Nasarc INTELLIREAM EIP User manual

June, 2022
OWNERS MANUAL
Effective with serial No IR2006001& following. “U.S. Patent No.: 7,952,052”
Safety Depends on You
DO NOT INSTALL, OPERATE, OR REPAIR
THIS EQUIPMENT WITHOUT READING THIS
MANUAL AND THE SAFETY PRECAUTIONS
CONTAINED THROUGHOUT.
ELECTRIC
LINCOLN
®
MULTI-WELD 350
ELECTRIC
LINCOLN®MULTI-WELD 350
Nasarc Technologies, Inc.
602 Colby Drive
Waterloo, Ontario, Canada N2V 1A2
Tel: [phone], Fax: [phone]
WWW.NASARC.COM
INTELLIREAM EIP

INTELLIREAM®EIP
pg. 3
Before installation and commissioning of the INTELLIREAM®EIP, please read and understand all of the following
safety information. Failure to follow these instructions may result in damage to the equipment or personal injury.
The INTELLIREAM®EIP is constructed to be safe to operate provided:
•Only authorized personnel may perform installation, commissioning, and maintenance in observance of all
safety precautions contained in these operating instructions.
•Accident prevention regulations, as well as the safety specifications referenced below are observed.
•ANSI/RIA R15.06-2012 Industrial Robots and Robot Systems –Safety Requirements
For additional safety information see references below:
This product shall be integrated into a robot cell with an independent safety system. This product shall be installed
within a secured area which is only to be entered by qualified personnel for maintenance work or robot
programming.
Before assembling, adjusting, or working with the Intelliream®, ensure all equipment in the area is locked out and
disabled.
The Intelliream®is to be used only for torch cleaning within the technical operating specifications outlined in this
document.
Do not exceed the specified operating pressure of 80 PSI.
Keep hands away from Intelliream®while in operation.
Keep hands away from the clamp and Intelliream®operating space.
Keep hands away from the wire cutter.
Keep eyes away from the sprayer.
Protective eye-wear should be worn at all times while working in the vicinity of the Intelliream®.
Protective gloves should be worn at all times when maintaining the Intelliream®.
Disconnect the air and power supplies when adjusting the Intelliream®.
Use only OEM parts and accessories.
Do not use corrosive or aggressive chemicals without first obtaining approval from the manufacturer.
Do not remove or deface warning and instruction labels on the Intelliream®.
For additional safety information, refer to the following publications:
•ANSI/RIA R15.06-2012 Industrial Robots and Robot Systems –Safety Requirements
Robotic Industries Association, 900 Victors Way, Suite 140, Ann Arbor, Michigan, USA 48108
•ANSI Z49.1:2012 Safety in Welding, Cutting, and Allied Processes,
American Welding Society, 550 N.W. LeJeune Road, Miami, FL 33126
•CAN/CSA-Z434-14 Industrial robots and robot systems,
Canadian Standards Association, 5060 Spectrum Way, Mississauga, Ontario, L4W 5N6, CANADA

INTELLIREAM®EIP
pg. 4
Moving parts can crush and cut.
Keep hands away from the operating area of the reaming bit, clamp, and wire cutter
Rotating Cutter.
Keep hands away from the operating area of the cutter.
Entanglement Hazard.
Do not operate with exposed long hair, jewelry, or loose clothing.
Disconnect power before servicing.
Disconnect air supply before servicing.
Do not use damaged, frayed, or deteriorated air hoses and fittings.
Maintain safe operating pressure (80 psi).

