number of axes / 8 path axes / 6 controlled spindles, max. of

spindles 64 axes / 12 controlled spindles (optional)

Axis types electrical servo-axes, analog/encoder interface via fi eldbus, digital interface via fi eldbus (EtherCAT, Lightbus, PROFIBUS MC, SERCOS)

Geometries linear, circular, helical interpolation in the main planes and freely defi nable planes, 8 interpolating path axes per channel, look-ahead function

Axis functions coupling and gantry axis function, override, axis error and sag compensation, measuring functions

Operation automatic operation, manual operation (jog / inching), single block operation, referencing, block search, handwheel operation (motion / superposition)

TwinCAT CNC Options

Options TwinCAT CNC Axes Pack TwinCAT CNC Channel Pack

TwinCAT CNC Transformation TwinCAT CNC Spline-Interpolation

Software NC I

Software CNC

979 979 979 979 978 972 976 972 974 974 976

New Automation Technology BECKHOFF

We reserve the right to make technical changes.

Tw in C A T 965

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P R O D U C T O V E R V I E W T W I N C A T

TwinCAT I/O

PC hardware standard PC/IPC hardware, no extras

Operating systems Windows NT/2000/XP/Vista, NT/XP Embedded, CE (only run-time)

Real-time Beckhoff real-time kernel

TwinCAT CP

PC hardware standard PC/IPC hardware, no extras

Operating systems Windows NT/2000/XP/Vista, NT/XP Embedded

Real-time Beckhoff real-time kernel

TwinCAT Level

System software

| Motion

TwinCAT ADS

set of different ADS communication components

TwinCAT OPC Server

for access to TwinCAT variables in accordance with the OPC DA/XML-DA specifi cation

TwinCAT OPC UA Server

for access to TwinCAT variables in accordance with the OPC UA specifi cation

TwinCAT SMTP/SMS Server

enables sending of SMS messages from the TwinCAT PLC to a mobile phone

TwinCAT Modbus TCP Server

for communication with Modbus TCP devices (server and client functionality)

TwinCAT TCP Server

server and PLC library for communication via generic TCP server (client functionalities included)

TwinCAT ECAD Import

tool for importing XML fi les from ECAD systems

TwinCAT Engineering Interface Server

for coordination of programming tasks via a source code management system

TwinCAT Eventlogger

Alarm and diagnosis system that can be used in all TwinCAT controllers with very little programming effort.

TwinCAT XML Data Server

PLC data can be written directly into an XML fi le or read from an XML fi le.

TwinCAT Backup

tool for backing up and restoring of fi les, operating system and TwinCAT settings

TwinCAT Simulation Manager

simplifi es preparation and confi guration of a simulation environment

TwinCAT Database Server CE

for bi-directional access to the PLC database

TwinCAT Building Automation Framework

for easy confi guration of building automation applications

Multi-purpose I/O interface for all common fi eldbus systems, PC Fieldbus Cards and interfaces with integrated real-time driver

Windows driver for Beckhoff Control Panel

System software

| Connectivity

System software

TwinCAT Cam Design Tool

tool for designing electronic cam plates, fully integrated in the TwinCAT System Manager

TwinCAT Digital Cam Server

fast camshaft controller as software implementation in TwinCAT, freely confi gurable via the TwinCAT System Manager

TwinCAT DriveTop Server

communication server for connecting the Indramat DriveTop tool with TwinCAT

TwinCAT DriveCom OPC Server

for communication of drive setup tools right into DriveCom compatible drives

TwinCAT Valve Diagram Editor

graphics-oriented editor for designing the characteristic curves of a hydraulic valve 980 982 997 998 998 999 999 1000 1001 1002 1003 1003 992 992 993 993 994 994 995 1002 996

New Automation Technology We reserve the right to make technical changes.

BECKHOFF Tw in C A T 966

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Comparison: execution times for 1,000 PLC commands by a hardware PLC and by TwinCAT PLC

TwinCAT – PC-based control technology

behaviour is achieved in this way. TwinCAT indicates the system load for programs that are running. A load threshold can be set in order to assure a defi ned computing capacity for the operating programs and for Windows NT/2000/XP/Vista. If this threshold is exceeded, a system message is generated.

TwinCAT supports system diagnosis

The general use of hardware and software from the open PC world requires some checking: Unsuitable components can upset the PC system. Beckhoff has integrated a practical indica-tor of the real-time jitter, giving administrators an easy way to evaluate the hardware and soft-ware. A system message during operation can draw attention to incorrect states.

