CN109850645A - A kind of speed control system and its control method of casting machine - Google Patents

A kind of speed control system and its control method of casting machine Download PDF

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Publication number
CN109850645A
CN109850645A CN201910301450.7A CN201910301450A CN109850645A CN 109850645 A CN109850645 A CN 109850645A CN 201910301450 A CN201910301450 A CN 201910301450A CN 109850645 A CN109850645 A CN 109850645A
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China
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driver
servo
control
traction
value
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CN201910301450.7A
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Chinese (zh)
Inventor
方全财
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Quanzhou Nuoda Machinery Co Ltd
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Quanzhou Nuoda Machinery Co Ltd
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Priority to CN201910301450.7A priority Critical patent/CN109850645A/en
Publication of CN109850645A publication Critical patent/CN109850645A/en
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Abstract

The present invention provides a kind of speed control system of casting machine and its control methods, including the speed control system includes traction electric machine, winding motor, rotary encoder, PID controller, traction servo-driver, winding servo-driver and PLC controller;Servo-driver is drawn according to the torque of the input control traction electric machine of PLC controller, PID controller exports according to the compensated torque amount of the knots modification of PLC controller and the torque calculation traction electric machine of traction electric machine and gives traction servo-driver;Servo-driver is wound according to the revolving speed of the input control winding motor of PLC controller, the speed considerations amount for the length computation winding motor that PID controller is passed by according to the film that the compensated torque amount and rotary encoder of calculating measure, which exports, gives winding servo-driver.The present invention changes according to traction mechanism torsion realizes the accurate speed control of rolling-up mechanism, and control error is small, is suitble to high and low speed chemical industry condition.

