EP0710559B1 - Drive for positioning in a printing press - Google Patents
Drive for positioning in a printing press Download PDFInfo
- Publication number
- EP0710559B1 EP0710559B1 EP95116610A EP95116610A EP0710559B1 EP 0710559 B1 EP0710559 B1 EP 0710559B1 EP 95116610 A EP95116610 A EP 95116610A EP 95116610 A EP95116610 A EP 95116610A EP 0710559 B1 EP0710559 B1 EP 0710559B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- motor
- positioning
- position sensor
- rotor
- sensors
- 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.)
- Expired - Lifetime
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F13/00—Common details of rotary presses or machines
- B41F13/004—Electric or hydraulic features of drives
- B41F13/0045—Electric driving devices
Definitions
- the invention relates to a positioning drive within a Printing machine according to the preamble of claim 1.
- positioning drives Today's printing machines, especially sheetfed offset printing machines have a variety of positioning drives.
- remote register adjustment devices Today's printing machines, especially sheetfed offset printing machines have a variety of positioning drives.
- remote register adjustment devices Today's printing machines, especially sheetfed offset printing machines have a variety of positioning drives.
- remote register adjustment devices Today's printing machines, especially sheetfed offset printing machines have a variety of positioning drives.
- remote register adjustment devices Today's printing machines, especially sheetfed offset printing machines have a variety of positioning drives.
- DC motors synchronous motors or stepper motors used. These motors then usually work via a reduction gear on the link to be adjusted. So that the actual position of the link to be adjusted is the Motors or within the gearbox, for example as a potentiometer trained actual position transmitter assigned or arranged.
- additional actual position transmitters are cost-intensive.
- a stepper motor can be equipped without an actual position transmitter are, but only in cases where always guaranteed is that the link to be adjusted or the gearbox is not blocked or by another heavy gear the rotor of the Motors does not run asynchronously.
- the use of a stepper motor, possibly also with a proximity sensor Detection of the zero position is therefore only in a few use cases limited.
- Brushless DC motors are used in printing machines nowadays increasingly used. In positioning drives, however, they become like conventional DC motors used, i.e. combined with an additional actual position transmitter, for example in the form of a Potentiometers.
- a positioning drive within a printing press is known from US Pat. No. 4,398,137. in which the motor drives a link to be adjusted via a gear. That too adjusting member has an opto-electronically scanned disc as an actual position transmitter on, the signals of this actual position transmitter for determining an actual position of the limb are processed. These signals are connected upstream of the engine Positioning control supplied.
- DE-A 3 820 903 discloses a position encoder for a brushless DC motor, where the sensors of the commutator control are arranged outside the motor are. Optically scannable signal tracks of the rotor are via light-guiding Means directed to the sensors. In electronics downstream of the sensors the stator winding is poled according to the rotor position.
- the object of the present invention is therefore a positioning drive to further develop in accordance with the preamble of claim 1, so that it is structurally simple and inexpensive designed.
- a brushless DC motor to use, the principle of a device for rotor position detection has integrated.
- the signals of the rotor position detection of the brushless DC motor become an electrical one Circuit for position encoder evaluation, which this summed up in the manner of incremental signals or in the reverse Direction of rotation subtracted from a counter reading and the Actual position of the positioning drive or that driven by it Limb calculated.
- FIG. 1 basically shows the Basic components of the electrical control of the invention Positioning drive.
- a brushless DC motor consists of a rotor 1 and according to its number of poles from a number of turns 2 (here for example three windings) in the stator.
- the axis of the rotor 1 is in a manner not shown about a largely free of play Gearbox with a link to be adjusted, for example one Register adjustment device connected.
- a position encoder 3 for example in FIG Shape of a disc magnet, connected. Marks on this Position sensor 3, for example permanent magnets or optically scannable Markings are detected by sensors S1, S2, S3. That here three sensors S1 to S3 depending on the number of windings are intended to be regarded as exemplary.
- the signals from sensors S1 to S3 are a commutator control 4 fed from these signals in a manner known per se determines the position of the rotor 1 and accordingly the commutation controls, that is, the windings 2 with respect to the current supply reversed polarity, so that the rotor 1 runs in the intended direction of rotation.