Start/stop behaviour

Depending on the setting, TwinCAT is started and stopped manually or automatically. Since TwinCAT is integrated into Windows NT/2000/XP/ Vista as a service, an operator is not needed to start the sys -tem: switching on is enough.

Restarting and data backup

When a program is started or restarted, TwinCAT loads pro-grams and remanent data. To back up data and to shut down Windows NT/2000/XP/Vista cor-rectly, a UPS (uninterruptible power supply) is of great value.

TwinCAT and “Blue Screen”

The TwinCAT system can be confi gured such that real-time

capability is maintained in the event of a BSOD (Blue Screen of Death) operating system crash. Real-time tasks such as PLC and NC can therefore continue to run and bring the controlled process into a safe state. Ultimately, it is the decision of the programmer whether or not to utilise this fea-ture, bearing in mind that data or programs may already have been destroyed by the BSOD.

World-wide connection through message routing – “remote” connection is inherent to the system

According to the requirement for operating resources, the TwinCAT software devices can be distrib-uted: TwinCAT PLC programs can run on the PCs or on Beckhoff

The Windows Control and Automation Technology

The TwinCAT Software System turns any compatible PC into a real-time controller with a multi-PLC system and NC/CNC axis control. At the same time, TwinCAT integrates the pro-gramming environment for all Beckhoff controllers: from high-end Industrial PC control to embedded controller.

TwinCAT architecture

TwinCAT consists of run-time systems that execute control programs in real-time and the development environments for programming, diagnostics and confi guration. Any Windows pro-grams, for instance visualisation programs or Offi ce programs, can access TwinCAT data via Microsoft interfaces, or can execute commands.

A practically oriented software solution

TwinCAT offers a precise time-base in which programs are executed with the highest deter-ministic features, independently of other processor tasks. The real-time load on a PC is set with TwinCAT; defi ned operating

New Automation Technology BECKHOFF

We reserve the right to make technical changes.

Tw in C A T 967

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TCP / IP | serial

ADS interface System Manager

Real-time server

I/O mapping

I/O: All fieldbuses and PC interfaces

ADS Message router Message router I/O ADS interface I/O server I/O run-time I/O ADS interface PLC server PLC run-time I/O ADS interface NC PTP server NC PTP time I/O ADS interface NC I server NC I run-time I/O ADS interface CNC server CNC run-time System Manager configuration, service, monitoring ADS PLC control PLC programming ADS ADS Motion Control TwinCAT NC PTP TwinCAT NC I TwinCAT CNC ADS OCX/DLL Scada, Visual Basic, Delphi, Visual C++, .NET, C#, VB.NET, … OPC client Scada, Visual Basic, Delphi

ADS Web service ADS-http://

Internet /Intranet

TwinCAT OPC server DA XML

UA A&E

PLC cycle PLC cycle

Read inputs Operate program Write outputs Read inputs Operate program Write outputs

t

Real-time operation of PLC software in a classic PLC

Real-time operation of PLC software on a PC

Real-time operation of software for a PLC and NC (Motion Control) on a PC

The Windows Control and Automation Technology

The Beckhoff TwinCAT software system turns any compatible PC into a real-time controller with a multi-PLC system, NC axis con-trol, programming environment and operating station. TwinCAT replaces conventional PLC and NC/CNC controllers as well as operating devices with:

– open, compatible PC hardware

– embedded IEC 61131-3 software PLC, software NC and software CNC in Windows NT/2000/XP/Vista, NT/ XP Embedded, CE

– programming and run-time systems optionally together on one PC or separated

– connection to all common fi eldbuses – PC interfaces are supported

– data communication with user interfaces and other programs by means of open Microsoft standards (OPC, OCX, DLL, etc.)

PLC cycle PLC cycle

Read inputs Operate program Write outputs Windows NT and HMI Read inputs Operate program Write outputs Read inputs Operate program

t PLC Server Windows NT

and HMI NC Serverfor Motion Control

t

1 ms

PLC cycle (e.g. 2 ms) PLC cycle t NC cycle (e.g. 1 ms) NC cycle t 2 ms 3 ms 4 ms 5 ms e.g.

NC cycle NC cycle

Load threshold and jitter online

Bus Terminal Controllers. A “mes-sage router” manages and dis-tributes all the messages, both in the system and via TCP/IP connections. PC systems can be connected with each other via TCP/IP; Bus Terminal Controllers are integrated via serial inter-faces and fi eldbuses (Lightbus, PROFIBUS DP, CANopen, RS232, RS485, Ethernet TCP/IP).

