EP1618441A1 - Procede et dispositif de commande d'une unite de fabrication - Google Patents

Procede et dispositif de commande d'une unite de fabrication

Info

Publication number
EP1618441A1
EP1618441A1 EP04714312A EP04714312A EP1618441A1 EP 1618441 A1 EP1618441 A1 EP 1618441A1 EP 04714312 A EP04714312 A EP 04714312A EP 04714312 A EP04714312 A EP 04714312A EP 1618441 A1 EP1618441 A1 EP 1618441A1
Authority
EP
European Patent Office
Prior art keywords
master
drive
comparator
value
servo actuator
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.)
Ceased
Application number
EP04714312A
Other languages
German (de)
English (en)
Inventor
Wolfgang Linke
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Focke and Co GmbH and Co KG
Original Assignee
Focke and Co GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Focke and Co GmbH and Co KG filed Critical Focke and Co GmbH and Co KG
Publication of EP1618441A1 publication Critical patent/EP1618441A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
    • B65B19/02—Packaging cigarettes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
    • B65B19/02—Packaging cigarettes
    • B65B19/22—Wrapping the cigarettes; Packaging the cigarettes in containers formed by folding wrapping material around formers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
    • B65B19/28—Control devices for cigarette or cigar packaging machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
    • H02P5/56—Speed and position comparison between the motors by electrical means