Description

A kind of speed control system and its control method of casting machine
Technical field
The present invention relates to casting machine technical fields, specifically, being related to speed control system and its control of a kind of casting machine Method processed.
Background technique
Casting machine is slurry can be prepared into uniform thickness, the molding equipment of the sheet film of one fixed width, is applicable in In the experiment and production of film forming.General molding film is wound by being placed in the rolling-up mechanism of casting machine, and is led to The tensile force during traction mechanism holding film movement is crossed, directly tension is carried out using tension sensor in existing casting machine Detection, and will test signal and feed back to control of the tension controller realization to membrane tension, it must shadow to the control of membrane tension The speed for ringing rolling-up mechanism, when the tension control system in equilibrium state is by stronger interference, system cannot be done at once It reacts out, tension control system reaction speed is slow, the unstable quality of production that will have a direct impact on film of the speed of rolling-up mechanism.
Summary of the invention
In place of solving above-mentioned the deficiencies in the prior art, the purpose of the present invention is to provide a kind of speed controls of casting machine System and its control method processed, to overcome defect in the prior art.
To achieve the goals above, the present invention provides a kind of speed control system of casting machine, the speed control systems System include for control traction mechanism torsion variation traction electric machine, the winding motor for controlling rolling-up mechanism rolling speed, For measuring each rotary encoder for turning the length that film is passed by of rolling-up mechanism, PID controller, traction servo-driver, receiving Roll up servo-driver and PLC controller;Wherein, PLC controller is watched with PID controller, traction servo-driver and winding respectively Take driver electrical connection;Traction servo-driver is electrically connected with traction electric machine, and traction electric machine is electrically connected with PID controller, PID control Device processed is electrically connected with traction servo-driver, so that traction servo-driver draws electricity according to the input control of PLC controller The torque of machine, and PID controller is according to the torque of the knots modification of PLC controller and the torque calculation traction electric machine of traction electric machine Compensation rate exports the torque variation that traction electric machine is realized to traction servo-driver;Wind servo-driver and winding motor electricity Connection, rotary encoder are electrically connected with PID controller, and PID controller is electrically connected with winding servo-driver, so that winding servo Driver is according to the revolving speed of the input control winding motor of PLC controller, and PID controller is according to the compensated torque of calculating The speed considerations amount for the length computation winding motor that amount and the film of rotary encoder measurement are passed by, which exports, gives winding servo-drive Device is controlled with the rolling speed for realizing winding motor.
Through the above technical solutions, by setting traction servo-driver and winding servo-driver to realize to traction electricity Machine and winding motor are precisely controlled;Rotary encoder is arranged can be with each length for turning film and passing by of real-time measurement rolling-up mechanism Degree, and then the real-time revolving speed of rolling-up mechanism is obtained, and change according to the real-time torque of traction electric machine by PID controller, to protect The constant torque of card control traction electric machine and the speed control of winding motor, so that the velocity-stabilization of winding motor, and then realize The accurate speed control of rolling-up mechanism, and rolling-up mechanism speed control error is small, is suitble to high and low speed chemical industry condition.
As the further explanation to speed control system of the present invention, it is preferable that PLC controller and traction servo It is communicated between driver and winding servo-driver by EtherCAT.Through the above technical solutions, being communicated using EtherCAT Response speed is exceedingly fast, it is not easy to by electromagnetic interference.
As the further explanation to speed control system of the present invention, it is preferable that the input quantity packet of PLC controller Include tension value, the torque value of traction electric machine and the tachometer value of winding motor in traction mechanism tracting film moving process;PLC control The knots modification of device processed includes the tension change value in traction mechanism tracting film moving process.
As the further explanation to speed control system of the present invention, it is preferable that traction mechanism includes swing rod, is led Draw motor to connect with the swing rod, the swing rod changes torsion according to the torque value of traction electric machine and then controls membrane tension.It is logical Above-mentioned technical proposal is crossed, membrane tension control, when changing traction electric machine torque value, pendulum are realized using traction electric machine control swing rod Bar completes the change of traction electric machine torque value after increasing pivot angle in a wobbling action, has buffer function to film, will not Film is damaged, membrane tension variation can be fast implemented, tension is more stable.
As the further explanation to speed control system of the present invention, it is preferable that rotary encoder real-time measurement The each length for turning film and passing by of rolling-up mechanism, and the real-time coil diameter of film is calculated, to calculate the tachometer value of winding motor.
