LSD1xx Series Lidar manual
Incazelo emfushane:
Igobolondo le-aluminium alloy casting, isakhiwo esiqinile nesisindo esincane, kulula ukufakwa;
I-laser yebanga loku-1 iphephile emehlweni abantu;
Imvamisa yokuskena engu-50Hz yanelisa isidingo sokutholwa kwesivinini esikhulu;
I-heater ehlanganisiwe yangaphakathi iqinisekisa ukusebenza okuvamile ekushiseni okuphansi;
Umsebenzi wokuzihlola uqinisekisa ukusebenza okuvamile kwe-laser radar;
Ibanga elide lokutholwa lifika kumamitha angama-50;
I-engeli yokuthola: 190°;
Ukuhlunga uthuli kanye nokuphazamiseka kokulwa nokukhanya, i-IP68, ilungele ukusetshenziswa ngaphandle;
Ukushintsha umsebenzi wokufaka (LSD121A, LSD151A)
Izimele emthonjeni wokukhanya wangaphandle futhi ingagcina isimo esihle sokutholwa ebusuku;
Isitifiketi se-CE
Imininingwane Yomkhiqizo
Imikhiqizo ye-Enviko WIM
Omaka bomkhiqizo
Izingxenye zesistimu
Uhlelo oluyisisekelo lwe-LSD1XXA luqukethe irada eyodwa ye-laser ye-LSD1XXA, ikhebula lamandla elilodwa (Y1), ikhebula elilodwa lokuxhumana (Y3) kanye ne-PC eyodwa enesofthiwe yokulungisa iphutha .
1.2.1 LSD1XXA
| No | Izingxenye | Isiyalezo |
| 1 | Isixhumi esibonakalayo esinengqondo(Y1） | Amandla kanye ne-I/Oizintambo zokufaka zixhunywe ne-radar ngalesi sixhumi esibonakalayo |
| 2 | Isixhumi esibonakalayo se-Ethernet(Y3） | Intambo yokuxhumana ye-Ethernet ixhunywe ne-radar ngalesi sixhumi esibonakalayo |
| 3 | Iwindi lenkomba | Uhlelo ukuhlinzwa,I-alamu yephutha nokukhishwa kwesistimu izinkomba ezintathu |
| 4 | Ikhava yelensi yangaphambili | Ukukhipha nokwamukelaimishayo ekhanyayo ibona ukuskenwa kwezinto ngale khava yelensi |
| 5 | Iwindi lezinkomba zedijithali | Isimo se-Nixie tube siboniswa kuleli windi |
Ikhebula lamandla
Incazelo yekhebula
7-cores ikhebula lamandla:
| Phina | Itheminali No | Umbala | incazelo | Umsebenzi |
 | 1 | Okuluhlaza okwesibhakabhaka | 24V- | Okokufaka okungekuhle kokunikezwa kwamandla |
| 2 | Mnyama | UKUSHISA- | Ukufakwa okungalungile kwamandla okushisa | |
| 3 | Emhlophe | IN2/OUT1 | Okokufaka kwe-I/O / imbobo yokuphuma ye-NPN 1 (kufana ne-OUT1) | |
| 4 | Brown | 24V+ | Okokufaka okuhle kokunikezwa kwamandla | |
| 5 | Okubomvu | UKUSHISA+ | Okokufaka okuhle kwamandla okushisa | |
| 6 | Okuhlaza | NC/OUT3 | Okokufaka kwe-I/O / imbobo yokuphuma ye-NPN 3 (kufana ne-OUT1) | |
| 7 | Okuphuzi | INI/OUT2 | Okokufaka kwe-I/O / NPN port2 (okufanayo ne-OUT1) | |
| 8 | NC | NC | - |
Qaphela :Nge-LSD101A, LSD131A, LSD151A, le port iyimbobo yokuphuma ye-NPN (i-open collector), kuzoba nokukhishwa kwe-lever okuphansi uma into itholwa endaweni yokutholwa.
Ku-LSD121A, LSD151A, le port iyimbobo yokufaka ye-I/O, Uma okokufaka kumisiwe noma kuxhunywe kokuphansi, kukhonjwa njengezinga eliphezulu nokuphumayo njengokuthi "0" kuphrothokholi yokuxhumana.
