CN114167813A - Distributed control system capable of replacing IO unit on line - Google Patents
Distributed control system capable of replacing IO unit on line Download PDFInfo
- Publication number
- CN114167813A CN114167813A CN202010956410.9A CN202010956410A CN114167813A CN 114167813 A CN114167813 A CN 114167813A CN 202010956410 A CN202010956410 A CN 202010956410A CN 114167813 A CN114167813 A CN 114167813A
- Authority
- CN
- China
- Prior art keywords
- unit
- module
- communication
- power supply
- communication unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 96
- 238000012545 processing Methods 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33273—DCS distributed, decentralised controlsystem, multiprocessor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Programmable Controllers (AREA)
Abstract
The application discloses distributed control system that can change IO unit on line includes: the device comprises a controller module, a communication module, a power module and at least one group of IO modules; the controller module is connected with the communication module, the communication module is connected with at least one group of IO modules, and the power supply module is connected with at least one group of IO modules; the communication module comprises a first communication unit and a second communication unit, the power supply module comprises a first power supply and a second power supply, and at least one group of IO modules comprises a first interface, a second interface, a self-pairing connector and a plurality of IO units; the first communication unit is connected with the first interface, and the second communication unit is connected with the second interface; the first power supply is connected with the first interface, and the second power supply is connected with the second interface; when the IO unit is inserted into the self-pairing connector, a first communication end of the IO unit is communicated with the first communication unit, a second communication end of the IO unit is communicated with the second communication unit, a first end of the IO unit is communicated with the first power supply, and a second end of the IO unit is communicated with the second power supply.
Description
Technical Field
The application relates to the technical field of computers, in particular to a distributed control system capable of replacing IO units on line.
Background
A Distributed Control System (DCS) may also be called a Distributed Control System or a Distributed computer Control System. The instrument control system is a new-generation instrument control system based on a microprocessor and adopting a design principle of decentralized control function, centralized display operation, and consideration of division, autonomy and comprehensive coordination. Currently, the design of I/O modules in control systems mainly includes two major categories: 1) in the form of a common case or a common base (bottom plate), a plurality of I/O modules are all inserted into the same case or base, and the cases are connected in a cascading or centralized manner; 2) the modular base design is that each I/O module is provided with a separate base, and the bases are connected with each other through a common bus or directly to form a module group. The power supply and communication interfaces are connected at one side of the module group.
In the actual operation process, some distributed control system systems cannot be shut down integrally, so that when a module needs to be replaced due to a fault, the influence range is required to be reduced as much as possible. A problem with the first type of design is that it affects all modules installed in the chassis or base to be replaced when replacement is required. Some of the chassis may also affect the communication of the chassis at its lower level in the communication cascade, so that the chassis and modules without faults may also be in a communication failure state when they are replaced. The second category of products, whose base relies on a common component, such as a common bus bar, a specially-made cabled bus bar, etc. The range of influence when changing common parts is the same as that of a common chassis or chassis. Some manufacturers achieve the function independence of the I/O module, but cannot realize the function modules which do not influence other normal operation when in online replacement.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the above mentioned technical problems.
Therefore, a first objective of the present application is to provide a distributed control system capable of replacing an IO unit online, so as to replace the IO unit online without affecting normal operation of other modules, reduce the impact, and improve usability.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a distributed control system capable of replacing an IO unit online, including:
the device comprises a controller module, a communication module, a power module and at least one group of IO modules;
the controller module is connected with the communication module, the communication module is connected with the at least one group of IO modules, and the power supply module is connected with the at least one group of IO modules;
the communication module comprises a first communication unit and a second communication unit, the power supply module comprises a first power supply and a second power supply, and the at least one group of IO modules comprises a first interface, a second interface, a self-pairing connector and a plurality of IO units;
the first communication unit is connected with the first interface, and the second communication unit is connected with the second interface;
the first power supply is connected with the first interface, and the second power supply is connected with the second interface;
when the IO unit is inserted into the self-pairing connector, a first communication end of the IO unit is communicated with the first communication unit, a second communication end of the IO unit is communicated with the second communication unit, a first end of the IO unit is communicated with the first power supply, and a second end of the IO unit is communicated with the second power supply.
Optionally, the IO unit includes an IO base, and the IO base may be inserted into the point of the self-aligning connector at a vertical angle.