In order to realize another object of the present invention, the present invention also provides a kind of speed using the speed control system Spend control method, the method for control speed includes the following steps: S1), determined according to sampled value or empirical value membrane tension value, The tachometer value of the torque value of corresponding traction electric machine and corresponding winding motor, and by the membrane tension value, torque value and turn Fast value is stored in PLC controller;S2), by the membrane tension value of PLC controller input setting, PLC controller is according to setting Membrane tension value obtains the torque value of corresponding traction electric machine and the tachometer value of winding motor;S3), PLC controller control traction Servo-driver drives traction mechanism movement with corresponding torque value driving traction electric machine, while PLC controller control winding is watched It takes driver and rolling-up mechanism movement is driven with corresponding tachometer value driving winding motor;S4), rotary encoder real-time measurement is wound The each length for turning film and passing by of mechanism, and the real-time coil diameter of film is calculated, to calculate the tachometer value of winding motor;S5), The tachometer value for the winding motor that PID controller reception rotary encoder calculates and the real-time torque value of traction electric machine, and according to The real-time torque value is compared with the correspondence torque value of input setting and calculating torque compensation rate and speed considerations amount;S6),PID The compensated torque amount is exported the constant torque control that traction electric machine is realized to traction servo-driver, PID control by controller The speed considerations amount is exported the rolling speed control that winding motor is realized to winding servo-driver by device processed.
As the further explanation to method for control speed of the present invention, it is preferable that the method for control speed is also The real-time torque value of traction electric machine is received including PID controller, and receives the tension change value inputted by PLC controller, PID Controller obtains the torque change value of corresponding traction electric machine according to the tension change value, and PID controller is according to the torque Change value and real-time torque value obtain the compensated torque amount of traction electric machine, and PID controller control traction servo-driver is to realize The torque of traction electric machine changes.
As the further explanation to method for control speed of the present invention, it is preferable that PID controller receives rotation and compiles The code each length for turning film and passing by of device real-time measurement rolling-up mechanism, and the real-time coil diameter of film is calculated, to calculate winding The real-time tachometer value of motor;PID controller calculates winding motor according to the real-time tachometer value of compensated torque amount and winding motor Speed considerations amount, PID controller control wind servo-driver to realize the rotation speed change of winding motor.
Beneficial effects of the present invention are as follows: by setting traction servo-driver and winding servo-driver to realize to leading Draw being precisely controlled for motor and winding motor;Rotary encoder, which is arranged, to turn what film was passed by so that real-time measurement rolling-up mechanism is each Length, and then the real-time revolving speed of rolling-up mechanism is obtained, and change according to the real-time torque of traction electric machine by PID controller, with Guarantee the constant torque of control traction electric machine and the speed control of winding motor, so that the velocity-stabilization of winding motor, Jin Ershi The existing accurate speed control of rolling-up mechanism, and rolling-up mechanism speed control error is small, is suitble to high and low speed chemical industry condition;Using EtherCAT communication response speed is exceedingly fast, it is not easy to by electromagnetic interference.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the speed control system of casting machine of the invention;
Fig. 2 is the flow chart of method for control speed of the invention.
The reference numerals are as follows:
Traction mechanism 101, traction electric machine 1, winding motor 2, rotary encoder 3, PID controller 4, is led rolling-up mechanism 102 Draw servo-driver 5, winding servo-driver 6, PLC controller 7.
Specific embodiment
It is attached now in conjunction with appended preferred embodiment in order to further appreciate that structure of the invention, feature and other purposes With attached drawing, detailed description are as follows, this attached drawing embodiment described is only used to illustrate the technical scheme of the present invention, and non-limiting Invention.
As shown in FIG. 1, FIG. 1 is the structural schematic diagrams of the speed control system of casting machine of the invention;Curtain coating of the invention The speed control system of machine, including for control 101 torsion of traction mechanism variation traction electric machine 1, for controlling rolling-up mechanism The winding motor 2 of 102 rolling speed, for measure each rotary encoder 3 for turning the length that film is passed by of rolling-up mechanism 102, PID controller 4, traction servo-driver 5, winding servo-driver 6 and PLC controller 7;Wherein, PLC controller 7 respectively with PID controller 4, traction servo-driver 5 and winding servo-driver 6 are electrically connected;PLC controller 7 and traction servo-driver 5 It is communicated, is exceedingly fast using EtherCAT communication response speed, it is not easy to electric by EtherCAT between winding servo-driver 6 Magnetic disturbance;Traction servo-driver 5 is electrically connected with traction electric machine 1, and traction electric machine 1 is electrically connected with PID controller 4, PID controller 4 are electrically connected with traction servo-driver 5, and winding servo-driver 6 is electrically connected with winding motor 2, and rotary encoder 3 and PID are controlled Device 4 processed is electrically connected, and PID controller 4 is electrically connected with winding servo-driver 6.Wherein, traction mechanism 101 includes swing rod, traction electricity Machine 1 is connect with the swing rod, and the swing rod changes torsion according to the torque value of traction electric machine 1 and then controls membrane tension, is used Traction electric machine controls swing rod and realizes membrane tension control, and when changing traction electric machine torque value, swing rod is in a wobbling action The change of traction electric machine torque value is completed after increasing pivot angle, has buffer function to film, film will not be damaged, can fast implement Membrane tension variation, tension are more stable.
