CN2702530Y - Control device for controlling multiple servo motors with single master control chip - Google Patents
Control device for controlling multiple servo motors with single master control chip Download PDFInfo
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- CN2702530Y CN2702530Y CN 200420004204 CN200420004204U CN2702530Y CN 2702530 Y CN2702530 Y CN 2702530Y CN 200420004204 CN200420004204 CN 200420004204 CN 200420004204 U CN200420004204 U CN 200420004204U CN 2702530 Y CN2702530 Y CN 2702530Y
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Abstract
The utility model provides a control device for controlling multiple servo motors with single master control chips. As a main control chip U1 is connected with an interface circuit, a line receiving circuit, and other functional modules, and accordingly the independent control or the cooperative control on multiple servo motors is realized. The data processing ability of the main control chip U1 and a peripheral interface of pulse width modulation (PWM) can be adequately used to respectively control multiple servo motors with different types in different control modes. Two of the servo motors can completely and independently realize respective control on the position loop and the velocity circulation. The connected multiple servo motors can be brushless direct current motors, permanent magnet synchronous motors, or direct current servo motors, and run in an open loop mode. The control device has the advantages of high control precision, good stability, low cost, and small volume. The control device can be widely applied to the automation fields of the machinery, the textile, the electron, the printing, the metallurgy, the petroleum, the chemical engineering, the light engineering, the packing, etc.
Description
Technical field:
The utility model provides a kind of control device that adopts many servomotors of single main control chip control, belongs to the control appliance field of automation, servomechanism.
Background technology:
At present, traditional digital servo transmission device, all be to adopt the control of one group of control device realization to a servomotor, realizing the automation control of this group servomotor, when Be Controlled to as if during many servomotors, promptly we say usually the multiaxis control mode time, how many platform servomotors are arranged, will corresponding configuration how much overlap Servocontrol device. this control mode, cost height, volume are big, and the reliability and the efficient of system all are affected.
Summary of the invention
The purpose of this utility model provides a kind of control device that adopts many servomotors of single main control chip control, the utility model is by main control chip U1, interface circuit 1,2,3, N, line receiving circuit 1,2 and other functional module four parts form, main control chip U1 and interface circuit, the line receiving circuit links to each other with other functional modules, realization is to the independent control or the coordination control of many servomotors, can make full use of data-handling capacity and pulse-width modulation (PWM) peripheral interface of master control chip U1, with different many different servomotors of control mode difference control types, control precision height, good stability.Have the advantage that cost is low, volume is little. can be widely used in automatic fields such as machinery, weaving, electronics, printing, metallurgy, oil, chemical industry, light industry, packing.
The purpose of this utility model is to realize like this, its technical scheme is in control system, adopted a control system of forming by main control chip, interface circuit, line receiving circuit and other functional modules four parts, control system comprises main control chip U1, interface circuit, line receiving circuit and other functional modules, links to each other with driver module 1,2,3, N and encoder 1,2.It is characterized in that: adopt a main control chip U1 to link to each other with interface circuit, line receiving circuit and other functional modules, be connected servomotor by driver module with coder module, realize the control of many servomotors simultaneously, in many servomotors, two servomotors (servomotor 1 and servomotor 2) are arranged, can control fully independently, realize separately speed ring and position ring respectively, other many servomotors, realization open loop control can realize coordinating control according to the operational factor of servomotor 1 and servomotor 2.Servomotor 1 type can be all kinds of AC servo motors, and servomotor 2, servomotor 3 can be brshless DC motor, permagnetic synchronous motor or DC servo motor up to servomotor n.(see figure 1)
Adopt advantage of the present utility model and effect:
The utility model is characterized in that: adopt a main control chip to realize the independent control or the coordination control of many servomotors, can make full use of data-handling capacity and pulse-width modulation (PWM) peripheral interface of master control chip U1, with different many different servomotors of control mode difference control types, wherein two servomotors can be realized separately position ring and speed ring control fully independently, and other many servomotors move with open loop approach.Traditional multi-servomotor control device generally all adopts unified drive signal, and each servomotor rotating speed is the simple proportional relation, can not realize complicated logic control function.The device that the utility model proposes under the prerequisite that does not increase cost, can realize generally needing to adopt automation control system (as motion control card) and motor servo driver together complicated multi-servomotor coordinated movement of various economic factors controlled function that could realize.Compare with traditional digital servo transmission device, the utility model device has the advantage that cost is low, volume is little, and in addition, its core control algolithm is finished in a main control chip, has improved the efficient and the reliability of system greatly.