- the signals from sensors S1 to S3 are additionally one according to the invention provided circuit provided as position encoder evaluation 5, which is essentially designed as a counter (totalizer) is and thus the actual position of the to be adjusted by the rotor 1 Limb determined. According to the required accuracy can be provided that the position sensor evaluation 5 only the signal one, two or all sensors S1 to S3 for obtaining the Evaluates the actual position. In the event that the position encoder evaluation 5 only one signal from a sensor e.g. Evaluates S1, it will also Signal from a second sensor to obtain information about evaluated the direction of rotation of the rotor 1.
- the position encoder evaluation 5 now carries out a summation or in reverse Direction of rotation a subtraction of the sensors S1 to S3 delivered position impulses.
- the gear connected downstream of the rotor 1 or the one to be adjusted Link (not shown) has a fixed stop position at which blocks the rotor 1, so that the position encoder evaluation 5 then in the absence of signals from sensors S1 to S3 therefrom a zero position, for example in the form of a predetermined one Derive meter reading.
- This analog or Digital signal is fed to a positioning controller 6 which at another input an analog or digital signal as the target position receives.
- the positioning controller 6 is known per se Formed as a comparator and provides by difference of target and actual position, in which direction the rotor 1 is to be driven. According to this target / actual position comparison the positioning controller 6 gives a corresponding one Signal to the commutator control 4 so that the rotor 1 drives in the required direction or at a standstill transferred.
Abstract
Description
Die Erfindung betrifft einen Positionierantrieb innerhalb einer Druckmaschine gemäß dem Oberbegriff von Anspruch 1.The invention relates to a positioning drive within a Printing machine according to the preamble of claim 1.
Heutige Druckmaschinen, insbesondere Bogenoffsetdruckmaschinen weisen eine Vielzahl von Positionierantrieben auf. Hier sind beispielhaft die Registerfernverstelleinrichtungen, fernverstellbar Farbdosiereinrichtungen sowie formatabhängig einzustellende Anschläge oder dgl. zu nennen. Üblicherweise werden als Positionierantriebe Gleichstrommotoren, Synchronmotoren oder Schrittmotoren eingesetzt. Diese Motoren wirken dann in der Regel über ein Untersetzungsgetriebe auf das zu verstellende Glied. Damit die Ist-Stellung des zu verstellenden Gliedes erfaßt werden kann, ist den Motoren bzw. innerhalb des Getriebes ein beispielsweise als Potentiometer ausgebildeter Ist-Stellungsgeber zu- bzw. angeordnet. Zusätzliche Ist-Stellungsgeber gestalten sich aber kostenintensiv.Today's printing machines, especially sheetfed offset printing machines have a variety of positioning drives. Here are exemplary the remote register adjustment devices, remotely adjustable Color metering devices and format-dependent stops or the like. Usually used as positioning drives DC motors, synchronous motors or stepper motors used. These motors then usually work via a reduction gear on the link to be adjusted. So that the actual position of the link to be adjusted is the Motors or within the gearbox, for example as a potentiometer trained actual position transmitter assigned or arranged. However, additional actual position transmitters are cost-intensive.
Ein Schrittmotor kann zwar ohne Ist-Stellungsgeber ausgerüstet werden, dies aber nur in Einsatzfällen, in denen stets gewährleistet ist, daß das zu verstellende Glied bzw. das Getriebe nicht blockiert oder durch einen sonstigen schweren Gang der Rotor des Motors nicht asynchron umläuft. Die Verwendung eines Schrittmotors, unter Umständen zusätzlich noch mit einem Näherungssensor zur Erfassung der Null-Position, ist daher nur auf wenige Anwendungsfälle beschränkt.A stepper motor can be equipped without an actual position transmitter are, but only in cases where always guaranteed is that the link to be adjusted or the gearbox is not blocked or by another heavy gear the rotor of the Motors does not run asynchronously. The use of a stepper motor, possibly also with a proximity sensor Detection of the zero position is therefore only in a few use cases limited.