Definitions

  • the present invention relates to a method and a device for controlling a manufacturing unit of a production plant.
  • the production plant mentioned is in particular a production and packaging plant, preferably one for cigarettes or other smoking articles.
  • Such a system comprises a number of different, but combined in the manufacturing and packaging process manufacturing units, e.g. a cigarette manufacturing machine (maker), a packaging machine (packer), a foil wrapping machine (cello) and, if necessary, a packer and a carton packer.
  • the coordination of the speeds within the individual production units takes place with regard to a speed of a central drive of the respective production unit, which is also referred to as a master drive or master shaft.
  • the speeds of all other drives (slave drives) of the production unit are derived from the speed of the master shaft.
  • the master shaft can now be moved further with a handwheel.
  • the given speed of the master shaft influences the speed of the dependent drives. Even with a comparatively low speed of the master shaft, a high speed can result for individual dependent drives. For this reason, all dependent drives are each secured by an additional hood - a "hood in the hood", so to speak. When a hood of a dependent drive is opened, the further movement of the master shaft is blocked.
  • the object of the invention is therefore to provide a simple and safe method for controlling a production unit and a device for carrying it out.
  • an intervention in the system should be possible while maintaining the possibility of moving the central drive and dependent drives.
  • the monitoring of the limit speeds comes into play when generating speed setpoints (soil speeds) for the individual drives. Furthermore, the speed actually reached can be monitored with regard to a limit speed (safely limited speed). The actual speed of the individual drives can also be monitored with regard to the respective target speed, because the synchronism of the individual drives with each other and with the central drive can only be guaranteed if the target speed is exactly maintained (synchronous speed).
  • the monitoring of the synchronous rotary positions is basically analogous to the monitoring of the limit or synchronous speeds, only the rotary positions of the respective drives, i.e. the angular positions, are monitored instead of the speeds. This is useful for dependent drives that, for example, do not perform a full revolution but instead perform oscillating movements or the like. Even in the case of dependent drives that make full revolutions, the monitoring of the rotational position and the comparison of the respective rotational position with the rotational position of the central drive enables the best possibility for monitoring the synchronicity of the movement of the respective dependent drive with the corresponding movement of the central drive.
  • the actual position of the individual drives can also be monitored with regard to a limit value that corresponds functionally to the limit speed during speed monitoring.
  • Such a limit value specifies a tolerance range in the vicinity of the respective target position, because exact positional synchronism is often not practically possible can be realized.
  • the tolerance range specified by the limit value can be adapted, that is, reduced or enlarged, by changing the limit value. Because of the basic analogy of a limit value in the form of a limit speed and a limit value in the form of a position-related tolerance range, both are briefly referred to below as limit values.
  • a special feature of the method according to the invention is that in the event of an intervention in the system, which is carried out by opening a protective device, e.g. a hood or the like is recognized, a related signal (hood signal) is generated and this signal is used to reduce the speed, in particular the speed of the central drive, so that the drives automatically run slower in the event of such an intervention. Reducing the speed of the central drive automatically results in a corresponding reduction in the speed of the dependent drives. This changed movement pattern can also be monitored by reducing the respective limit values accordingly. A reduction in the limit value for the central drive ensures that this - if for any reason a speed above the respective target speed is reached - is stopped or switched off at least when the speed specified by the limit value is reached.
  • hood signal a related signal
  • a corresponding reduction in the limit values means that if the specified target speed is exceeded, this limit can only reach a speed which is specified by the limit value. There is therefore a safe limitation of the speed, so that sufficient safety for the operating personnel is ensured.
  • Another special feature of the invention is that speed information is evaluated on the basis of a speed or an angle of rotation of the central drive (master shaft speed or angle) in such a way that at a master shaft speed with the value zero the limit value for the drives, in particular the limit value for the dependent drives, is also set to zero or kept at zero. This prevents incorrect start-up of dependent drives (safe stop) and thus increases safety for the operating personnel.
  • a special feature of the invention is that the safely limited speed that is achieved is also guaranteed during normal operation of the system. Asynchrony between the dependent drives or with respect to the master drive can also be avoided in normal operation.
  • Fig. 1 is a schematic representation of a production plant
  • Fig. 2 is a schematic representation of an effective chain for individual drives of the system
  • Fig. 3 is a schematic representation of the effective chain with integrated in the effective chain
  • the embodiment shown in the drawings relates to a manufacturing and packaging system for cigarettes as a production system.
  • This usually comprises a number of production units, for example a cigarette manufacturing machine, namely a maker, a packaging machine connected to this, a packer, a subsequent film wrapping machine (cello) 10, a packaging machine for producing packs from several cigarette packs, that is to say a packer and a cartoner , the packaging, i.e. cigarette sticks, packed in a shipping carton.
  • Cigarettes manufactured by the maker are fed to the packer, which is intended for the production of folding boxes for holding the cigarettes.
  • the cigarette packs produced by the packer that is to say the combination of a folding box and the cigarettes located therein, are fed to the film wrapping machine 10.
  • the film wrapping machine 10 is shown as a section of the system in a side view.
  • the (hidden) master drive 11 is shown in dashed lines.
  • the film wrapping machine 10 has a central hood 12 which can be opened by means of a handle 13.
  • the central hood 12 covers an assembly 14 with its own drive, a dependent drive 20.
  • the assembly 14 is a knife block.
  • the unit is covered with a hood 15 (hood in the hood) provided within the central hood 12.
  • the hood 15 is shown in the closed state, the open state being illustrated by dashed lines.
  • the hood 15 can only be opened if the central hood 12 has been opened beforehand.
  • a handwheel 16 is shown which, when the central hood 12 is closed, is not accessible or cannot be actuated.
  • the master drive 11 can be rotated with the handwheel 16.
  • the manufacturing unit may include other dependent drives, not shown in detail. Other dependent drives can be part of other manufacturing units, such as the maker and / or the packer.
  • Fig. 2 shows a schematic representation of an effective chain for individual drives 20, 21, 22 of the system.
  • the drives 20-22 are dependent drives. They are briefly referred to below as drives 20-22.
  • a servo actuator 23, 24, 25, hereinafter referred to as servo 23, 24, 25, is assigned to each drive 20-22, and a speed and / or angle of rotation sensor is assigned to the measurement sensor 26, 27, 28.
  • the or each servo 23-25 specifies a target value 29 for the respective drive 20-22, in particular in the form of a target speed or a target rotation angle.
  • each drive 20-23 is determined with the measurement transducer 26-28 respectively assigned to the drive 20-23 and transmitted to a comparator 31 as the actual value 30, in particular as the actual value of the instantaneous speed or as the actual value of the current position, i.e. the angle of rotation ,
  • the comparator 31 is provided for comparing the setpoint and actual value 29, 30 for each drive.
  • Each servo 23-25 includes at least one input at which a speed or an angle of rotation of the master shaft, hereinafter referred to collectively as master shaft specification 34, can be transmitted to it. From the master shaft default 34 of the servo 23-25 derives a velocity or position command and transmits this as a nominal value 29 in the form of a speed or rotation angle commands to the respective drive 20 '23rd
  • a limit value 33 is used, which is either stored in a memory 35 of the respective servo 23-25 or is transmitted to it in the form of a limit value signal 36.
  • the limit value 33 is taken into account by the servo 23-25 in such a way that the target value 29 never exceeds the limit value 33.
  • the storage of the limit value 33 in the memory 35 or its transmission as a limit value signal 36 can alternatively or simultaneously exist.
  • Limit value 33 and limit value signal 36 are also referred to below as “safe value”.
  • safe value is either only stored in memory 35 as limit value 33 or is only transmitted as limit value signal 36, the respectively available value is used to derive setpoint value 29
  • the limit value 33 stored in the memory 35 acts as an upper limit, so that the limit value signal 36 for deriving the Setpoint value 29 is used as long as limit value signal 36 remains below limit value 33, and that in the case of a limit value signal 36 above limit value 33, limit value 33 stored in memory 35 is always used to derive setpoint value 29.