4-cores ikhebula lamandla:
| Phina | Itheminali No | Umbala | incazelo | Umsebenzi |
| | 1 | Okuluhlaza okwesibhakabhaka | 24V- | Okokufaka okungekuhle kokunikezwa kwamandla |
| 2 | Emhlophe | UKUSHISA - | Ukufakwa okungalungile kwamandla okushisa | |
| 3 | NC | NC | Akunalutho | |
| 4 | Brown | 24V+ | Okokufaka okuhle kokunikezwa kwamandla | |
| 5 | Okuphuzi | UKUSHISA+ | Okokufaka okuhle kwamandla okushisa | |
| 6 | NC | NC | Akunalutho | |
| 7 | NC | NC | Akunalutho | |
| 8 | NC | NC | Akunalutho |
Ikhebula Lokuxhumana
1.3.3.1Ikhebula lokuxhumana
1.3.3.2Incazelo yekhebula
| Phina | No | Umbala | Incazelo | Umsebenzi | No | RJ45 |
| 1 | Okumhlophe okuwolintshi | TX+E | Idatha ye-Ethernet isetshenzisiweding | 1 |  | |
| 2 | Okumhlophe okuluhlaza | I-RX+E | Idatha ye-Ethernetukwamukela | 3 | ||
| 3 | iwolintshi | TX-E | Idatha ye-Ethernet isetshenzisiweding | 2 | ||
| 4 | Okuhlaza | I-RX-E | Idatha ye-Ethernetukwamukela | 6 |
PC
Umfanekiso olandelayo uyisibonelo sokuhlolwa kwe-PC. Ngomsebenzi othize o sicela ubhekisele "kumiyalo ye-LSD1xx PC"
Ipharamitha yobuchwepheshe
| Imodeli | I-LSD101A | I-LSD121A | I-LSD131A | I-LSD105A | I-LSD151A | |
| I-voltage yokuhlinzeka | 24VDC±20% | |||||
| Amandla | <60W, Ukusebenza kwamanje okujwayelekile<1.5A,Ukushisisa <2.5A | |||||
| Idatha esibonakalayo口 | I-Ethernet,10/100MBd, TCP/IP | |||||
| Isikhathi sokuphendula | 20ms | |||||
| I-Laser wave | 905nm | |||||
| Ibanga le-laser | Ibanga loku-1(iphephile emehlweni abantu） | |||||
| Ukuphazanyiswa kwe-anti-light | 50000lux | |||||
| Ububanzi be-engeli | -5° ~ 185° | |||||
| Ukulungiswa kwe-engeli | 0.36° | |||||
| Ibanga | 0~40m | 0~40m | 0~40m | 0~50m | 0~50m | |
| Isixazululo sokulinganisa | 5mm | |||||
| Ukuphindaphinda | ±10mm | |||||
| In put function | - | I/O 24V | - | - | I/O 24V | |
| Umsebenzi wokukhiphayo | I-NPN 24V | - | I-NPN 24V | I-NPN 24V | - | |
| Umsebenzi wokuhlukanisa indawo | ● | - | - | ● | - | |
| Width&ukuphakama ukulinganisa | Isivinini sokutholwa kwemoto | - | - | ≤20km/h |
| - |
| Ibanga lokuthola ububanzi bemoto | - | - | 1 ~ 4m |
| - | |
| Iphutha lokuthola ububanzi bemoto | - | - | ±0.8%/±20mm |
| - | |
| Ibanga lokuthola ubude bemoto | - | - | 1~6m |
| - | |
| Iphutha lokuthola ubude bemoto | - | - | ±0.8%/±20mm |
| - | |
| Ubukhulu |
| 131mm × 144mm × 187mm | ||||
| Isilinganiso sokuvikela |
| IP68 | ||||
| Umsebenzi/isitorejiizinga lokushisa |
| -30℃~ +60℃ /-40℃ ~ +85℃ | ||||
Ijika lesici
Ijika lobudlelwano phakathi kwento etholwayo nebanga
Ijika lobudlelwano phakathi kokubonakala kwento etholwayo nebanga
Ijika lobudlelwano phakathi kosayizi wendawo yokukhanya nebanga
Ukuxhunywa kukagesi
3.1Incazelo yesixhumi esibonakalayo
3.1.1Incazelo yomsebenzi
| No | Isixhumi esibonakalayo | uhlobo | Umsebenzi |
| 1 | Y1 | 8 pin amasokhethi | Isixhumi esibonakalayo esinengqondo:1. Ukunikezwa kwamandla2. Okokufaka kwe-I/O(faka isicelotoI-LSD121A）3. Amandla okushisa |
| 2 | Y3 | 4 pin amasokhethi | Isixhumi esibonakalayo se-Ethernet:1.Ukuthumela idatha yokulinganisa2. Ukufunda ukulungiselelwa kwembobo yezinzwa, ukulungiselelwa kwendawo kanye. ulwazi lwephutha |
3.1.2 Isixhumi esibonakalayoincazelo
3.1.2.1 Y1 esibonakalayo
7-cores interface ikhebula:
| Phina | No | Umbala | Incazelo yesignali | Umsebenzi |
| | 1 | Okuluhlaza okwesibhakabhaka | 24V- | Okokufaka okungekuhle kokunikezwa kwamandla |
| 2 | Mnyama | UKUSHISA- | Okokufaka okungekuhle kweukushisa powe | |
| 3 | Emhlophe | IN2/PHUMA1 | I/O okokufaka / i-NPNimbobo yokuphumayo1(okufanayoto OUT1） | |
| 4 | Brown | 24V+ | Okokufaka okuhle kokunikezwa kwamandla | |
| 5 | Okubomvu | UKUSHISA+ | Okokufaka okuhle kwamandla okushisa | |
| 6 | Okuhlaza | NC/PHUMA3 | Okokufaka kwe-I/O / NPN okukhiphayoitheku3(okufanayo ku-OUT1） | |
| 7 | Okuphuzi | INI/PHUMA2 | Okokufaka kwe-I/O / NPN imbobo yokuphuma2(okufanayo ku-OUT1） | |
| 8 | NC | NC | - |
Qaphela:Idatha ye-LSD101A,I-LSD131A,I-LSD105A, lesi sikhumuloI-NPN imbobo yokuphumayo(umqoqi ovulekile）,kuzoba phansii-lever okukhiphayo lapho into itholwa endaweni yokuthola.
NgobaI-LSD121A, LSD151A , lesi sikhumuloI/Oimbobo yokufaka, Uma okokufaka kumisiwe okwesikhashana noma kuxhunywe kokuphansi, kukhonjwa njengezinga eliphezulu nokuphumayo njengokuthi "1" kuphrothokholi yokuxhumana; Uma okokufaka kuxhunywe ku-24V +, kukhonjwa njengezinga eliphansi futhi okuphumayo njengokuthi "0" kuphrothokholi yokuxhumana.
4-cores interface ikhebula:
| Phina | No | Umbala | Incazelo yesignali | Umsebenzi |
| | 1 | Okuluhlaza okwesibhakabhaka | 24V- | Okokufaka okungekuhle kokunikezwa kwamandla |
| 2 | Emhlophe | UKUSHISA - | Okokufaka okungekuhle kweukushisa powe | |
| 3 | NC | NC | Akunalutho | |
| 4 | Brown | 24V+ | Okokufaka okuhle kokunikezwa kwamandla | |
| 5 | Okuphuzi | UKUSHISA+ | Okokufaka okuhle kwamandla okushisa | |
| 6 | NC | NC | Akunalutho | |
| 7 | NC | NC | Akunalutho | |
| 8 | NC | NC | Akunalutho |
3.1.2.2 Y3incazelo yesixhumi esibonakalayo
| Phina | No | Umbala | Incazelo yesignali | Umsebenzi |
 | 1 | Oububanzimhlophe | TX+E | Idatha ye-Ethernet isetshenzisiweding |
| 2 | Okumhlophe okuluhlaza | I-RX+E | Idatha ye-Ethernetukwamukela | |
| 3 | iwolintshi | TX-E | Idatha ye-Ethernet isetshenzisiweding | |
| 4 | Okuhlaza | I-RX-E | Idatha ye-Ethernetukwamukela |
3.2Wukukhala
3.2.1 LSD101A,I-LSD131A,I-LSD105A Ishintsha okukhiphayo izintambo(7 cores ikhebula lamandla）
Qaphela:
●Uma ulayini okukhiphayo weswishi ungasetshenziswa, uzomiswa noma umiswe phansi, futhi ngeke ube mfushane ujikelezwe nogesi ngokuqondile.;
●I-V + ayidluli i-voltage engu-24VDC, futhi kufanele isekelwe kanye ne-24VDC.