Fig. 1 is please referred to, draws servo-driver 5 according to the torque of the input control traction electric machine 1 of PLC controller 7, and And PID controller 4 is according to the compensated torque amount of the knots modification of PLC controller 7 and the torque calculation traction electric machine 1 of traction electric machine 1 Export the torque variation that traction electric machine 1 is realized to traction servo-driver 5;Servo-driver 6 is wound according to PLC controller 7 Input control winding motor 2 revolving speed, and PID controller 4 according to the compensated torque amount and rotary encoder 3 of calculating survey The speed considerations amount for the length computation winding motor 2 that the film of amount is passed by is exported to winding servo-driver 6 to realize winding electricity The rolling speed of machine 2 controls;The each length for turning film and passing by of 3 real-time measurement rolling-up mechanism of rotary encoder 102, and calculate thin The real-time coil diameter of film, to calculate the tachometer value of winding motor 2.Pass through setting traction servo-driver and winding servo-drive Device is precisely controlled traction electric machine and winding motor with realizing;Wherein, the input quantity of PLC controller 7 includes traction mechanism 101 The torque value of tension value, traction electric machine 1 in tracting film moving process and the tachometer value of winding motor 2;PLC controller 7 Knots modification includes the tension change value in 101 tracting film moving process of traction mechanism.Setting rotary encoder can measure receipts The each length for turning film and passing by of mechanism is rolled up, and then obtains the real-time revolving speed of rolling-up mechanism, and by PID controller according to traction The torque of motor changes, and to guarantee the constant torque of control traction electric machine and the speed control of winding motor, and then realizes winding The accurate speed control of mechanism, rolling-up mechanism speed control error is small, is suitble to high and low speed chemical industry condition.
Fig. 2 is please referred to, Fig. 2 is the flow chart of method for control speed of the invention;The speed of speed control system of the invention Control method is spent, the method for control speed includes the following steps:
S1), membrane tension value, the torque value of corresponding traction electric machine 1 and corresponding are determined according to sampled value or empirical value The tachometer value of winding motor 2, and the membrane tension value, torque value and tachometer value are stored in PLC controller 7.
S2), by the membrane tension value of the input setting of PLC controller 7, PLC controller 7 is worth according to the membrane tension of setting To the torque value of corresponding traction electric machine 1 and the tachometer value of winding motor 2.
S3), the control of PLC controller 7 traction servo-driver 5 drives traction with corresponding torque value driving traction electric machine 1 Mechanism 101 acts, while the control of PLC controller 7 winding servo-driver 6 is driven with corresponding tachometer value driving winding motor 2 Rolling-up mechanism 102 acts.
S4), each length for turning film and passing by of 3 real-time measurement rolling-up mechanism of rotary encoder 102, and calculate the reality of film When coil diameter, to calculate the tachometer value of winding motor 2.
S5), PID controller 4 receives the tachometer value for the winding motor 2 that rotary encoder 3 calculates and the reality of traction electric machine 1 When torque value, and according to the real-time torque value compared with the correspondence torque value of input setting and calculating torque compensation rate and revolving speed Compensation rate.
S6), PID controller 4 exports the compensated torque amount to traction servo-driver 5 to realize traction electric machine 1 Constant torque control, PID controller 4 export the speed considerations amount to winding servo-driver 6 to realize winding motor 2 Rolling speed control.
In 102 operation process of traction mechanism 101 and rolling-up mechanism, PID controller is connect method for control speed of the invention The real-time torque value of traction electric machine 1 and the real-time tachometer value of winding motor 2 are received, and according to the membrane tension value of setting, corresponding The tachometer value of the torque value of traction electric machine 1 and corresponding winding motor 2 adjusts real-time torque value and real-time tachometer value, so that leading The rolling speed of the constant torque control and winding motor 2 of drawing motor 1 is stablized.
In addition, the speed control of membrane tension change may be implemented in method for control speed of the invention, in traction mechanism 101 In 102 operation process of rolling-up mechanism, the tension change value inputted by PLC controller 7, PID controller 4 receives traction electric machine 1 Real-time torque value, and receive the tension change value that is inputted by PLC controller 7, PID controller 4 is worth according to tension change To the torque change value of corresponding traction electric machine 1, PID controller 4 obtains traction electricity according to torque change value and real-time torque value The compensated torque amount of machine 1, the control of PID controller 4 traction servo-driver 5 are changed with the torque for realizing traction electric machine 1.PID control Device 4 processed receives each length for turning film and passing by of 3 real-time measurement rolling-up mechanism of rotary encoder 102, and calculates the real-time of film Coil diameter, to calculate the real-time tachometer value of winding motor 2;PID controller 4 is according to the reality of compensated torque amount and winding motor 2 When tachometer value calculate winding motor 2 speed considerations amount, PID controller 4 control winding servo-driver 6 to realize winding motor 2 rotation speed change.
It is to be understood that foregoing invention content and specific embodiment are intended to prove technical solution provided by the present invention Practical application should not be construed as limiting the scope of the present invention.Those skilled in the art are in spirit and principles of the present invention It is interior, when can various modifications may be made, equivalent replacement or improvement.Protection scope of the present invention is subject to the appended claims.

Claims (8)

1. a kind of speed control system of casting machine, which is characterized in that the speed control system includes for controlling dragger The traction electric machine (1) of structure (101) torsion variation, is used for the winding motor (2) for controlling rolling-up mechanism (102) rolling speed Rolling-up mechanism (102) each rotary encoder (3) for turning the length that film is passed by, PID controller (4), traction servo is measured to drive Dynamic device (5), winding servo-driver (6) and PLC controller (7);Wherein,
PLC controller (7) is electrically connected with PID controller (4), traction servo-driver (5) and winding servo-driver (6) respectively It connects;
Traction servo-driver (5) is electrically connected with traction electric machine (1), and traction electric machine (1) is electrically connected with PID controller (4), PID Controller (4) is electrically connected with traction servo-driver (5), so that traction servo-driver (5) is according to the defeated of PLC controller (7) Enter the torque of amount control traction electric machine (1), and PID controller (4) is according to the knots modification and traction electric machine of PLC controller (7) (1) the compensated torque amount of torque calculation traction electric machine (1) is exported to traction servo-driver (5) to realize traction electric machine (1) Torque variation;
Winding servo-driver (6) is electrically connected with winding motor (2), and rotary encoder (3) is electrically connected with PID controller (4), PID controller (4) is electrically connected with winding servo-driver (6), so that winding servo-driver (6) is according to PLC controller (7) The revolving speed of input control winding motor (2), and PID controller (4) is according to the compensated torque amount and rotary encoder of calculating (3) the speed considerations amount for the length computation winding motor (2) that the film measured is passed by is exported to winding servo-driver (6) with reality The rolling speed control of existing winding motor (2).
2. speed control system as described in claim 1, which is characterized in that PLC controller (7) and traction servo-driver (5) it is communicated between winding servo-driver (6) by EtherCAT.
3. speed control system as described in claim 1, which is characterized in that the input quantity of PLC controller (7) includes dragger The torque value of tension value, traction electric machine (1) in structure (101) tracting film moving process and the tachometer value of winding motor (2); The knots modification of PLC controller (7) includes the tension change value in traction mechanism (101) tracting film moving process.
4. speed control system as described in claim 1, which is characterized in that traction mechanism (101) includes swing rod, traction electric machine (1) it is connect with the swing rod, the swing rod changes torsion according to the torque value of traction electric machine (1) and then controls membrane tension.
5. speed control system as described in claim 1, which is characterized in that rotary encoder (3) real-time measurement rolling-up mechanism (102) each length for turning film and passing by, and the real-time coil diameter of film is calculated, to calculate the tachometer value of winding motor (2).
6. a kind of method for control speed using speed control system a method as claimed in any one of claims 1 to 5, which is characterized in that institute Method for control speed is stated to include the following steps:
S1), membrane tension value, the torque value of corresponding traction electric machine (1) and corresponding receipts are determined according to sampled value or empirical value The tachometer value of motor (2) is rolled up, and the membrane tension value, torque value and tachometer value are stored in PLC controller (7);
S2), by the membrane tension value of PLC controller (7) input setting, PLC controller (7) is worth according to the membrane tension of setting To the torque value of corresponding traction electric machine (1) and the tachometer value of winding motor (2);
S3), PLC controller (7) control traction servo-driver (5) is driven with corresponding torque value driving traction electric machine (1) and is led Draw mechanism (101) movement, while PLC controller (7) control winding servo-driver (6) drives winding electricity with corresponding tachometer value Machine (2) drives rolling-up mechanism (102) movement;
S4), each length for turning film and passing by of rotary encoder (3) real-time measurement rolling-up mechanism (102), and calculate the reality of film When coil diameter, to calculate the tachometer value of winding motor (2);
S5), PID controller (4) receives the tachometer value and traction electric machine (1) for the winding motor (2) that rotary encoder (3) calculate Real-time torque value, and according to the real-time torque value with input setting correspondence torque value compared with and calculating torque compensation rate and Speed considerations amount;
S6), PID controller (4) exports the compensated torque amount to traction servo-driver (5) to realize traction electric machine (1) Constant torque control, PID controller (4) by the speed considerations amount export servo-driver to winding (6) with realize winding The rolling speed of motor (2) controls.
7. method for control speed as claimed in claim 6, which is characterized in that the method for control speed further includes PID control Device (4) receives the real-time torque value of traction electric machine (1), and receives the tension change value inputted by PLC controller (7), PID control Device (4) processed obtains the torque change value of corresponding traction electric machine (1) according to the tension change value, and PID controller (4) is according to institute It states torque change value and real-time torque value obtains the compensated torque amount of traction electric machine (1), PID controller (4) control traction servo Driver (5) is changed with the torque for realizing traction electric machine (1).
8. method for control speed as claimed in claim 7, which is characterized in that PID controller (4) receives rotary encoder (3) The each length for turning film and passing by of real-time measurement rolling-up mechanism (102), and the real-time coil diameter of film is calculated, to calculate winding The real-time tachometer value of motor (2);PID controller (4) is calculated according to the real-time tachometer value of compensated torque amount and winding motor (2) and is received The speed considerations amount of motor (2) is rolled up, PID controller (4) control winding servo-driver (6) is to realize turning for winding motor (2) Speed variation.
CN201910301450.7A 2019-04-15 2019-04-15 A kind of speed control system and its control method of casting machine Pending CN109850645A (en)

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CN201910301450.7A CN109850645A (en) 2019-04-15 2019-04-15 A kind of speed control system and its control method of casting machine

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Application Number Priority Date Filing Date Title
CN201910301450.7A CN109850645A (en) 2019-04-15 2019-04-15 A kind of speed control system and its control method of casting machine

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CN109850645A true CN109850645A (en) 2019-06-07

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110817549A (en) * 2019-10-30 2020-02-21 苏州安驰控制系统有限公司 Winding control method, device and system and computer storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110817549A (en) * 2019-10-30 2020-02-21 苏州安驰控制系统有限公司 Winding control method, device and system and computer storage medium

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