Bürstenlose Gleichstrommotoren werden heutzutage in Druckmaschinen zunehmend eingesetzt. In Positionierantrieben werden sie aber wie konventionelle Gleichstrommotore verwendet, d.h. in Verbindung mit einem zusätzlichen Ist-Stellungsgeber, beispielsweise in Form eines Potentiometers. Brushless DC motors are used in printing machines nowadays increasingly used. In positioning drives, however, they become like conventional DC motors used, i.e. combined with an additional actual position transmitter, for example in the form of a Potentiometers.
Aus der US-A 4 398 137 ist ein Positionierantrieb innerhalb einer Druckmaschine bekannt, bei dem der Motor über ein Getriebe ein zu verstellendes Glied treibt. Das zu verstellende Glied weist eine opto-elektronisch abtastbare Scheibe als Ist-Stellungsgeber auf, wobei die Signale dieses Ist-Stellungsgebers zur Ermittlung einer Ist-Stellung des Gliedes verarbeitet werden. Diese Signale werden einer dem Motor vorgeschalteten Positioniersteuerung zugeführt.A positioning drive within a printing press is known from US Pat. No. 4,398,137. in which the motor drives a link to be adjusted via a gear. That too adjusting member has an opto-electronically scanned disc as an actual position transmitter on, the signals of this actual position transmitter for determining an actual position of the limb are processed. These signals are connected upstream of the engine Positioning control supplied.
Aus der DE-A 3 820 903 ist ein Lagegeber eines bürstenlosen Gleichstrommotors bekannt, wobei hier die Sensoren der Kommutatorsteuerung außerhalb des Motors angeordnet sind. Optisch abtastbare Signalspuren des Rotors werden über lichtleitende Mittel zu den Sensoren geleitet. In einer den Sensoren nachgeschalteten Elektronik erfolgt das Polen der Ständerwicklung entsprechend der Rotorlage. DE-A 3 820 903 discloses a position encoder for a brushless DC motor, where the sensors of the commutator control are arranged outside the motor are. Optically scannable signal tracks of the rotor are via light-guiding Means directed to the sensors. In electronics downstream of the sensors the stator winding is poled according to the rotor position.
Aufgabe der vorliegenden Erfindung ist es daher einen Positionierantrieb gemäß dem Oberbegriff von Anspruch 1 derartig weiterzubilden, so daß dieser sich bautechnisch einfach und kostengünstig gestaltet.The object of the present invention is therefore a positioning drive to further develop in accordance with the preamble of claim 1, so that it is structurally simple and inexpensive designed.
Gelöst wird diese Aufgabe durch die kennzeichnenden Merkmale von Anspruch 1. Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen.This task is solved by the characteristic features of Claim 1. Further developments of the invention result from the Subclaims.
Nach der Erfindung ist vorgesehen einen bürstenlosen Gleichstrommotor zu verwenden, der prinzipbedingt eine Einrichtung zur Rotorlageerkennung integriert aufweist. Die Signale der Rotorlageerkennung des bürstenlosen Gleichstrommotores werden einer elektrischen Schaltung zur Lagegeberauswertung zugeführt, welche diese nach Art von Inkrementalsignalen aufsummiert bzw. bei umgekehrter Drehrichtung von einem Zählerstand subtrahiert und daraus die Ist-Stellung des Positionierantriebes bzw. des von ihm getriebenen Gliedes errechnet.According to the invention there is provided a brushless DC motor to use, the principle of a device for rotor position detection has integrated. The signals of the rotor position detection of the brushless DC motor become an electrical one Circuit for position encoder evaluation, which this summed up in the manner of incremental signals or in the reverse Direction of rotation subtracted from a counter reading and the Actual position of the positioning drive or that driven by it Limb calculated.
Des weiteren erfolgt die Erläuterung eines Ausführungsbeispiels der Erfindung anhand der einzigen Figur. Diese zeigt prinzipiell die Grundkomponenten der elektrischen Ansteuerung des erfindungsgemäßen Positionierantriebes.Furthermore, an embodiment of FIG Invention based on the single figure. This basically shows the Basic components of the electrical control of the invention Positioning drive.