3.2.2 LSD121A,I-LSD151AIshintsha okukhiphayo izintambo(7 cores ikhebula lamandla）
3.2.3I-LSD121A,I-LSD151A umdwebo wezintambo zikagesi zangaphandle(7-cores ikhebula lamandla）
Ikhebuli yokufaka ye-lidar kufanele ixhunywe ngekhebuli ye-Vout yangaphandle okwamanje xhuma i-5K eyodwaukumelanakuze 24+
Umsebenzi kanye nesicelo
4.1Function
Imisebenzi esemqoka yemikhiqizo yochungechunge lwe-LSD1XX A ukulinganisa ibanga, ukulungiselelwa kokufaka, nokwahlulela okuphelele kwenqubo yokungena nokuphuma kwemoto kanye nokuhlukaniswa okuguquguqukayo kwezimoto ngokulinganisa ububanzi bemoto nolwazi lobude. I-LSD1XX I-radar yochungechunge ixhunywe kukhompuyutha ephezulu ngentambo ye-Ethernet, futhi amagrafu edatha nedatha yokulinganisa ingaboniswa ngesofthiwe yekhompyutha ephezulu.
4.2 Isilinganiso
4.2.1 Ukulinganisa ibanga(Faka isicelo kokuthiI-LSD101A,I-LSD121A,I-LSD105A,I-LSD151A）
Ngemva kokuthi i-radar ivuliwe futhi idlulise ukuzihlola kwesistimu, iqala ukukala inani lebanga lephoyinti ngalinye ngaphakathi kwebanga elingu - 5 ° ~ 185 °, bese ikhipha lawa manani ngoxhumano lwe-Ethernet. Idatha yokulinganisa ezenzakalelayo ingamaqembu angu-0-528, ahambisana nenani lebanga ebangeni elingu-5 ° ~ 185 °, eliyifomethi ye-hexadecimal, futhi iyunithi ingu-mm. Ngokwesibonelo:
Umbiko wephutha
Thola uhlaka lwedatha:02 05 00 FE 00 FE 19 FE DB FE 01 02 F9 02 DE 02 E5 02 DE 02 E5 02 E5 02 E5 02 EC 02 EC 02 F3……..
Inani lebanga elihambelanayo:
Usuku:02 F9 02 DE 02 E5 02 DE 02 E5 02 E5 02 E5 02 EC 02 EC 02 F3...
I-engeli kanye nolwazi lwebanga oluhambisana nedatha:-5° 761mm,-4.64° 734mm,-4.28° 741mm,-3.92°734mm , -3.56°741,-3.20° 741mm,-2.84° 741mm,-2.48° 748mm,-2.12° 748mm,1.76° 755mm...
4.2.2Isilinganiso sobubanzi nobude(Faka isicelo ku-LSD131A）
4.2.2.1Iphrothokholi yokuxhumana yokulinganisa
| Incazelo | Ikhodi yomsebenzi | Umphumela wobubanzi | Umphumela wobude | I-Parity bit |
| Amabhayithi | 2 | 2 | 2 | 1 |
| Ukuthumela irada(I-hexadecimal）
| 25,2A | WH,WL | HH,HL | CC |
Umfanekiso:
Wumphumela we-id:WH( phezulu8izingcezu）,WL( phansi8izingcezu）
Hayisishiyagalombiliumphumela:HH(phezulu8izingcezu）,HL(phansi8izingcezu）
I-Parity bit:CC(XOR hlolaukusuka kubhayithi yesibili ukuya kweyesibili ibhayithi）
Isibonelo:
Ububanzi2000Ubude1500:25 2A 07 D0 05 DC 24
4.2.2.2Iphrothokholi yokusetha ipharamitha
Izilungiselelo ezizenzakalelayo zasembonini zomkhiqizo yilezi: ububanzi bomzila 3500mm, ububanzi bento etholwayo bungu-300mm, kanye nobude bento etholwayo obuncane bungu-300mm. Umsebenzisi angakwazi ukuguqula imingcele yezinzwa ngokuvumelana nesimo sangempela. Uma inzwa isethwe ngempumelelo, kuzobuyiswa iqembu ledatha yesimo enefomethi efanayo. Ifomethi ethize yomyalelo imi kanje
| Incazelo | Ikhodi yomsebenzi | Ikhodi yomsebenzi osizayo | Ipharamitha | I-Parity bit |
| Bytes | 2 | 1 | 6/0 | 1 |
| Iradaukwamukela(I-hexadecimal） | 45,4A | A1(setting） | DH,DL,KH,KL,GH,GL | CC |
| Iradaukwamukela(I-hexadecimal） | 45,4A | AA(umbuzo） | —- | CC |