Below in conjunction with drawings and Examples, the utility model is further specified as follows:
Description of drawings
Fig. 1 is overall structure figure of the present utility model
Fig. 2 is line drive circuit 1 figure
Fig. 3 is line drive circuit 2 figure
Fig. 4 is interface circuit driving figure
Embodiment
In Fig. 1, its technical scheme is in control system, has adopted a main control chip U1, other functional modules, 1～n interface circuit, line receiving circuit 1～2.They link to each other with encoder 1～2 with driver module 1～n.Control system is made of main control chip U1 and other functional module, and other functional module is a prior art, is marked by dotted line.Driver module 1 is the power section of servomotor 1, and its control signal is from control system.Line between driver module 1 and the control system is divided into two parts: a part generally adopts universal standard mode to connect for the input and output of measuring-signals such as guard signal and current/voltage, is prior art, is marked by dotted line; Second portion is that drive signal connects, and exports PWM1, PWM2, PWM3, PWM4, PWM5, the PWM6 mouth of U1 to driver module 1 by interface circuit 1.Driver module 1 provides input power by cable to servomotor 1.The encoder 1 that the position of servomotor 1 and rate signal are installed by the end detects, encoder 1 output signal is by line receiving circuit 1 input U1, wherein CAP1, CAP2, the CAP3 mouth of the corresponding input of position signalling A_1, B_1, Z_1 U1, analog signal thief hatch ADCIN00, ADCIN01, the ADCIN02 of initial position hall signal U_1, the corresponding input of V_1, W_1 U1.Driver module 1 receives the control of six road pwm signals realization to bridge inverter main circuit, and the current regulator of servomotor 1 and velocity location adjustable ring are all finished by main control chip U1.
Line drive circuit 1 principle realizes that encoder 1 is connected with the coupling of main control chip U1 as shown in Figure 2.The differential position signal A_1+IN of encoder 1 output, A_1-IN, B_1+IN, B_1-IN, Z_1+IN, Z_1-IN pass through line chip for driving U2 more earlier by filtering, are converted to input signal A_1, B_1, the Z_1 of U1 again by output filtering.Encoder 1 output initial position hall signal SU_1, SV_1, SW_1 are converted to input signal U_1, V_1, the W_1 of U1 more earlier by filtering through level transferring chip U3.
The type of attachment of driving interface circuit 1, interface circuit 2, interface circuit 3-interface circuit N as shown in Figure 4.PWM1, the PWM2 of main control chip U1 output, PWM3, PWM4, PWM5, PWM6, PWM7, PWM8～PWMx drive signal are sent into driver module 1～n respectively again through level match chip U6, U7～Ux conversion, realize independence or coordination control to each servomotor.
Line by Fig. 2, Fig. 3, Fig. 4 elaborates to the technical solution of the utility model:
Fig. 2 is the line graph of servomotor 1 encoder 1 to main control chip U1.Encoder 1 outlet A_1+IN is connected to the VCC1 voltage stabilizing through R1, inputs to 10 pin of U2; Encoder 1 outlet A_1-IN is connected to ground through R3, inputs to 9 pin of U2; Be connected to R2 and C1 filtering between A_1+IN and the A_1-IN.Encoder 1 outlet B_1+IN is connected to the VCC1 voltage stabilizing through R4, inputs to 6 pin of U2; Encoder 1 outlet B_1-IN is connected to ground through R6, inputs to 7 pin of U2; Be connected to R5 and C2 filtering between B_1+IN and the B_1-IN.Encoder 1 outlet Z_1+IN is connected to the VCC1 voltage stabilizing through R7, inputs to 2 pin of U2; Encoder 1 outlet Z_1-IN is connected to ground through R9, inputs to 1 pin of U2; Be connected to R8 and C3 filtering between Z_1+IN and the Z_1-IN.4 pin and 16 pin of line receiving chip U2 meet VCC1,8 pin and 12 pin ground connection.U2 the 3rd pin output signal forms mouthful CAP3 that catches that the Z_1 signal exports main control