  • the reverse is the case or obvious variants conceivable.
  • the master shaft specification 34 is removed in a manner not shown either from the master shaft itself or from the handwheel 16, for example with a transducer coupled to the master shaft or the handwheel 16, for example an incremental encoder.
  • the removal of speed or position information from the handwheel 16 is only provided in the set-up mode because in normal operation the handwheel 16 is not accessible for actuation, since it is covered by the central hood 12.
  • the setpoint value 29 derived from the master shaft specification 34 is supplied not only to the respective drive 20-22 but also to the comparator 31.
  • Each setpoint 29 is stored as a synchronous value 37 in the memory 32 of the comparator 31.
  • the comparator 31 can compare the actual value 30 recorded for each drive 20-22 with the respective synchronous value 37. If the actual value 30 of a drive 20-22 exceeds the respective synchronous value 37, a corresponding stop signal 38 is generated, which either switches off all the drives 20-22 or the drive 20-22 that no longer runs synchronously, in particular additionally also the master drive 11.
  • the stop signal 38 is generated not only when the synchronous value 37 is exceeded, but that the stop signal 38 is generated when the actual value 30 leaves a predetermined or predefinable range around the synchronous value 37. Then, for example, asynchrony can also be recognized by drives 20-22 that are incorrectly running too slowly.
  • the individual actual values 30 are also monitored with respect to the limit value 33, ie the limit value 33 forms an upper limit which must not be exceeded even if the setpoint 29 specifies this. If the limit value 33 is exceeded, the stop signal 38 is therefore also triggered.
  • the limit value 33 can be an upper limit common to all drives 20-22 or can be set individually for each drive.
  • the limit value 33 is then a field of possibly different individual speed upper limits or position tolerance ranges.
  • the or each stop signal 38 is passed through a display device 39 which, for example, provides information about the drive 20-22 causing the error via optical display elements (not shown), such as a screen, in particular with plain text display or indicator lights.
  • a separate comparator can also be provided for each drive 20-22.
  • Each of these comparators then has its own memory in which at least the limit value 33 specified for the respective drive 20-22 and the current synchronous value 37 are stored.
  • the stop signal 38 possibly generated by such an individual comparator is either supplied individually to the respective drive 20-22 or to all drives 20-22, in particular also to the master drive 11.
  • the synchronism of the individual drives 20-22 with one another and with the master drive 11 can be ensured in this way. This is done by monitoring the synchronous value 37. Furthermore, it can be ensured that none of the drives 20-22 exceeds a predetermined or predefinable upper limit, for example an upper speed limit. This is done by monitoring limit value 33.
  • Set-up mode differs from normal mode in that drives 20-22 run at a significantly reduced speed. This is achieved by reducing the speed of the master shaft in set-up mode.
  • the speed of the master shaft is determined by the handwheel 16 or an otherwise suitable adjusting device, e.g. a variable resistance, ie a potentiometer or the like, can be specified.
  • a handwheel 16 acting directly on the master shaft the speed of the master shaft is limited due to the limited physical force of the operator operating the handwheel 16.
  • handwheel 16 coupled to the master shaft or when used e.g. a potentiometer instead of the handwheel 16 the speed of the master shaft is limited by suitable monitoring of limit values. This is explained below in connection with FIG. 3.
  • limit value 33 is reduced. This can be done by storing in the memory 32 of the comparator 31 and in the memory 35 of the respective servo 23-25 a limit value 33 for normal operation on the one hand and a limit value for set-up operation on the one hand and the respective limit value depending on the status of the hood signal 40 33 is selected.
  • limit value 33 it is possible, for example, for limit value 33 to be reduced in a defined manner in set-up mode, that is to say when hood signal 40 is present, which can easily be achieved, for example, by a mathematical or logical operation (division or shift operation).
  • the limit value signal 36 is reduced in a defined manner when the hood signal 40 is present. In setup mode, this results from the reduced speed of the master shaft also reduced setpoints 29 for the drives 20-22. Compliance with the setpoints 29 is ensured by monitoring the synchronous value 37 by the comparator 31 in the same way as in normal operation.
  • the limitation of the movement of the drives 20-22 that is to say the safe avoidance of a rotational speed or a position outside the range predetermined by the limit value 33, is likewise ensured in the same way as in normal operation.
  • the master drive 11 itself is integrated into the knitting chain according to FIG. 2.
  • the resulting conditions are shown in Fig. 3.
  • the master drive 11, like the dependent drives 20-22, is assigned its own measurement sensor, the master shaft measurement sensor 41.
  • the rotational speed or the rotational position of the master shaft like the rotational speed or the rotational position of the dependent drives 20-22, is recorded as the actual value 30 and fed to the comparator 31.
  • Upstream of the master drive 11 is a master shaft servo 42, which offers the same functionality as the servos 23-25 of the dependent drives 20-22, i.e.
  • a specification, in particular a speed specification is determined from an input signal 43 and is forwarded to the master drive 11 as a master shaft specification 34.
  • the input signal 43 is derived from the handwheel 16 or from an otherwise suitable adjusting device.
  • the master shaft specification 34 is simultaneously the input of the servos 23-25 of the dependent drives 20-22.
  • a master wave limit value 45 stored in a memory 44 of the master wave servo 42 is taken into account such that the master wave specification 34 never exceeds this master wave limit value 45. That If the master wave specification 34 is calculated, each value for the master wave specification 34 above or outside the master wave limit value 45 is discarded and the master wave limit value 45 itself is used instead.
  • the master wave limit value 45 can be reduced in exactly the same way as the limit value 33 of the servos 23-25, so that a reduction in the master wave specification 34 can be brought about immediately in the event of an intervention in the system.
  • the system can be operated with a safely limited movement with regard to position and or speed, both in normal and in set-up mode.
  • a safe standstill (safe stop) of the drives, especially the master drive 11 and dependent drives 20-22, is possible by supplying the master shaft specification 34 or the input signal 43 of the master shaft to the comparator 31. 2 shows that the master wave setting 34 is not only supplied to the servos 23-25 but also to the comparator 31.
  • the respective value of the master wave specification 34 has the effect that the currently set limit value 33 is used for a master wave specification 34 not equal to zero and the limit value 33 itself is set to zero for a master wave specification 34 equal to zero.
  • the comparator 31 is also supplied with the master shaft specification 34, but in a particularly preferred embodiment also with the input signal 43.
  • the limit value 33 is set to zero if either the master wave specification 34 or the input signal 43 is equal to zero. This also takes into account any errors when determining the master shaft specification 34 in the master shaft servo 42 from the input signal 43.
  • a limit value 33 equal to zero, the starting of each drive, that is to say the dependent drives 20-22 or the dependent drives 20-22 including the master drive 11 , is reliably prevented because the comparator 31 switches off the respective drive or all drives immediately by means of a corresponding stop signal 38 with each movement of a drive and an actual value 30 that is therefore non-zero for this drive.
  • the or each sensor 26-28 in particular also the master shaft sensor 41, can be designed as a combined movement sensor and torque sensor or as a combination of a separate sensor for recording movement information, i.e. position and / or speed, and a separate torque sensor his.
  • at least limit value 33 then includes a speed-related or position-related limit value on the one hand and a torque-related limit value on the other hand. In this way, damage to the system can also be avoided if the drives, especially the master shaft, are blocked.
  • An advantage of the invention is that it is possible to save the safety devices previously required for the dependent drives, ie the hoods or the like.
  • a speed coordinated with signals from these safety devices reduction in speed is possible, e.g. in such a way that when the central hood 12 is open, the speed of the central drive is reduced by, for example, 90%, and if another specific hood is additionally opened, the speed is reduced again by another 50%, for example, when another hood is opened, one repeated speed reduction, for example by a further 30%, etc.
  • Such combinations and combinations can easily be stored in the comparator 31 and / or in the servo 23-25 and possibly also in the master shaft servo 42.
  • control system being based on a control system
  • Monitoring of rotational speeds or angles of rotation of individual drives 20-22 relates in such a way that their movement is monitored according to position and / or speed with respect to a synchronous value 37 and / or a limit value 33.
  • the monitoring with regard to the limit value 33 leads to a surely limited one

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Wrapping Of Specific Fragile Articles (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

L'invention concerne un procédé et un dispositif de commande d'une unité de fabrication dans une installation de production, la commande concernant une commande et une surveillance des vitesses de rotation ou des angles de rotation de dispositifs d'entraînement individuels (20-22), de manière à contrôler leur mouvement par rapport à une valeur de synchronisation (37) et/ou une valeur limite (33). Le contrôle par rapport à la valeur limite (33) conduit à une vitesse, limitée de manière sûre, des dispositifs d'entraînement individuels. Le contrôle par rapport à la vitesse synchrone (37) permet de détecter des asynchronismes. Le contrôle peut être effectué en exploitation normale et/ou en service de réglage et sert notamment, en service de réglage, à la protection du personnel de service en cas d'emballement ou de marche à des vitesses excessives des dispositifs d'entraînement (20-22).
EP04714312A 2003-04-25 2004-02-25 Procede et dispositif de commande d'une unite de fabrication Ceased EP1618441A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10319064A DE10319064A1 (de) 2003-04-25 2003-04-25 Verfahren und Vorrichtung zur Steuerung einer Fertigungseinheit
PCT/EP2004/001834 WO2004097538A1 (fr) 2003-04-25 2004-02-25 Procede et dispositif de commande d'une unite de fabrication

Publications (1)

Publication Number Publication Date
EP1618441A1 true EP1618441A1 (fr) 2006-01-25

Family

ID=33154473

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04714312A Ceased EP1618441A1 (fr) 2003-04-25 2004-02-25 Procede et dispositif de commande d'une unite de fabrication

Country Status (5)

Country Link
US (1) US7298111B2 (fr)
EP (1) EP1618441A1 (fr)
BR (1) BRPI0409668A (fr)
DE (1) DE10319064A1 (fr)
WO (1) WO2004097538A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007048053A1 (de) * 2007-10-05 2009-04-09 Focke & Co.(Gmbh & Co. Kg) Fertigungseinheit sowie Verfahren zum Betreiben der Fertigungseinheit
DE102008051779A1 (de) * 2008-10-17 2010-04-22 Focke & Co.(Gmbh & Co. Kg) Fertigungseinheit sowie Verfahren zum Betreiben der Fertigungseinheit
IT1399036B1 (it) * 2010-01-26 2013-04-05 Gima Spa Convogliatore di incarto di una macchina impacchettatrice
IT1403907B1 (it) 2011-01-26 2013-11-08 Gima Spa Apparato e relativo metodo di comando e controllo per controllare e comandare gruppi operativi di una macchina impacchettatrice
DE102011113704A1 (de) * 2011-08-02 2013-02-07 Focke & Co. (Gmbh & Co. Kg) Verfahren und Vorrichtung zur optischen Prüfung von bei der Herstellung und/oder Verpackung von Zigaretten zu prüfenden Objekten
CN104850096B (zh) * 2015-03-25 2018-06-19 红塔烟草（集团）有限责任公司大理卷烟厂 卷烟制丝管理控制系统
CN114434200A (zh) * 2021-12-27 2022-05-06 重庆长安新能源汽车科技有限公司 高安全风险机械设备安全防护方法及系统

Citations (2)

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Publication number Priority date Publication date Assignee Title
EP0243728A2 (fr) * 1986-05-02 1987-11-04 Heidelberger Druckmaschinen Aktiengesellschaft Système de sécurité pour une machine à imprimer
DE19522447A1 (de) * 1995-06-21 1997-01-02 Dirar Najib Kaskadierbare Überwachungseinrichtung

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US4000449A (en) * 1974-10-22 1976-12-28 Westinghouse Electric Corporation Electrical shaft system
US4554774A (en) * 1983-04-30 1985-11-26 Shibuya Kogyo Co., Ltd. System for synchronizing two or more process units
US5094656A (en) * 1988-11-10 1992-03-10 Fmc Corporation Servo drive bag machine
EP0385459A3 (fr) * 1989-03-02 1990-11-14 Toyoda Koki Kabushiki Kaisha Appareil pour le contrôle de la synchronisation
JP3010583B2 (ja) * 1989-12-31 2000-02-21 株式会社エスジー 複数軸の同調制御方式
DE4307839A1 (de) * 1993-03-12 1994-09-15 Rieter Ingolstadt Spinnerei Verfahren und Vorrichtung zur automatischen Einstellung der Drehzahlverhältnisse an einer Strecke
JP4351796B2 (ja) * 2000-09-26 2009-10-28 本田技研工業株式会社 シンクロ装置およびその伝達トルク制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0243728A2 (fr) * 1986-05-02 1987-11-04 Heidelberger Druckmaschinen Aktiengesellschaft Système de sécurité pour une machine à imprimer
DE19522447A1 (de) * 1995-06-21 1997-01-02 Dirar Najib Kaskadierbare Überwachungseinrichtung
DE19522447C2 (de) * 1995-06-21 1999-08-26 Najib Kaskadierbare Überwachungseinrichtung

Non-Patent Citations (1)

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Title
See also references of WO2004097538A1 *

Also Published As

Publication number Publication date
DE10319064A1 (de) 2004-11-11
US7298111B2 (en) 2007-11-20
WO2004097538A1 (fr) 2004-11-11
BRPI0409668A (pt) 2006-05-02
US20060267536A1 (en) 2006-11-30

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