Ein bürstenloser Gleichstrommotor besteht aus einem Rotor 1 und entsprechend dessen Polzahl aus einer Anzahl von Windungen 2 (hier beispielsweise drei Wicklungen) im Ständer. Die Achse des Rotors 1 ist in nicht dargestellter Weise über ein weitestgehend spielfreies Getriebe mit einem zu verstellenden Glied, beispielsweise einer Registerverstelleinrichtung verbunden.A brushless DC motor consists of a rotor 1 and according to its number of poles from a number of turns 2 (here for example three windings) in the stator. The axis of the rotor 1 is in a manner not shown about a largely free of play Gearbox with a link to be adjusted, for example one Register adjustment device connected.
Drehfest mit dem Rotor 1 ist ein Lagegeber 3, beispielsweise in
Form eines Scheibenmagnetes, verbunden. Markierungen auf diesem
Lagegeber 3, beispielsweise Permanentmagnete oder optisch abtastbare
Markierungen, werden durch Sensoren S1, S2, S3 erfaßt. Daß
hier entsprechend der Anzahl der Wicklungen drei Sensoren S1 bis S3
vorgesehen sind, ist als beispielhaft anzusehen.A
Die Signale der Sensoren S1 bis S3 werden einer Kommutatorsteuerung
4 zugeleitet, die aus diesen Signalen in an sich bekannter Weise
die Lage des Rotors 1 ermittelt und entsprechend die Kommutierung
steuert, also die Wicklungen 2 hinsichtlich der Bestromung derartig
umpolt, so daß der Rotor 1 in der vorgesehenen Drehrichtung läuft.The signals from sensors S1 to S3 are a commutator control
4 fed from these signals in a manner known per se
determines the position of the rotor 1 and accordingly the commutation
controls, that is, the
Die Signale der Sensoren S1 bis S3 werden zusätzlich einer erfindungsgemäß
vorgesehenen Schaltung als Lagegeberauswertung 5 zugeleitet,
welche im wesentlichen als Zähler (Summierer) ausgebildet
ist und somit die Ist-Stellung des durch den Rotor 1 zu verstellenden
Gliedes ermittelt. Entsprechend der geforderten Genauigkeit
kann vorgesehen sein, daß die Lagegeberauswertung 5 das Signal nur
eines, zweier oder sämtlicher Sensoren S1 bis S3 zur Gewinnung der
Ist-Stellung auswertet. In dem Fall, daß die Lagegeberauswertung 5
nur ein Signal eines Sensors z.B. S1 auswertet, wird ferner das
Signal eines zweiten Sensors zur Gewinnung einer Information über
die Drehrichtung des Rotors 1 ausgewertet.The signals from sensors S1 to S3 are additionally one according to the invention
provided circuit provided as
Die Lagegeberauswertung 5 führt nun eine Summierung bzw. bei umgekehrter
Drehrichtung eine Subtraktion der durch die Sensoren S1 bis
S3 gelieferten Lageimpulse aus. Insbesondere ist vorgesehen, daß
das dem Rotor 1 nachgeschaltete Getriebe oder das zu verstellende
Glied (nicht dargestellt) eine feste Anschlagstellung aufweist, bei
welcher der Rotor 1 blockiert, so daß die Lagegeberauswertung 5
dann beim Ausbleiben von Signalen der Sensoren S1 bis S3 daraus
eine Null-Stellung beispielsweise in Form eines vorgegebenen
Zählerstandes ableiten kann.The
An einem Ausgang der Lagegeberauswertung 5 wird ein analoges oder
digitales Signal der Ist-Stellung des Rotors 1 bzw. des ihm nachgeschalteten
Verstellgliedes bereitgestellt. Dieses Analog- oder
Digitalsignal wird einer Positioniersteuerung 6 zugeführt, welche
an einem anderen Eingang ein Analog- oder Digitalsignal als Soll-Stellung
erhält. Die Positioniersteuerung 6 ist in an sich bekannter
Weise als Vergleicher ausgebildet und stellt durch Differenzbildung
von Soll- und Ist-Stellung fest, in welcher Richtung
der Rotor 1 anzutreiben ist. Entsprechend dieses Soll-/Ist-Stellungsvergleiches