chip U1 to corresponding to the input signal of 1,2 pin of U2 through R10 and C6 filtering.U2 the 5th pin output signal forms mouthful CAP2 that catches that the B_1 signal exports main control chip U1 to corresponding to the input signal of 6,7 pin of U2 through R11 and C5 filtering.U2 the 11st pin output signal forms mouthful CAP1 that catches that the A_1 signal exports main control chip U1 to corresponding to the input signal of 9,10 pin of U2 through R12 and C4 filtering.Encoder 1 outlet SU_1 inputs to 1 pin of level transferring chip U3 through R16 and C9 filtering, the 11st pin of U3 is corresponding to corresponding output, this output pin passes through R15 and C12 filtering again through the R21 coupling, is connected to the analog signal thief hatch ADCIN00 of main control chip U1.Encoder 1 outlet SV_1 inputs to 4 pin of level transferring chip U3 through R17 and C8 filtering, the 6th pin of U3 is corresponding to corresponding output, this output pin is through the R20 coupling, and process R14 and C11 filtering are connected to the analog signal thief hatch ADCIN01 of main control chip U1 again.Encoder 1 outlet SW_1 inputs to 13 pin of level transferring chip U3 through R18 and C7 filtering, the 3rd pin of U3 is corresponding to corresponding output, this output pin passes through R13 and C10 filtering again through the R19 coupling, is connected to the analog signal thief hatch ADCIN02 of main control chip U1.
Fig. 3 is servomotor 2, encoder 2 line graph to main control chip U1.Encoder 2 outlet A_2+IN are connected to the VCC1 voltage stabilizing through R22, input to 10 pin of U4; Encoder 2 outlet A_2-IN are connected to ground through R24, input to 9 pin of U4; Be connected to R23 and C13 filtering between A_2+IN and the A_2-IN.Encoder 2 outlet B_2+IN are connected to the VCC1 voltage stabilizing through R25, input to 6 pin of U4; Encoder 2 outlet B_2-IN are connected to ground through R27, input to 7 pin of U4; Be connected to R26 and C14 filtering between B_2+IN and the B_2-IN.Encoder 2 outlet Z_2+IN are connected to the VCC1 voltage stabilizing through R28, input to 2 pin of U4; Encoder 2 outlet Z_2-IN are connected to ground through R30, input to 1 pin of U4; Be connected to R29 and C15 filtering between Z_2+IN and the Z_2-IN.4 pin and 16 pin of line receiving chip U4 meet VCC1,8 pin and 12 pin ground connection.U4 the 3rd pin output signal forms mouthful CAP6 that catches that the Z_2 signal exports main control chip U1 to corresponding to the input signal of 1,2 pin of U4 through R31 and C18 filtering.U4 the 5th pin output signal forms mouthful CAP5 that catches that the B_2 signal exports main control chip U1 to corresponding to the input signal of 6,7 pin of U4 through R32 and C17 filtering.U4 the 11st pin output signal forms mouthful CAP4 that catches that the A_2 signal exports main control chip U1 to corresponding to the input signal of 9,10 pin of U4 through R33 and C16 filtering.Encoder 2 outlet SU_2 input to 1 pin of level transferring chip U5 through R37 and C21 filtering, the 11st pin of U5 is exported accordingly corresponding to 1 pin of U5, this output pin passes through R36 and C24 filtering again through the R42 coupling, is connected to the analog signal thief hatch ADCIN08 of main control chip U1.Encoder 2 outlet SV_2 input to 4 pin of level transferring chip U5 through R38 and C20 filtering, the 6th pin of U5 is exported accordingly corresponding to 4 pin of U5, this output pin passes through R35 and C23 filtering again through the R41 coupling, is connected to the analog signal thief hatch ADCIN09 of main control chip U1.Encoder 2 outlet SW_2 input to 13 pin of level transferring chip U5 through R39 and C19 filtering, the 3rd pin of U5 is exported accordingly corresponding to 13 pin of U5, this output pin is through the R40 coupling, and process R34 and C22 filtering are connected to the analog signal thief hatch ADCIN10 of main control chip U1 again.