| Ukuthumela irada(I-hexadecimal） | 45,4A | A1/A0 | DH,DL,KH,KL,GH,GL | CC |
Umfanekiso:
Ububanzi bomzila:DH(phezulu8 izingcezu）,DL( phansi8izingcezu）
Ububanzi bento yokuthola okuncane:KH(phezulu8 izingcezu）,KL(phansi8izingcezu）
Into yokutholwa okuncaneukuphakama:GH(phezulu8 izingcezu）,GL(phansi8izingcezu）
I-Parity bit:CC(XOR hlolaukusuka kubhayithi yesibili ukuya kweyesibili ibhayithi）
Isibonelo:
Ukusetha:45 4A A1 13 88 00 C8 00 C8 70(5000mm,200mm,200mm）
Umbuzo:45 4A AA E0
Impendulo1:45 4AA113 88 00 C8 00 C8 70(A1:Lapho ipharamitha ishintshiwe）
Impendulo2:45 4AA013 88 00 C8 00 C8 71(A0:Uma ipharamitha ingashintshwa）
Ukufakwa
8.1 Izinyathelo zokuvikela ukufakwa
● Endaweni yokusebenza yangaphandle, i-lnd1xx kufanele ifakwe ngekhava evikelayo ukuze kugwenywe izinga lokushisa langaphakathi lenzwa elikhuphuka ngokushesha ngenxa yokukhanya kwelanga okuqondile.
● Ungayifaki inzwa enezinto ezidlidlizayo noma ezishwibayo.
● I-Lnd1xx izofakwa kude nendawo ezungezile enomswakama, ukungcola kanye nengozi yokulimala kwezinzwa.
● Ukuze ugweme umthombo wokukhanya wangaphandle njengokukhanya kwelanga, ilambu le-incandescent, ilambu le-fluorescent, ilambu le-strobe noma omunye umthombo wokukhanya we-infrared, lowo mthombo wokukhanya wangaphandle akufanele ube phakathi kuka-± 5 ° wendiza etholwayo.
● Lapho ufaka ikhava yokuzivikela, lungisa isiqondiso sekhava yokuvikela futhi uqinisekise ukuthi iphambi komzila, ngaphandle kwalokho izophazamisa ukunemba kokulinganisa.
● Isilinganiso samanje sokuphakelwa kwamandla erada eyodwa sizoba ≥ 3A (24VDC)
● Uhlobo olufanayo lokuphazamiseka komthombo wokukhanya kufanele kugwenywe. Uma izinzwa eziningi zifakiwe ngesikhathi esisodwa, izindlela zokufaka ezilandelayo zizolandelwa
a. Faka ipuleti lokuhlukanisa phakathi kwezinzwa eziseduze.
b. Lungisa ubude bokufakwa kwenzwa ngayinye ukuze indiza yokuthola yenzwa ngayinye ingabi phakathi kwamadigri angu-± 5 wendiza etholwayo kwenye.
c. Lungisa i-engeli yokufaka yenzwa ngayinye ukuze indiza yokuthola yenzwa ngayinye ingabi phakathi kwamadigri angu-± 5 wendiza etholwayo kwenye.
Amakhodi ezinkinga nokuxazulula inkinga
Amakhodi ezinkinga
| No | Inkinga | Incazelo |
| 001 | Iphutha lokumisa ipharamitha | Ukucushwa kwamapharamitha okusebenza komshini ngekhompyutha ephezulu akulungile |
| 002 | Iphutha lekhava yelensi yangaphambili | Isembozo singcolile noma sonakalisiwe |
| 003 | Iphutha lesithenjwa sokulinganisa | Idatha yokulinganisa yezibonisi ezikhanyayo nezimnyama ngaphakathi komshini ayilungile |
| 004 | Iphutha lemoto | I-motor ayifinyeleli isivinini esimisiwe, noma isivinini asizinzile |
| 005 | Iphutha lokuxhumana | Ukuxhumana kwe-Ethernet, ukudluliswa kwedatha yokulinganisa kuvinjiwe noma kunqanyuliwe |
| 006 | Iphutha lokukhiphayo | Okukhipha isekethe emfushane noma icishiwe |
9.2 Ukuxazulula inkinga
9.2.1Iphutha lokumisa ipharamitha
Lungiselela kabusha amapharamitha okusebenza we-radar ngekhompyutha ephezulu bese uwadlulisela emshinini.