World-wide access

Since standard TCP/IP services of NT/2000/XP/Vista can be used, this data can be exchanged across the world. The system offers scalable communication

capacity and timeout periods for the supervision of communi-cations. OPC provides a stand-ardised means for accessing many different SCADA packets. The SOAP (Simple Object Access Protocol) enables a connection between two computers to be established by means of an inter -net connection via standard HTTP. A TwinCAT component is available for this purpose.

New Automation Technology We reserve the right to make technical changes.

BECKHOFF Tw in C A T 968

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TwinCAT I/O – universal I/O interface for all common fi eldbuses

Many PC fi eldbus cards from various manufacturers are sup-ported. It is possible to operate more than one fi eldbus card per PC. Master and slave function-ality is supported, depending on the selected fi eldbus card. The fi eldbus cards can be confi gured and diagnosed conveniently via the TwinCAT System Manager. TwinCAT I/O includes the TwinCAT real-time system for operating the fi eldbuses and a DLL inter-face to application programs.

TwinCAT PLC – the central pillar of automation software

Conceived as a pure software PLC, TwinCAT PLC allows up to four virtual “PLC CPUs”, each running up to four user tasks, on one PC. The PLC program can be written in one or more of the languages provided for in the IEC 61131-3 standard: – IL (Instruction List), – LD (Ladder Diagram), – FBD/CFC (Function Block Diagram), – SFC (Sequential Function Chart) and – ST (Structured Text).

PLC and Motion Control on the PC

TwinCAT PLC running under the Windows NT/2000/XP/Vista operating systems includes both the programming environment and the run-time system, so that an additional programming device is not required. Under the CE operating system and the embedded operating systems for the series BX and BC control-lers, only TwinCAT run-time is available. Program modifi cations are implemented via network-capable powerful communica-tion with the run-time system. Programming can be done – locally,

– via TCP/IP or – via the fi eldbus

(BXxxxx and BCxxxx).

IEC 61131-3 – advanced programming standard for all Beckhoff controllers

The TwinCAT PLC is programmed in accordance with IEC 61131-3 independently of the manufac-turer. TwinCAT supports all the IEC 61131-3 programming lan-guages with convenient editors and a fast, effective compiler, so that the development cycle for the creation even of large PLC programs of several mega-bytes can be short. Incremental

compilation prevents long turnaround times. Only genu-inely new sections are compiled. Powerful editor features, such as “autoformat”, “autodeclare” or “fi nd” and “replace” enable fast programming. For all program-ming languages, the project comparison function facilitates differences to be identifi ed and accepted if appropriate. If a project (comments, directories, etc.) is to be translated into a language other than the origi-nal language, all terms can be exported into a table, translated and re-imported. If a team is dealing with the development, all objects (blocks, data types, lists) can be managed within a source code management tool via the TwinCAT Engineering Interface. This enables changes to be traced back and differences between individual versions to be displayed.

The concept of the “instan-tiation” of function blocks, in which each instance is associ-ated with its own data, leads naturally to object-oriented and structured programming styles. All common data types specifi ed in IEC 61131-3 are supported. Multi-dimensional fi elds and

structures are possible, as are enumeration and subrange types.

TwinCAT PLC is certifi ed for the languages IL and ST (base level). The online change function can be used for code and/or data modifi cations while the PLC is running, providing maximum data retention. Source code can be stored in the target system (except for BCxxxx series controllers). The criteria analysis function is very helpful for the detection of process errors.

Code can very easily be reused via the convenient library manager. For know-how pro-tection, multi-stage password protection can be applied to programs and libraries.

Many target platforms – one tool

The PLC programs created with TwinCAT PLC can be executed on a number of target platforms. Apart from Industrial PCs and the Embedded PCs, the PLC project can also be loaded into the BC and BX series fi eldbus controllers from Beckhoff. Pro gram devel-opment and debugging proceed in the same working environ-ment, regardless of which unit is executing the program.

New Automation Technology BECKHOFF

We reserve the right to make technical changes.

Tw in C A T 969

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Hierarchical controller architecture: central or distributed

TwinCAT NC –

Motion Control on the PC

A software NC consists of: – positioning (set value

gen-eration and position control) – integrated PLC with NC

interface

– operating programs for commissioning purposes – I/O connection for axes via

fi eldbus

With TwinCAT NC, the position controller is calculated on the PC processor as standard. It exchanges data cyclically with drives and measurement systems via the fi eldbus.

Central NC positioning on the PC

The computing capacity of a PC enables axis motion simulta-neously with the PLC, whereby the position controller is usually calculated on the PC: The com-puting capacity of a PC enables many axes to be positioned simultaneously.

TwinCAT enables a PC to pro cess the operating pro-grams, the PLC and the NC at the same time. The division of the system load is supported by TwinCAT with appropriate functions.

Analytical path calculation

The algorithms that TwinCAT NC/NC I/CNC uses to control axes take account of the dynamic parameters of the axis: speed, acceleration and jerk. In this way, the axes are moved at any time within the limits of what is dynamically possible, and are precisely analytically coordinated. A range of different regulation algorithms are available in order to reduce the deviations from the ideal trajectory that will occur in practice.

Individual or joint

Based on the normal methods for positioning an individual electrical axis, moving from its starting point to its destination (point-to-point positioning), TwinCAT NC also allows the coordinated movement of a number of axes in multi-stage master-slave operation (e.g. gearing functions or cam plates) to be executed. TwinCAT NC I further allows the interpolated path sequencing described in accordance with DIN 66025 to be carried out involving up to three axes.

Extensive supplementary libraries

As an extension to the blocks defi ned by the IEC language standard, Beckhoff offers a wide range of supplementary libraries for the execution of tasks typical in automation technology: e.g. libraries for controlling electrical and hydraulic axes via TwinCAT NC, serial communication librar-ies, system libraries for message outputs, write/read fi les, control technology blocks, etc.

Helpful practice tools

Extensive faultfi nding functions in TwinCAT PLC facilitate the solu-tion of problems either on site or via remote maintenance. For this purpose, the PLC programming environment in TwinCAT offers: – monitoring, – powerfl ow (fl ow control), – break point, – sampling trace of PLC variables, – single step, – watchlist, – call hierarchy and – forcing of variables. In addition, the TwinCAT Scope-View (a software oscilloscope) can be used to record one or several variables simultaneously.

Supervisory system

TwinCAT

PC Control

TwinCAT

PC Control

TwinCAT

PLC I/O LAN Communication

New Automation Technology We reserve the right to make technical changes.

BECKHOFF Tw in C A T 970

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PTP positioning procedure 0 20 40 100 80 60 -22 -20 -18 -12 -14 -16 -10 -8 -6 0 -2 -4 2 4 8 6 12 10 0.0 0.2 0.4 0.6 0.8 0 200 400 1000 800 600 0 -2 2 time (s) velocity (m/min) acceleration (m/s2) jerk (scaled to -1.0, +1) position (mm)

enables the dynamic parameters of an axis to be determined.

TwinCAT NC I – axis interpolation in three dimensions

TwinCAT NC I (interpolation) is the NC system for linear and circular interpolated path movements of axis groups each involving two or three drives. The system includes interpreter, set value generation and posi-tion controller. PLC funcposi-tionality is integrated, as is the connec-tion of the axes with the fi eld-bus.

The interpreter interprets the code described in DIN 66025. Comprehensive PLC libraries enable interaction between NC and PLC. NC programs, for example, can be loaded directly from the PLC program into the interpreter.

TwinCAT CNC – the software CNC for toughest requirements

TwinCAT CNC expands TwinCAT NC I with classic CNC features: Up to 32 interpolating axes and comprehensive coordinate and kinematic transformations are possible. Parts programming

is carried out according to DIN 66025 using high-level language extensions. TwinCAT CNC can operate with up to 64 axes or 32 path axes and controlled spindles that can be distributed across up to twelve CNC channels. In a CNC chan -nel, up to 32 axes can be inter-polated simultaneously, enabling even the most diffi cult motion tasks to be solved. Apart from the classic linear, circular and helical interpolations, TwinCAT CNC offers convenient spline interpolation, optionally based on Akima or B-splines. Real-time transformations enable complex machine kinematics to be real-ised without problem.

Software PLC included

TwinCAT combines software NC and software PLC to form a powerful controller. The commu-nication between the two pack-ages is a pure software/software channel with minimum delay times. The NC functionalities are called from the PLC program via standardised, PLCopen-certifi ed function blocks.

Axis movements can be simulated without hardware; the actual value is instructed to ideally track the set value, and the complete machine fl ow is checked. TwinCAT ScopeView is helpful for commissioning and maintenance. It records all axis variables such as position, speed, acceleration and jerk.

Convenient commissioning

Commissioning is simplifi ed signifi cantly by the confi guration and diagnostic dialogs offered in the TwinCAT System Manager. For each axis, all main data are displayed at a glance. The axes can be moved via function keys. Special functions such as cou-plings, cam plates or distance compensation can be triggered and observed via the System Manager. A convenient dialog

New Automation Technology BECKHOFF

We reserve the right to make technical changes.

Tw in C A T 971

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