Fig. 4 is the drive signal line graph between main control chip U1 and each driver module, has comprised interface circuit 1, interface circuit 2, interface circuit 3～interface circuit n.As shown in Figure 4, the drive signal PWM1 of main control chip U1 output directly is connected to 1 pin of level transferring chip U6, and the holding wire label is PWM_1, and this holding wire correspondence is output as 2 pin of U6, and this pin output signal line PWU+ is connected to driver module 1; Drive signal PWM2 directly is connected to 3 pin of level transferring chip U6, and the holding wire label is PWM_2, and this holding wire correspondence is output as 4 pin of U6, and this pin output signal line PWU-is connected to driver module 1; Drive signal PWM3 directly is connected to 5 pin of level transferring chip U6, and the holding wire label is PWM_3, and this holding wire correspondence is output as 6 pin of U6, and this pin output signal line PWV+ is connected to driver module 1; Drive signal PWM4 directly is connected to 9 pin of level transferring chip U6, and the holding wire label is PWM_4, and this holding wire correspondence is output as 8 pin of U6, and this pin output signal line PWV-is connected to driver module 1; Drive signal PWM5 directly is connected to 11 pin of level transferring chip U6, and the holding wire label is PWM_5, and this holding wire correspondence is output as 10 pin of U6, and this pin output signal line PWW+ is connected to driver module 1; Drive signal PWM6 directly is connected to 13 pin of level transferring chip U6, and the holding wire label is PWM_6, and this holding wire correspondence is output as 12 pin of U6, and this pin output signal line PWW-is connected to driver module 1; The 7 pin ground connection of U6,14 pin meet VCC1.The drive signal PWM_7 of the driver module 2 of main control chip U1 output directly is connected to 1 pin of level transferring chip U7, and the holding wire label is PWM_7, and this holding wire correspondence is output as 2 pin of U7, and this pin output signal line PW7 is connected to driver module 2; The drive signal PWM8 of the driver module 3 of U1 output directly is connected to 3 pin of level transferring chip U7, and the holding wire label is PWM_8, and this holding wire correspondence is output as 4 pin of U7, and this pin output signal line PW8 is connected to driver module 3; The 7 pin ground connection of U7,14 pin meet VCC1.The method of attachment of 3 above driven by servomotor signals is identical with servomotor 3 methods of attachment, can the rest may be inferred.Driver module n with Fig. 4 is the example explanation: the drive signal PWMx of the driver module n of U1 output directly is connected to the input pin (as being the 1st pin among Fig. 4) of level transferring chip Ux, the holding wire label is PWM_x, this holding wire correspondence is output as the output pin (as being the 2nd pin among Fig. 4) of Ux, and this pin output signal line PWx is connected to driver module n; The 7 pin ground connection of Ux, 14 pin meet VCC1.
Claims (7)
1, a kind of control device that adopts many servomotors of single main control chip control, in control system, adopted one by main control chip, interface circuit, the control system that line receiving circuit and other functional module four parts are formed, control system comprises main control chip U1, interface circuit, line receiving circuit and other functional modules, with driver module 1,2,3, N and encoder 1,2 link to each other, it is characterized in that: adopt a main control chip U1 and interface circuit, the line receiving circuit links to each other with other functional modules, be connected servomotor by driver module with coder module, realize the control of many servomotors simultaneously.
2, the control device of many servomotors of single main control chip control according to claim 1, it is characterized in that: adopt a main control chip U1 and interface circuit, the control system that the line receiving circuit links to each other with other functional modules, realize the independent control of many servomotors or coordinate control, can make full use of data-handling capacity and pulse-width modulation (PWM) peripheral interface of master control chip U1, with different many different servomotors of control mode difference control types, wherein two servomotors can be realized separately position ring and speed ring control fully independently, other many servomotors that connect can be brshless DC motors, permagnetic synchronous motor or DC servo motor are moved with open loop approach.
3, the control device of many servomotors of single main control chip control according to claim 1, it is characterized in that: by the PWM1 of interface circuit 1 U1, PWM2, PWM3, PWM4, PWM5, the PWM6 mouth exports driver module 1 to, driver module 1 provides input power by cable to servomotor 1, the encoder 1 that the position of servomotor 1 and rate signal are installed by the end detects, encoder 1 output signal is by line receiving circuit 1 input U1, position signalling A_1 wherein, B_1, the CAP1 of the corresponding input of Z_1 U1, CAP2, the CAP3 mouth, initial position hall signal U_1, V_1, the analog signal thief hatch ADCIN00 of the corresponding input of W_1 U1, ADCIN01, ADCIN02, driver module 1 receives the control of six road pwm signals realization to bridge inverter main circuit, and the current regulator of servomotor 1 and velocity location adjustable ring are all finished by main control chip U1.