Optionally, the IO unit further includes a functional module, and the functional module is installed on the IO base.
Optionally, the functional module is a main module, or an auxiliary module, or a combination of the main module and the auxiliary module.
Optionally, the controller module and the communication module are connected in a dual-redundancy connection manner.
Optionally, the controller module includes a first controller and a second controller, the first controller is connected to the first communication unit and the second communication unit, and the second controller is connected to the first communication unit and the second communication unit.
Optionally, the first communication end of the IO unit and the first communication unit form a first data link, the second communication end of the IO unit and the second communication unit form a second data link, and the controller module performs confluence processing on the first data in the first data link and the second data in the second data link.
According to the distributed control system capable of replacing the IO unit on line, the power supply and the communication of the IO unit are designed in a redundancy mode, and the IO communication data in the redundancy link are processed in a confluence mode, so that the IO unit can be replaced on line without influencing normal work of other modules, influences are reduced, and usability is improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of a distributed control system capable of replacing an IO unit online according to an embodiment of the present application;
fig. 2 is a schematic diagram of a specific connection structure of an IO unit according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an IO cell of an embodiment of the present application being plugged and unplugged along a vertical angle;
fig. 4 is a schematic structural diagram of a distributed control system capable of replacing an IO unit online according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The present application is described in further detail below with reference to specific examples, which should not be construed as limiting the scope of the invention as claimed.
The following describes a distributed control system capable of replacing an IO unit online according to an embodiment of the present application with reference to the drawings.
Fig. 1 is a schematic structural diagram of a distributed control system capable of replacing an IO unit online according to an embodiment of the present application.
As shown in fig. 1, the distributed control system capable of replacing an IO cell online includes a controller module 100, a communication module 200, a power module 300, and at least one IO module 400.
The controller module 100 is connected to the communication module 200, the communication module 200 is connected to at least one IO module 400, and the power module 300 is connected to at least one IO module 400.
The communication module 200 includes a first communication unit 210 and a second communication unit 220. The power module 300 includes a first power supply 310 and a second power supply 320. At least one group of IO modules 400 includes a first interface 410, a second interface 420, a self-mating connector 430, and a plurality of IO cells 440.
The first communication unit 210 is connected to the first interface 410, and the second communication unit 220 is connected 420 to the second interface; the first power supply 310 is connected to the first interface 410 and the second power supply 320 is connected to the second interface 420.
It should be understood that in an actual product, the controller module 100 and the communication module 200 may be designed as one body.
As shown in fig. 2, when the IO cell 440 is inserted into the self-mating connector 430, the first communication terminal 441 of the IO cell 440 communicates with the first communication unit 210, the second communication terminal 442 of the IO cell 440 communicates with the second communication unit 220, the first terminal 443 of the IO cell 440 communicates with the first power supply 310, and the second terminal 444 of the IO cell 440 communicates with the second power supply 320.
As shown in fig. 3, IO cell 440 includes IO mount 445, and IO mount 445 may be inserted at a vertical angle to the point of self-mating connector 430.
In one embodiment of the present application, the IO unit further includes a functional module 446, and the functional module 446 is mounted on the IO base 445. The functional module 446 may be a main module, an auxiliary module, or a combination of the main module and the auxiliary module.
In one embodiment of the present application, the controller module 100 and the communication module 200 are connected by a dual redundancy connection.
The controller module 100 includes a first controller 110 and a second controller 120. The first controller 110 is connected to the first communication unit 210 and the second communication unit 220, respectively, and the second controller 120 is connected to the first communication unit 210 and the second communication unit 220, respectively.
The first communication terminal 441 of the IO unit 440 forms a first data link with the first communication unit 210, and the second communication terminal 442 of the IO unit 440 forms a second data link with the second communication unit 220. The controller module 100 performs a merge process on the first data in the first data link and the second data in the second data link.
The following is a detailed description of a specific embodiment.
In the application, each I/O unit in the DCS is designed to be a unit with structural independence, and a special connecting device (a self-pairing connector) is adopted to realize the connection between modules. And through the redundant design of power supply and communication, the function of redundant data confluence is realized, and finally, any part in the I/O unit at any position can be replaced on line (without shutdown), without influencing the normal operation of other modules.