gibt die Positioniersteuerung 6 ein entsprechendes
Signal an die Kommutatorsteuerung 4, so daß diese den Rotor
1 in der entsprechend nötigen Richtung antreibt bzw. in den Stillstand
versetzt. At an output of the
- 11
- Rotorrotor
- 22nd
- WicklungWinding
- 33rd
- LagegeberPosition transmitter
- 44th
- KommutatorsteuerungCommutator control
- 55
- LagegeberauswertungPosition sensor evaluation
- 66
- PositioniersteuerungPositioning control
- S1, S2, S3S1, S2, S3
- SensorenSensors
Claims (3)
- Positioning drive within a printing press, particularly for remote register adjustments and ink metering devices, consisting of an electrically controllable motor (1, 2), a member to be adjusted driven by the motor (1, 2), an actual position sensor and a positioning control (6) connected upstream of the motor (1, 2), characterised in that the motor (1, 2) is constructed as a brushless direct current motor which has a position sensor (3) as well as sensors (S1, S2, S3) of a commutator control (4), that the actual position sensor is constituted by a position sensor evaluation (5) connected upstream of the positioning control (6), wherein this position sensor evaluator (5) is operatively connected with the sensors (S1, S2, S3) of the commutator control (4) and that by the position sensor evaluation (5) the actual position of the member driven by the motor (1, 2) can be determined from the signals of the sensors (S1, S2, S3).
- Positioning drive according to Claim 1,
characterised in that the rotor (1) of the brushless direct current motor (1, 2) is connected with the member to be adjusted via a gearing adjusted substantially play-free. - Positioning drive according to Claim 2,
characterised in that the drive or the member to be adjusted has a stop for blocking the rotor (1) at a given position and that by the position sensor evaluation (5) the blocking of the rotor (1) can be detected by the signals of the sensors (S1, S2, S3) and is storable as zero position.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE9417591U | 1994-11-03 | ||
| DE9417591U DE9417591U1 (en) | 1994-11-03 | 1994-11-03 | Positioning drive within a printing machine |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0710559A2 EP0710559A2 (en) | 1996-05-08 |
| EP0710559A3 EP0710559A3 (en) | 1996-09-25 |
| EP0710559B1 true EP0710559B1 (en) | 1998-08-12 |
Family
ID=6915622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP95116610A Expired - Lifetime EP0710559B1 (en) | 1994-11-03 | 1995-10-21 | Drive for positioning in a printing press |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP0710559B1 (en) |
| JP (1) | JP3095984B2 (en) |
| AT (1) | ATE169564T1 (en) |
| DE (2) | DE9417591U1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29512597U1 (en) * | 1995-08-04 | 1995-10-19 | Roland Man Druckmasch | Actuator for a printing machine |
| DE19652941C2 (en) * | 1995-12-19 | 1999-04-01 | Lutz Eugen Gmbh & Co | Measuring device and method for determining the width of a profile |
| DE10043812B4 (en) | 1999-10-04 | 2010-08-19 | Heidelberger Druckmaschinen Ag | Method and device for controlling the travel speed of a unit of a printing material processing machine and the like |
| DE202005009161U1 (en) | 2005-06-10 | 2005-09-08 | Man Roland Druckmaschinen Ag | Actuating drive for a printing machine comprises a drive motor and a transmission that can be joined together/removed from each other without removing/reconnecting the drive connection of the transmission to a device within the machine |
| ES2531550T3 (en) * | 2006-06-23 | 2015-03-17 | Kba-Notasys Sa | Numbering device for typographic numbering that has independent drive means |
| DE102011006521B4 (en) * | 2011-03-31 | 2013-09-19 | Koenig & Bauer Aktiengesellschaft | System for adjusting a color flow at a zone of an inking unit |
| CN103640332B (en) * | 2013-11-29 | 2016-04-13 | 中达电通股份有限公司 | For control system and the method for ROTARY SCREAM PRINTING |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3679954A (en) * | 1970-07-13 | 1972-07-25 | Lear Siegler Inc | Brushless d.c. motor with rate control of position sensor |
| DE2812292A1 (en) * | 1978-03-21 | 1979-10-04 | Bosch Gmbh Robert | ADJUSTMENT DEVICE FOR EXACT ROTATION ANGLE ADJUSTMENT OF ACTUATORS |
| DD150027A1 (en) * | 1980-04-10 | 1981-08-12 | Max Janicki | CONTROL DEVICE FOR ADJUSTMENTS ON PRINT AND BOOK BINDER MACHINES |
| US4405885A (en) * | 1980-07-23 | 1983-09-20 | Matsushita Electric Industrial Co., Ltd. | Brushless dc motor |
| JPS5771017A (en) * | 1980-10-22 | 1982-05-01 | Sony Corp | Generator for position detection signal |
| JPS60118086A (en) * | 1983-11-01 | 1985-06-25 | Oki Electric Ind Co Ltd | Origin positioning method of dc brushless motor |
| DE3604238A1 (en) * | 1986-02-11 | 1987-08-13 | Thomson Brandt Gmbh | ARRANGEMENT AND CIRCUIT FOR THE ELECTRICAL COMMUTATION OF EXCITATION COILS |
| JP2568068B2 (en) * | 1986-03-14 | 1996-12-25 | ファナック 株式会社 | Motor rotor position detector |
| DE3820903A1 (en) * | 1988-06-21 | 1990-01-04 | Heidelberger Druckmasch Ag | ELECTRIC MACHINE |
| DE3941553A1 (en) * | 1988-12-15 | 1990-06-21 | Papst Motoren Gmbh & Co Kg | METHOD AND ARRANGEMENT FOR CONTROLLING ELECTROMECHANICAL CONVERTERS |
| DE3900270A1 (en) * | 1989-01-07 | 1990-07-12 | Heidelberger Druckmasch Ag | DEVICE FOR POSITION DETECTION |
| DE4028690C1 (en) * | 1990-09-10 | 1992-03-12 | Carlo Gavazzi Gmbh, 7121 Gemmrigheim, De | Electrical adjusting esp. positioning drive - has electronic commutating motor drivable in forward and backward directions |
| JPH04161083A (en) * | 1990-10-22 | 1992-06-04 | Sharp Corp | Controller for polyphase brushless motor |
| DE4036024C1 (en) * | 1990-11-13 | 1992-02-27 | Heidelberger Druckmaschinen Ag, 6900 Heidelberg, De | |
| DE4229045A1 (en) * | 1992-08-29 | 1994-03-03 | Brose Fahrzeugteile | Commutator motor speed, direction and angle sensor for vehicle sliding roof or electric window - extends segment of commutator to L=shaped track which runs along circumference of commutator, and has sliding contact for sensing voltage of extended track |
| DE4137559A1 (en) * | 1991-11-15 | 1993-05-19 | Heidelberger Druckmasch Ag | DEVICE FOR DETECTING AT LEAST ONE STATE SIZE OF A BRUSHLESS DC MOTOR |
| US5625353A (en) * | 1992-12-29 | 1997-04-29 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Device for transmitting signals from position detector and method of such signal transmission |
-
1994
- 1994-11-03 DE DE9417591U patent/DE9417591U1/en not_active Expired - Lifetime
-
1995
- 1995-10-21 AT AT95116610T patent/ATE169564T1/en not_active IP Right Cessation
- 1995-10-21 EP EP95116610A patent/EP0710559B1/en not_active Expired - Lifetime
- 1995-10-21 DE DE59503149T patent/DE59503149D1/en not_active Expired - Fee Related
- 1995-11-02 JP JP07285930A patent/JP3095984B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| ATE169564T1 (en) | 1998-08-15 |
| EP0710559A3 (en) | 1996-09-25 |
| DE59503149D1 (en) | 1998-09-17 |
| JPH08207259A (en) | 1996-08-13 |
| JP3095984B2 (en) | 2000-10-10 |
| DE9417591U1 (en) | 1994-12-15 |
| EP0710559A2 (en) | 1996-05-08 |
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