4, the control device of many servomotors of single main control chip control according to claim 1, it is characterized in that: export the PWM7 mouth of U1 to driver module 2 by interface circuit 2, driver module 2 provides input power by cable to servomotor 2, the encoder 2 that the position of servomotor 2 and rate signal are installed by the end detects, encoder 2 output signals are by line receiving circuit 2 input U1, position signalling A_2 wherein, B_2, the CAP4 of the corresponding input of Z_2 U1, CAP5, the CAP6 mouth, initial position hall signal U_2, V_2, the analog signal thief hatch ADCIN08 of the corresponding input of W_2 U1, ADCIN09, ADCIN10, driver module 2 is according to the PWM7 duty cycle signals of input, regulate the servomotor rotating speed, can be chosen in built-in current ring function in the driver module 2, position and speed regulation ring are realized by main control chip U1.
5, the control device of many servomotors of single main control chip control according to claim 1, it is characterized in that: in line drive circuit 1, realize that encoder 1 is connected with the coupling of main control chip U1, the differential position signal A_1+IN of encoder 1 output, A_1-IN, B_1+IN, B_1-IN, Z_1+IN, Z_1-IN is earlier by filtering, pass through line chip for driving U2 again, be converted to the input signal A_1 of U1 again by output filtering, B_1, Z_1, encoder 1 output initial position hall signal SU_1, SV_1, SW_1 is converted to the input signal U_1 of U1 more earlier by filtering through level transferring chip U3, V_1, W_1.
6, the control device of many servomotors of single main control chip control according to claim 1 is characterized in that: in line drive circuit 2, realize that encoder 2 is connected with the coupling of main control chip U1.The differential position signal A_2+IN of encoder 2 outputs, A_2-IN, B_2+IN, B_2-IN, Z_2+IN, Z_2-IN are earlier by filtering, pass through line chip for driving U4 again, be converted to input signal A_2, B_2, the Z_2 of U1 again by output filtering, encoder 2 output initial position hall signal SU_2, SV_2, SW_2 are converted to input signal U_2, V_2, the W_2 of U1 more earlier by filtering through level transferring chip U5.
7, the control device of many servomotors of single main control chip control according to claim 1, it is characterized in that: in the connection of driving interface circuit 1, interface circuit 2, interface circuit 3～interface circuit n, PWM1, the PWM2 of main control chip U1 output, PWM3, PWM4, PWM5, PWM6, PWM7, PWM8～PWMx drive signal are sent into driver module 1～n respectively again through level match chip U6, U7～Ux conversion, realize independence or coordination control to each servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420004204 CN2702530Y (en) | 2004-02-18 | 2004-02-18 | Control device for controlling multiple servo motors with single master control chip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420004204 CN2702530Y (en) | 2004-02-18 | 2004-02-18 | Control device for controlling multiple servo motors with single master control chip |
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| CN2702530Y true CN2702530Y (en) | 2005-05-25 |
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| CN 200420004204 Expired - Lifetime CN2702530Y (en) | 2004-02-18 | 2004-02-18 | Control device for controlling multiple servo motors with single master control chip |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101873094A (en) * | 2010-07-16 | 2010-10-27 | 西北工业大学 | Control system of redundant high voltage permanent magnet brushless direct current motor |
| CN101997462A (en) * | 2009-08-11 | 2011-03-30 | 上海古鳌电子机械有限公司 | Dual-servo distribution transmission system |
| CN102103130A (en) * | 2010-11-29 | 2011-06-22 | 中国政法大学 | Driving module of gas chromatograph liquid automatic sample injector motor |
| CN102243487A (en) * | 2010-05-12 | 2011-11-16 | 鸿富锦精密工业（深圳）有限公司 | Machine table movement control system and method for using same |
| CN102739146A (en) * | 2011-04-12 | 2012-10-17 | 王庆华 | Servo control system |
| CN103176450A (en) * | 2013-02-01 | 2013-06-26 | 北京配天大富精密机械有限公司 | Servo drive device and servo control system |
| CN103715949A (en) * | 2012-09-29 | 2014-04-09 | 刘翔高 | Motor control system |
| CN106100465A (en) * | 2016-07-29 | 2016-11-09 | 福建睿能科技股份有限公司 | A kind of drive system and driver |
| CN107239071A (en) * | 2017-08-01 | 2017-10-10 | 深圳市恒科通机器人有限公司 | Monitoring system and mechanical arm |
| CN107395075A (en) * | 2017-06-06 | 2017-11-24 | 上海卫星工程研究所 | Spaceborne drive control device based on LMD18200 chips |
| CN108508811A (en) * | 2018-05-09 | 2018-09-07 | 浙江大学 | A kind of four axis robot servo control circuits of the between centers without communication |
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2004
- 2004-02-18 CN CN 200420004204 patent/CN2702530Y/en not_active Expired - Lifetime
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101997462A (en) * | 2009-08-11 | 2011-03-30 | 上海古鳌电子机械有限公司 | Dual-servo distribution transmission system |
| CN101997462B (en) * | 2009-08-11 | 2013-09-18 | 上海古鳌电子科技股份有限公司 | Dual-servo distribution transmission system |
| CN102243487A (en) * | 2010-05-12 | 2011-11-16 | 鸿富锦精密工业（深圳）有限公司 | Machine table movement control system and method for using same |
| CN101873094A (en) * | 2010-07-16 | 2010-10-27 | 西北工业大学 | Control system of redundant high voltage permanent magnet brushless direct current motor |
| CN101873094B (en) * | 2010-07-16 | 2012-10-31 | 西北工业大学 | Control system of redundant high voltage permanent magnet brushless direct current motor |
| CN102103130A (en) * | 2010-11-29 | 2011-06-22 | 中国政法大学 | Driving module of gas chromatograph liquid automatic sample injector motor |
| CN102739146A (en) * | 2011-04-12 | 2012-10-17 | 王庆华 | Servo control system |
| CN102739146B (en) * | 2011-04-12 | 2015-08-05 | 王庆华 | Servo-control system |
| CN103715949A (en) * | 2012-09-29 | 2014-04-09 | 刘翔高 | Motor control system |
| CN103176450A (en) * | 2013-02-01 | 2013-06-26 | 北京配天大富精密机械有限公司 | Servo drive device and servo control system |
| CN103176450B (en) * | 2013-02-01 | 2016-08-03 | 北京配天技术有限公司 | Servo drive and servo-control system |
| CN106100465A (en) * | 2016-07-29 | 2016-11-09 | 福建睿能科技股份有限公司 | A kind of drive system and driver |
| CN106100465B (en) * | 2016-07-29 | 2020-01-17 | 福建睿能科技股份有限公司 | Driving system and driver |
| CN107395075A (en) * | 2017-06-06 | 2017-11-24 | 上海卫星工程研究所 | Spaceborne drive control device based on LMD18200 chips |
| CN107239071A (en) * | 2017-08-01 | 2017-10-10 | 深圳市恒科通机器人有限公司 | Monitoring system and mechanical arm |
| CN107239071B (en) * | 2017-08-01 | 2024-03-15 | 深圳市恒科通机器人有限公司 | Monitoring system and mechanical arm |
| CN108508811A (en) * | 2018-05-09 | 2018-09-07 | 浙江大学 | A kind of four axis robot servo control circuits of the between centers without communication |
| CN108508811B (en) * | 2018-05-09 | 2020-09-11 | 浙江大学 | Four-axis robot servo control circuit without communication between axes |
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| CP02 | Change in the address of a patent holder |
Address after: Beijing city Haidian District Xueqing Road No. 9 Ebizal building A block 10 layer motor, zip code: 100085 Patentee after: Beijing HollySys Electric Technology Co., Ltd. Address before: No. 11, clear road, Haidian District, Beijing, China: 100085 Patentee before: Beijing HollySys Electric Technology Co., Ltd. |
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| CX01 | Expiry of patent term |
Expiration termination date: 20140218 Granted publication date: 20050525 |
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| CX01 | Expiry of patent term |