INTELLIREAM®EIP
pg. 5
Table of Contents
1. Specifications..............................................................................................................................................7
2. Installation..................................................................................................................................................8
2.1. Air Connection ...................................................................................................................................9
2.2. Electrical Connection .........................................................................................................................9
3. Operation .................................................................................................................................................10
3.1. User Interface ..................................................................................................................................10
3.2. Power-Up.........................................................................................................................................10
3.3. Manual Operation.............................................................................................................................12
3.4. Automatic Operation ........................................................................................................................13
4. Robot Programming .................................................................................................................................14
4.1. Position Programming......................................................................................................................15
5. Network I/O ..............................................................................................................................................17
5.1. Network Setup .................................................................................................................................17
5.2. Reamer Input Bytes (PLC Output)....................................................................................................19
5.3. Reamer Output Bytes (PLC Input)....................................................................................................22
6. Web Server Interface................................................................................................................................24
6.1. Interface Screen...............................................................................................................................24
6.2. Settings Screen................................................................................................................................26
6.3. Statistics Screen ..............................................................................................................................28
6.4. Consumables Screen.......................................................................................................................29
6.5. IP address Configuration..................................................................................................................30
7. Settings....................................................................................................................................................31
7.1. I/O Configuration..............................................................................................................................32
7.2. Spray ...............................................................................................................................................32
7.3. Extras...............................................................................................................................................33
7.4. Running Mode..................................................................................................................................34
7.5. Motor Diagnostic..............................................................................................................................35
8. Preventative Maintenance........................................................................................................................37
9. Troubleshooting........................................................................................................................................37
9.1. Error Codes......................................................................................................................................38
9.2. Advanced Troubleshooting...............................................................................................................39
10. Parts Replacement...................................................................................................................................40
10.1. Reaming Bit Replacement............................................................................................................40
10.2. Spray Nozzle Replacement..........................................................................................................40
10.3. PC Board Replacement................................................................................................................41

INTELLIREAM®EIP
pg. 6
10.4. Belt Replacement.........................................................................................................................42
10.5. Clamp Cylinder Replacement.......................................................................................................43
10.6. Air Motor Replacement.................................................................................................................44
10.7. Motor/Lift/Clamp Solenoid Replacement ......................................................................................44
10.8. Spray Solenoid Replacement.......................................................................................................45
10.9. Fluid Solenoid Replacement.........................................................................................................46
11. Pneumatic Diagram..................................................................................................................................47
12. Electrical Diagram ....................................................................................................................................48
13. Parts List..................................................................................................................................................49
13.1. Gripper Head................................................................................................................................49
13.2. Front Components........................................................................................................................50
13.3. Rear Components........................................................................................................................51
Appendix A: Discrete I/O Explanation..............................................................................................................53
Appendix B: Wire Cutter..................................................................................................................................54
B.1 Wire Cutter Programming......................................................................................................................54
B.2 Wire Cutter Replacement......................................................................................................................56
B.3 Wire Cutter Troubleshooting..................................................................................................................56
Appendix C: Nozzle Detect Sensor..................................................................................................................57
C.1 Nozzle Detect Position Programming....................................................................................................57
Appendix D: Spray Containment Unit ..............................................................................................................59
D.1 Spray Position Programming.................................................................................................................59
D.2 Spray Nozzle Replacement...................................................................................................................59
D.3 Spray Containment Parts Diagram........................................................................................................60
D.4 Spray Containment Preventative Maintenance......................................................................................60
Appendix E: Nozzle Gas Flow Sensor (NGFS)................................................................................................61
E.1 NGFS Specifications .............................................................................................................................61
E.2 NGFS Integration ..................................................................................................................................61
E.3 NGFS Operation....................................................................................................................................61
E.4 NGFS Setup..........................................................................................................................................62
E.5 NGFS Robot Programming....................................................................................................................63
E.5 NGFS Robot Programming with Nozzle Detect .....................................................................................64
E.6 NGFS Preventative Maintenance ..........................................................................................................65
E.7 NGFS Parts Diagram.............................................................................................................................66
Warranty..........................................................................................................................................................67

INTELLIREAM®EIP
pg. 7
1. Specifications
PNEUMATIC SPECIFICATIONS
Pressure: 80 PSI
Flow: 16.5 SCFM
Caution: -Use Filtered (5um), Non-Lubricated, -Regulated Air
ELECTRICAL SPECIFICATIONS
Voltage: 24 VDC
Current: 0.75 Amp DC
REAMING SPECIFICATIONS
Speed: 1100 RPM
Power: 0.6 HP
WIRE CUTTING SPECIFICATIONS
Minimum wire diameter: 0.030” (0.8mm)
Maximum wire diameter: 0.063” (1.6mm)
ANTI SPATTER FLUID SPECIFICATIONS
Use recommended water based anti-spatter fluid in this product.
Do not use oil based anti-spatter fluid.
PHYSICAL DIMEMSIONS
HEIGHT
25.5 in., 648mm
(with Reservoir)
WIDTH
8 in.
203mm
DEPTH
12.1 in.
308 mm
NET WEIGHT
58 lbs
26.3 kg