Specifically, each I/O unit includes an I/O chassis, a primary module, and a secondary module. The primary and secondary modules are mounted on the I/O chassis, i.e., there is a dedicated chassis for each I/O unit. The I/O bases are connected by self-mating connectors without a common bus or a common base. The self-mating connector, as shown in fig. 3, the I/O unit can be plugged at a vertical angle of the self-mating connector, so that the base at any position in the module group can be detached independently, and the on-line replacement of the I/O unit can be realized without affecting other units.
The power and communication interfaces are accessed redundantly from both ends of each group of I/O units, as shown in fig. 4 (taking 3 groups of I/O units as an example), and the power and communication of the a side and the B side are accessed through both ends of each group of I/O chassis, respectively. For each chassis, a-side power supply 310 and a-side communications 210 enter from the I/O chassis upper interface (410) and exit from the lower interface (420); the B-side power 320 and B-side communications 220 enter from the lower interface (420) and exit from the upper interface (410). This configuration ensures that there is always one side of the power and communications physically connected when any I/O pad is replaced.
The structure ensures the physical connection of communication, and to realize normal communication of the I/O units in the DCS function, the redundant data processing is also needed to be realized in the controller, namely, the data in the two communication links which are redundant mutually are subjected to confluence processing. The processing mechanism of the confluence is as follows: when the data of the communication port at the side A comprises all the configured module data, the data at the side A is selected for calculation; when some configured modules lack data in the A-side communication port, the data of the modules are selected through the B-side communication port. This processing mechanism maximally guarantees the availability of I/O module data.
Through the design, when any part in any I/O unit in the DCS is replaced, only the function of the replaced I/O unit is affected, the normal work of other modules is not affected, the influence range during online maintenance can be effectively reduced, and the usability of the system is improved.
According to the distributed control system capable of replacing the IO unit on line, the power supply and the communication of the IO unit are designed in a redundancy mode, and the IO communication data in the redundancy link are processed in a confluence mode, so that the IO unit can be replaced on line without influencing normal work of other modules, influences are reduced, and usability is improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It should be noted that in the description of the present specification, reference to the description of the term "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Claims (7)
1. A distributed control system capable of replacing IO units on line is characterized by comprising:
the device comprises a controller module, a communication module, a power module and at least one group of IO modules;
the controller module is connected with the communication module, the communication module is connected with the at least one group of IO modules, and the power supply module is connected with the at least one group of IO modules;
the communication module comprises a first communication unit and a second communication unit, the power supply module comprises a first power supply and a second power supply, and the at least one group of IO modules comprises a first interface, a second interface, a self-pairing connector and a plurality of IO units;
the first communication unit is connected with the first interface, and the second communication unit is connected with the second interface;
the first power supply is connected with the first interface, and the second power supply is connected with the second interface;
when the IO unit is inserted into the self-pairing connector, a first communication end of the IO unit is communicated with the first communication unit, a second communication end of the IO unit is communicated with the second communication unit, a first end of the IO unit is communicated with the first power supply, and a second end of the IO unit is communicated with the second power supply.
2. The system of claim 1, wherein the IO cell comprises an IO base that is vertically angularly insertable into a site of the self-mating connector.
3. The system of claim 2, wherein the IO unit further comprises a functional module mounted on the IO base.
4. The system of claim 3, wherein the functional module is a primary module, or a secondary module, or a combination of the primary and secondary modules.
5. The system of claim 1, wherein the controller module and the communication module are coupled using a dual redundant connection.
6. The system of claim 5, wherein the controller module comprises a first controller and a second controller, the first controller is connected to the first communication unit and the second communication unit, respectively, and the second controller is connected to the first communication unit and the second communication unit, respectively.