9.2.2Iphutha lekhava yelensi yangaphambili
Isembozo sesibuko sangaphambili siyingxenye ebalulekile ye-LSD1xxA. Uma isembozo sesibuko sangaphambili singcolile, ukukhanya kokulinganisa kuzothinteka, futhi iphutha lokulinganisa lizoba likhulu uma likhulu. Ngakho-ke, isembozo sesibuko sangaphambili kufanele sigcinwe sihlanzekile. Uma isembozo sesibuko sangaphambili sitholakala singcolile, sicela usebenzise indwangu ethambile ecwiliswe okokuhlanza okungathathi hlangothi ukuze usule ngendlela efanayo. Uma kunezinhlayiya esembozweni sesibuko sangaphambili, ziqhumise ngegesi kuqala, bese uzisula ukuze ugweme ukunwaya ikhava yesibuko.
9.2.3Iphutha lesithenjwa sokulinganisa
Ireferensi yokulinganisa iwukuqinisekisa ukuthi idatha yokulinganisa ivumelekile yini. Uma kukhona iphutha, kusho ukuthi idatha yokulinganisa yomshini ayinembile futhi ngeke isasetshenziswa. Idinga ukubuyiselwa efekthri ukuze ilungiswe.
9.2.4Iphutha lemoto
Ukwehluleka kwenjini kuzodala ukuthi umshini wehluleke ukuskena ukukala noma kubangele isikhathi sokuphendula esingalungile. Idinga ukubuyela efekthri ukuze ilungiswe.
9.2.5 Iphutha lokuxhumana
Hlola ikhebula lokuxhumana noma ukwehluleka komshini
9.2.6 Iphutha lokukhiphayo
Hlola ukuhluleka kwezintambo noma umshini
Ulwazi loku-oda lweSithasiselo II
| No | Igama | Imodeli | Qaphela | Isisindo(kg） |
| 1 | IradaInzwa | I-LSD101A | Uhlobo olujwayelekile | 2.5 |
| 2 |
| I-LSD121A | Uhlobo lokufaka | 2.5 |
| 3 |
| I-LSD131A | Uhlobo lwesilinganiso sobubanzi nobude | 2.5 |
| 4 |
| I-LSD105A | Uhlobo lwebanga elide | 2.5 |
| 5 |
| I-LSD151A | Uhlobo lokufakaUhlobo lwebanga elide | 2.5 |
| 6 | Ikhebula lamandla | KSP01/02-02 | 2m | 0.2 |
| 7 |
| I-KSP01/02-05 | 5m | 0.5 |
| 8 |
| I-KSP01/02-10 | 10m | 1.0 |
| 9 |
| I-KSP01/02-15 | 15m | 1.5 |
| 10 |
| I-KSP01/02-20 | 20m | 2.0 |
| 11 |
| I-KSP01/02-30 | 30m | 3.0 |
| 12 |
| I-KSP01/02-40 | 40m | 4.0 |
| 13 | Ikhebula lokuxhumana | KSI01-02 | 2m | 0.2 |
| 14 |
| KSI01-05 | 5m | 0.3 |
| 15 |
| KSI01-10 | 10m | 0.5 |
| 16 |
| I-KSI01-15 | 15m | 0.7 |
| 17 |
| KSI01-20 | 20m | 0.9 |
| 18 |
| KSI01-30 | 30m | 1.1 |
| 19 |
| KSI01-40 | 40m | 1.3 |
| 20 | Prikhava ye-otective | I-HLS01 |
| 6.0 |
U-Enviko ubesebenza ku-Weigh-in-Motion Systems iminyaka engaphezu kwe-10. Izinzwa zethu ze-WIM neminye imikhiqizo yaziwa kabanzi embonini ye-ITS.