INTELLIREAM®EIP
pg. 8
2. Installation
Danger of accident when connecting the pneumatic or electrical supply!
- Prior to installation ensure that all protective measures have been taken and will remain in place while
performing the installation.
- Ensure that the air supply and electrical power to the Intelliream®are disconnected until the installation is
complete.
- The Intelliream®should be installed within the weld cell at a convenient location. Be sure to consider movable
fixtures, robot envelope, and maintenance personnel accessibility.
- Affix Intelliream®base to sturdy platform using the four bolt holes provided for 3/8” mounting hardware.
- Before operating the Intelliream®, ensure that the correct reaming bit for the torch nozzle is installed.
Bottom View
Side View

INTELLIREAM®EIP
pg. 9
2.1. Air Connection
Use only regulated, filtered, non-lubricated air. Mount a 5-micron airline filter (not supplied) in the airline to the
Intelliream®.
AIR SUPPLY REQUIREMENTS: 80 PSI at 15 SCFM. Connect the inlet supply line to the quick connect
pneumatic fitting located at the side of the Intelliream®.
2.2. Electrical Connection
Damage to equipment may occur if connected improperly. Only a qualified technician should perform the
following connections. Secure the 6-pin connector by threading the connector to the receptacle near the base
of the Intelliream®. The Intelliream®is powered through this connection and requires a 24 VDC, 0.65 Amp DC
power supply. It is recommended that power to the Intelliream®(both +24VDC and 0VDC) is wired to safe
power (i.e. concurrent with robot servo power), interruptible by an emergency stop condition.
Connect a M12 D-coded connector into the receptacle on the side of the machine for communication with an
EtherNet/IP or MODBUS TCP fieldbus network.
Signal Description
Connect cable wires according to the following description
Wire Colour
Name
Description
Red
+24 VDC
Power supply (+24 VDC, 0.65 Amp
DC)
White
0 VDC
Power supply return.
Orange
Start1
Robot output. Pulse this output for
a minimum of 0.5 sec to start the
ream cycle.
Black
Spray1
Robot output. Pulse this output for
a minimum of 0.5 sec while
positioned over the sprayer.
Green
Complete2
Robot input. The robot should
check this input before and after a
reaming cycle.
Blue
+24 VDC
Solenoids
Power to internal valves. It is
recommended that this wire be
connected to the emergency stop
circuitry.
The INTELLIREAM®EIP automatically detects sinking or sourcing inputs and outputs from the controller. It is
not necessary to reconfigure the inputs and outputs of the INTELLIREAM®EIP. Refer to the “I/O
Configuration”, section for more details.
1NOTE: To activate the wire cutter, turn on both the “Start” and “Spray” outputs simultaneously. For further information
regarding the wire cutter operation, refer to Appendix B: Wire Cutter
2NOTE: The “Complete” signal has additional functionality when the nozzle detect option has been purchased. For further
information regarding the nozzle detect option, see Appendix C: Nozzle Detect Sensor
1
2
3
4
5
6
Interface Receptacle
Wiring
1. 0 VDC (WHT)
2. +24 VDC (RED)
3. Complete (GRN)
4. Start (ORG)
5. Spray (BLK)
6. +24V Solenoids (BLU)

INTELLIREAM®EIP
pg. 10
3. Operation
3.1. User Interface
The user interface is part of the Reamer Control Module (RCM) and can be found on the electrical supply side
of the Intelliream®(opposite the reservoir). The user interface provides the following features:
•Manual operation of the clamp, lift and spray system.
•The status of each solenoid is shown on its respective button.
•Monitor sensor operation of the clamp and lift reed switches
•Input / Output configuration and other feature settings
•Control logic reset
Item
Name
Description
1
Settings
Settings mode and status
2
Reset
Device and control logic reset
3
CLAMP
Solenoid activation and status
4
CLAMP Sensor
Status (Red / Green)
5
LIFT
Solenoid activation and status
6
LIFT Sensor
Status (Red / Amber / Green)
7
SPRAY
Solenoid activation and status
8
Network Status
Network Status LED indicators
3.2. Power-Up
Once the Intelliream®is wired into the controller and power is applied, the device status LEDs will display the
power up sequence (green –yellow –red) and then show positions of the cylinders according to the legend
next to the LEDs.
Power Up LED check
If the sensor LEDs are not reporting the clamp open and the lift at the bottom, then check the air pressure or
sensor positions. If the sensor LEDs are flashing yellow and green check for start lock (see below). If the
LEDs are flashing yellow, ensure the settings pushbutton is not pressed or defective.
1
2
3
4
6
5
7
8
G
Y
R
G
G
Y
R
G

INTELLIREAM®EIP
pg. 11
Field Bus Status Indicators:
After the power up sequence described above, the fieldbus status indicators will operate according to the
description in the table below.
LED
State
Status
Link /
Activity
Off
Device Not Powered
Green
Module connected to Ethernet Network
Green, flashing
RX / TX activity
Alternating Red / Green
Self Test in progress
Data
Rate
Off
10 Mbps operation
Green
100 Mbps operation
Alternating Red / Green
Self Test in progress
Module
Status
Off
Device not powered
Green
Device in EtherNet / IP mode
Green, flashing
Device in EtherNet / IP idle mode or no connection
established
Red
Major Fault
Red, flashing
Minor Fault
Alternating Red / Green
Self Test in progress
Network
Status
Off
No power or no IP address
Green
EtherNet / IP connection established
Green, flashing
No EtherNet / IP connections established
Red
Duplicate IP address detected
Red, flashing
One of several EtherNet / IP connections has timed
out
Alternating Red / Green
Self Test in progress
LNK/
ACT
DATA
RATE
MODULE
STATUS
NETWORK
STATUS

INTELLIREAM®EIP
pg. 12
Start Lock: The start lock feature is a safety measure that blocks a command signal during power-up when it
is unsafe to begin an operation. If a command is present while the Intelliream®powers up, the INTELLIREAM®
EIP will enter a start lock mode instead of cycling immediately and the “Error” input will be turned on. During
power up, the device status LEDs will display the power up sequence (green-yellow-red) and then flash
yellow/green if an output from the controller is present. To resume operation, turn all controller outputs to the
Intelliream®off.
Robot Input: If the device has completed the power up sequence, and is not in cycle, then with the clamp
open, and lift at the bottom, the “Complete” input to the robot controller will be on. Similarly, if an error has
occurred during a machine operation, the “Error” input will be on.
Robot Output: If no action occurs by turning on the “Start” or “Spray” output from the robot controller, check
the wiring of the sourcing outputs at the controller.
3.3. Manual Operation
Operation of the clamp, lift and spray valves is possible with the buttons on the user interface. The green LED
indicator at the top left shows button feedback and solenoid operation. The sensor LED indicators to the right
indicate the sensor feedback of the corresponding device.
Note: a “Local Lockout” mode is enabled for 5 seconds following the press of any of these buttons. Robot I/O
is disabled and the LEDs blink slowly during this time. The lockout will cancel itself after 5 seconds or if the
“Settings” button is pressed.
WARNING: the clamp will operate under this condition.
KEEP HANDS CLEAR of the operating space of the clamp
and wire cutter. This device is intended for one-man
operation during setup.
WARNING: the lift cylinder will operate under this condition.
KEEP HANDS CLEAR of the operating space of the reaming
bit. This device is intended for one-man operation during
setup.
WARNING: the spray will operate under this condition. KEEP FACE
and HANDS CLEAR of the operating space of the sprayer. This device
is intended for one-man operation during setup.

INTELLIREAM®EIP
pg. 13
3.4. Automatic Operation
The following diagram shows the 7-step reaming sequence and color of the device status LEDs at each stage.
The LEDs show the position of the clamp and lift cylinders on the control module.
1
2
3
4
5
6
7
Ready
Clamp
Closed
Raising
Ream Bit
Ream Bit
at Top
Lowering
Ream Bit
Ream Bit
at Bottom
Clamp
Open
“Start” Output
Pulse
0.5s
Off
“Complete” Input
On
On
Off
On
The above chart shows the robot inputs and outputs as the sequence progresses.
Automatic Retry
If excessive spatter is built up in the nozzle, or the programmed position of the nozzle is off center not allowing
the reaming bit to extend to the full depth inside the nozzle within a specific amount of time, the INTELLIREAM®
EIP will automatically perform a single retry.
Cycle Optimization
The lift rate of the reaming bit will determine how many reaming
revolutions will occur within the nozzle. This setting should be
adjusted based on the amount of spatter buildup in the nozzle
between reaming cycles. More spatter buildup will require a
slower lift rate. Less spatter buildup will allow a faster lift rate.
To set the lift rate, remove the front cover and adjust the top
needle valve. Turning clockwise will decrease the lift rate (for
more spatter removal), and turning counter clockwise will
increase the lift rate (for a shorter cycle time).
To set the retracting rate, adjust the bottom needle valve.
Turning clockwise will decrease the retracting rate, and turning
counter clockwise will increase the retracting rate.
G
R
R
R
R
R
G
G
G
Y
R
Y
G
G

INTELLIREAM®EIP
pg. 14
4. Robot Programming
The following flow diagram shows the recommended procedure for the reaming and spraying sequences. The
recommended procedure for configuring the position programming points for the ream cycle and sprayer is
outlined on the following pages. For the wire cutter operation see Appendix B: Wire Cutter.
.
Error
(At any time)
“Error” input on
YES
Move to “Spray” position
Turn “Spray” output on
Wait for desired amount of spray time
Turn “Spray” output off
Finished with ream cycle,
move to next position
NO
Move to “Ream” position
“Complete” input on
Pulse “Start” output for 0.5 sec
Wait for “Complete” input to turn off
Wait for “Complete” input to turn on
YES

INTELLIREAM®EIP
pg. 15
4.1. Position Programming
The INTELLIREAM®EIP features a “no trial, no error” position programming technique as described below:
1. Hold the “LIFT” button to raise the reaming bit without spinning.
WARNING: the lift cylinder will operate under this condition. KEEP HANDS CLEAR of the
operating space of the reaming bit. This device is intended for one-man operation during
setup.
Once the reaming bit is at the top position (“LIFT” LED is red), release the “Settings” button.
2. Using the robot, move the torch nozzle into the clamp so the reaming bit is inset to the full depth required
inside the nozzle.
3. Press and release the “CLAMP” button to verify the clamp engages the cylindrical body of the nozzle
equally, and the nozzle does not change orientation or position when clamped.
WARNING: the clamp will operate under this condition. KEEP HANDS
CLEAR of the operating space of the clamp and wire cutter. This device is
intended for one-man operation during setup.
4. Register this position in the robot controller using a fine position level as the “Ream” position described in
the programming chart above.
Ream Position

INTELLIREAM®EIP
pg. 16
5. Press the “LIFT” button to exit programming mode. The reaming bit will lower without spinning.
WARNING: the lift and clamp will operate under this condition. KEEP
HANDS CLEAR of the operating space of the reaming bit. This device is
intended for one-man operation during setup.
6. Spray Position: Center the nozzle approximately 25mm above the spray nozzle. Record this position as the
“Spray” position described in the programming chart above. The sprayer may use a built-in post-flow timer of 0,
¼, ½, or 1 second. Airflow from the spray nozzle will be present for the post flow time after the spray output
and corresponding fluid valve have been turned off.
Spray Position

INTELLIREAM®EIP
pg. 17
5. Network I/O
Network I/O is communicated through the Ethernet/IP gateway. This communication module provides
integration in any ethernet based LAN via SMTP, HTTP, Ethernet/IP and Modbus/TCP.
Features:
•10 and 100mbit operation, Full and Half Duplex
•Up to 144 bytes of fieldbus I/O in each direction
•Adapter Class Functionality
•UCMM Capable, up to 5 explicit server connections
Ethernet/IP Connection Parameters
Input Size
128 bytes
Output Size
128 Bytes
Input Instance (aka Input Assembly)
100
Output Instance (aka Output Assembly)
150
5.1. Network Setup
Outlined below is a procedure that offers complete access to all of the network parameters. To perform the
procedure, the following items are required:
-A PC with the “Anybus IPconfig” application installed. Anybus IPconfig may be downloaded and
installed free of charge from.
https://www.nasarc.com/downloads/Intelliream/hms-IPConfig.zip
A CAT-5E or Cat-6 cable.
-A network switch or cross-over cable (dependent on hardware setup).
The steps to configure the IP settings for the INTELLIREAM®EIP outside of the standard range are:
1. While connecting directly to the INTELLIREAM®EIP, a static IP address must be assigned to the PC in
the same range (first three octets) as the desired IP address to be assigned to the reamer. The subnet
mask should be set to 255.255.255.0. The gateway address can be set to 0.0.0.0. Refer to online
documentation for the PC and operating system on assigning a static IP.
2. Connect the PC to the INTELLIREAM®EIP through the appropriate networking hardware.
3. Start the Anybus IPconfig application installed
on the PC.
4. The network connected to the PC will be
scanned for HMS devices. If none are found
then double check all of the connections, and
the network parameters configured. After
correcting any connectivity issues, click the
“Scan” button inside the application.

INTELLIREAM®EIP
pg. 18
5. Any HMS devices that are discovered will appear in the application window. Select the device to
configure, and then right click to open the configuration menu.
6. In the configuration dialog box, set the IP address, Subnet mask, and Default gateway as desired.
Ensure that DHCP is set to “Off”. Click “Set”. Note that if configuring the INTELLIREAM®EIP to
communicate with a different gateway than the default, 0.0.0.0, communication with the INTELLIREAM®
EIP until the PC is re configured to operate on the same gateway
7. To validate the settings, cycle the 24V power to the INTELLIREAM®EIP. Configure the PC to use the
same parameters as the INTELLIREAM®EIP’s new configuration. Ensure that the PC and Intelliream®
have unique IP addresses. Use the IPconfig tool to ensure that the new settings have been applied
correctly by scanning for the device again.

INTELLIREAM®EIP
pg. 19
5.2. Reamer Input Bytes (PLC Output)
Below is the network data that will be exchanged between the PLC and the INTELLIREAM®EIP.
Address
Name
Size
(bytes)
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
0
Command Bits
1
Teach-
NGFS
Blow-Off
Dry-Run
Reset
Error
Wire Cut
Spray
De-Ring
Ream
1
Automatic Retry Maximum (0-3)
1
2
Post flow Index (0-3)
1
3
Remote activation Bits
1
Unused
Status
LED
Fluid
Solenoid
Air Spray
Solenoid
Air Motor
Solenoid
Lift
Solenoid
Clamp
Solenoid
Remote
Mode
4
Sensor Bypass Bits
1
Unused
Unused
De-Ringer
Unused
Extended
Retracted
Unused
Opened
5
Future
1
Reserved
Reserved
Reserved
Unused
Unused
Reserved
Reserved
Reserved

INTELLIREAM®EIP
pg. 20
Input Address 0: Command Bits
b7
b6
b5
b4
b3
b2
b1
b0
Future
Blow-Off
Dry-Run
Reset Error
Wire Cut
Spray
De-Ring
Ream
b0
Ream
Activate full ream cycle. This signal can be pulsed for ½ second or maintained.
If the signal is pulsed the reamer will perform a full ream cycle including de-ring
and automatic retry with no dwell time at the top of its stroke. If the signal is
maintained the reamer will go to the top of stroke including de-ring and automatic
retry and remain there until the ream signal is deactivated.
b1
De-Ring
A pilot reaming stroke removes the spatter ring that forms on the end of a
welding nozzle, followed by a full extension reaming stroke to remove spatter
inside the nozzle. Using this technique, the spatter ring is not pushed into the
nozzle where it could do more damage.
b2
Spray
Activate spray cycle (minimum ½ second pulse).
b3
Wire Cut
Activate the wire cutter (minimum ½ second pulse)
b4
Reset Error
Reset the current error and return system to “Ready” state (1/2 second pulse)
b5
Dry-Run
Disable the motor when running a full ream cycle. This is useful when trial
running the programmed position. (toggle on/off)
b6
Blow-Off
Enable the Blow-off feature: The air motor runs for 3 seconds following the spray
cycle. The motor exhaust is directed at the welding nozzle in the spray position
and servers to blow spatter away and cool the nozzle.
b7
Unused
Input Address 1: Automatic retry setpoint
Specify the maximum number of times to retry extending the ream bit when blocked by spatter (0-3).
Input Address 2: Post-Flow Index
Post flow keeps the air valve of the spray system active following the spray cycle providing self-cleaning to the
spray nozzle. The post flow index (0-3) will set the post flow time according to the following chart.
Index
Post Flow time (sec)
0
0
1
0.25
2
0.5
3
1.0