7. The system of claim 1, wherein a first communication end of the IO unit and the first communication unit form a first data link, a second communication end of the IO unit and the second communication unit form a second data link, and the controller module performs merge processing on first data in the first data link and second data in the second data link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010956410.9A CN114167813A (en) | 2020-09-11 | 2020-09-11 | Distributed control system capable of replacing IO unit on line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010956410.9A CN114167813A (en) | 2020-09-11 | 2020-09-11 | Distributed control system capable of replacing IO unit on line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114167813A true CN114167813A (en) | 2022-03-11 |
Family
ID=80476202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010956410.9A Pending CN114167813A (en) | 2020-09-11 | 2020-09-11 | Distributed control system capable of replacing IO unit on line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114167813A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204331373U (en) * | 2014-12-25 | 2015-05-13 | 上海新华控制技术(集团)有限公司 | A kind of I/O module |
| US20170344445A1 (en) * | 2016-05-31 | 2017-11-30 | Bristol, Inc. D/B/A Remote Automation Solutions | Methods and apparatus to implement communications via a remote terminal unit |
| CN107608469A (en) * | 2017-09-19 | 2018-01-19 | 中国核动力研究设计院 | A kind of LVDS high-speed communications backboard |
| CN208239834U (en) * | 2018-06-20 | 2018-12-14 | 南京实点电子科技有限公司 | A kind of industrial bus I/O module of modularization collocation |
| CN110879565A (en) * | 2019-12-06 | 2020-03-13 | 北京和利时智能技术有限公司 | Dual-computer redundancy control system and redundancy control/fault monitoring method and device thereof |
| CN111581135A (en) * | 2020-06-29 | 2020-08-25 | 西安精雕精密机械工程有限公司 | Industrial bus IO module based on EtherCAT |
-
2020
- 2020-09-11 CN CN202010956410.9A patent/CN114167813A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204331373U (en) * | 2014-12-25 | 2015-05-13 | 上海新华控制技术(集团)有限公司 | A kind of I/O module |
| US20170344445A1 (en) * | 2016-05-31 | 2017-11-30 | Bristol, Inc. D/B/A Remote Automation Solutions | Methods and apparatus to implement communications via a remote terminal unit |
| CN107450487A (en) * | 2016-05-31 | 2017-12-08 | 布里斯托公司商用名远程自动化解决方案 | The method and apparatus that communication is realized via remote-terminal unit |
| CN107608469A (en) * | 2017-09-19 | 2018-01-19 | 中国核动力研究设计院 | A kind of LVDS high-speed communications backboard |
| CN208239834U (en) * | 2018-06-20 | 2018-12-14 | 南京实点电子科技有限公司 | A kind of industrial bus I/O module of modularization collocation |
| CN110879565A (en) * | 2019-12-06 | 2020-03-13 | 北京和利时智能技术有限公司 | Dual-computer redundancy control system and redundancy control/fault monitoring method and device thereof |
| CN111581135A (en) * | 2020-06-29 | 2020-08-25 | 西安精雕精密机械工程有限公司 | Industrial bus IO module based on EtherCAT |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7508690B2 (en) | Monitoring and control device and bridge module therefor | |
| CN1129074C (en) | Hot plug control of multiprocessor based computer system | |
| US5313386A (en) | Programmable controller with backup capability | |
| US4539487A (en) | Power supply system | |
| CA2089940A1 (en) | On-line module replacement in a multiple data processing system | |
| US7673186B2 (en) | Apparatus and method for cold sparing in multi-board computer systems | |
| TWI223136B (en) | Access control device and method of memory module in electronic machine | |
| CN114167813A (en) | Distributed control system capable of replacing IO unit on line | |
| JP4405713B2 (en) | Method and system for configuring input / output points | |
| CN101697094A (en) | Double-power power supply unit and method | |
| EP2079293A1 (en) | Backplane and communication apparatus | |
| TW589564B (en) | Fault tolerant bus for highly available storage enclosure | |
| CN112783536A (en) | Server system for updating firmware by using baseboard management controller | |
| CN113868037A (en) | System and method for judging cable connection accuracy of hard disk backboard | |
| US20070108299A1 (en) | Electrical device with stored data | |
| JP7565152B2 (en) | Encoder system, motor system and robot | |
| CN219016831U (en) | PLC equipment | |
| CN108052194A (en) | Computer backboard, computer platform and computer fusion system | |
| JPH1153329A (en) | Information processing system | |
| CN210573968U (en) | Door control device for storage cabinet | |
| CN113672528B (en) | Control circuit capable of selectively turning on BIOS | |
| CN101201742A (en) | System and method for on-line programming host board | |
| CN212137381U (en) | Electrical switch cabinet and monitoring equipment thereof | |
| US20230352710A1 (en) | Apparatus for fuel cell system | |
| US20240040732A1 (en) | Modularly Assembled Automation System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |