EP2210838B1 - Procédé de correction de registre dans une machine de traitement et machine de traitement - Google Patents

Procédé de correction de registre dans une machine de traitement et machine de traitement Download PDF

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Publication number
EP2210838B1
EP2210838B1 EP10000370.6A EP10000370A EP2210838B1 EP 2210838 B1 EP2210838 B1 EP 2210838B1 EP 10000370 A EP10000370 A EP 10000370A EP 2210838 B1 EP2210838 B1 EP 2210838B1
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EP
European Patent Office
Prior art keywords
processing device
product web
processing
printing
actuating command
Prior art date
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Application number
EP10000370.6A
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German (de)
English (en)
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EP2210838A2 (fr
EP2210838A3 (fr
Inventor
Stephan Schultze
Holger Schnabel
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.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
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Publication of EP2210838A2 publication Critical patent/EP2210838A2/fr
Publication of EP2210838A3 publication Critical patent/EP2210838A3/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/1882—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web and controlling longitudinal register of web
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F33/00—Indicating, counting, warning, control or safety devices
    • B41F33/16—Programming systems for automatic control of sequence of operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2213/00—Arrangements for actuating or driving printing presses; Auxiliary devices or processes
    • B41P2213/70—Driving devices associated with particular installations or situations
    • B41P2213/73—Driving devices for multicolour presses
    • B41P2213/734—Driving devices for multicolour presses each printing unit being driven by its own electric motor, i.e. electric shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2213/00—Arrangements for actuating or driving printing presses; Auxiliary devices or processes
    • B41P2213/90—Register control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/03—Image reproduction devices
    • B65H2801/21—Industrial-size printers, e.g. rotary printing press

Definitions

  • the present invention relates to a method for longitudinal registration correction in a shaftless processing machine and a corresponding processing machine, a corresponding computer program and a corresponding computer program product.
  • the invention is not limited thereto, but rather directed to all types of machine tools in which a web is processed.
  • the invention can be used in particular in printing presses such as newspaper printing presses, commercial printing presses, gravure printing machines, packaging printing machines or security printing presses, as well as in processing machines such as bag making machines, enveloping machines or packaging machines.
  • the web can be made of paper, cloth, cardboard, plastic, metal, rubber, in foil form, etc.
  • the longitudinal register is controlled in order to achieve an optimal printing result.
  • the machining axis itself is used in shaftless machines.
  • the driven pressure cylinder and the non-driven impression roller, which is applied with great pressure, together with the material web form a frictional unit.
  • an adjustment of a printing cylinder shifts the web and the non-driven impression roller and thus simultaneously influences the subsequent register.
  • so-called decoupling networks have been developed which pre-steer the manipulated variable of the printing unit to subsequent printing units in such a way that subsequent material web sections are decoupled from this adjustment.
  • the adjustment of a register can be done by two different strategies. Downstream means that the printing cylinder on which the register deviation occurs is adjusted and, for decoupling, also subsequent printing cylinders and optionally further subsequent clamping points, such as outfeed and rewinder. Upstream means that the printing cylinder at which register deviation occurs is not misaligned. For this purpose, all upstream printing cylinders and the Infeed, as well as the clamping points located further in front of them and the unwinder, are adjusted as required. For decoupling all pressure cylinders following the printing cylinder can be adjusted and optionally further subsequent clamping points and the rewinder.
  • register control There are two basic types of register control known. In color control, all printed register marks are compared with a predetermined, usually the first, applied mark. For this purpose, for example, the register controller of the third printing unit, the register deviation between the first and the third printed image is transmitted, which calculates therefrom the corresponding manipulated variable for the third printing unit.
  • each register mark is compared with the register mark of the respective preceding printing unit.
  • the register controller of the third printing unit the register deviation between the second and the third printed image is transmitted, which calculates therefrom the corresponding manipulated variable for the third printing unit.
  • the predecessor color control has advantages over the color control (including early measurement of the reference mark, small register deviation and better feedforward control during an acceleration phase).
  • the invention has for its object to improve the longitudinal register correction in shaftless processing machines, in particular to enable decoupling at different track lengths.
  • the web is processed by at least two each separately driven processing means, for setting their register position are each acted upon with a control command.
  • the register position of at least one second processing device is set, wherein the setting command for the at least one second processing device using a dead time element, which is modified by means of a dynamic member with non-constant transfer function, from the setting command is generated for setting the register position of the first processing device.
  • control command is to be understood in particular also a controller output variable or a manipulated variable.
  • the second processing devices controlled by means of modified dead-time element are located behind the first processing device.
  • the indications "before” and “behind” a processing device or a web section refer to the transport direction of the web, i. the web course.
  • the setting of the register position of a first processing device can either be carried out (downstream) by adjusting the register position of the processing device concerned or (upstream) by adjusting the register position of all before and, if necessary, also arranged behind the processing device concerned Processing devices.
  • the affected device will not be adjusted in this case.
  • a dynamic link has a non-constant transfer function.
  • a D, I, PI, PID, PT1, DT1, PTn, DTn, dead-time member each have a non-constant transfer function
  • a P-member has a constant transfer function.
  • Non-constant transfer function members are referred to as dynamic members in this application, while members having a constant transfer function are referred to as static members.
  • a processing machine has in particular all means for carrying out a method according to the invention.
  • the invention includes the teaching, during the setting of a processing device for decoupling this setting also mitzuverstellen other processing facilities defined by a dead time member. Different distances of processing devices are taken into account by the dead time element is modified by means of a dynamic member, ie in particular a parallel connection of dead time member and dynamic member takes place.
  • adjusting movements of a register regulator can be decoupled for subsequent material web sections at different web lengths.
  • the controller design can be done with a higher control loop dynamics, since the individual material web sections can be considered independently. For example. Defective printing units or printing units that are not necessary for different productions can be omitted without any influence on the decoupling. As a result, machine concepts can be made more flexible, since it is no longer necessary to pay attention to the same web lengths between the printing units.
  • the dynamic decoupling can take place both in the downstream and in the upstream direction.
  • a register control is performed. It is understood by those skilled in the art that the adjustment according to the invention can be used as part of a control.
  • the lengths of the web sections go into the modification term, i. the dynamic member with non-constant transfer function, a.
  • the non-constant transfer function comprises the transfer function of a first differential element, in particular with delay, in particular a DT1 element.
  • a first differential element in particular with delay, in particular a DT1 element.
  • DTn terms are also contemplated and those skilled in the art will adapt the selection to the underlying machine model.
  • the distance between two printing units is due to the dominant path time constant, resulting from the quotient of the web length between the printing units and the web speed calculated, typically approximating PT1 behavior. If the distance is approximated as PT2, PT3, PTn, then the corresponding decoupling structure can also be applied without departing from the scope of the invention. For example, with a PTn member instead of a PT1 member, modification would also be done with a DTn member rather than a DT1 member.
  • control command for the at least one second, in the web course behind the first arranged processing means using a second differential element, in particular a second DT1 member generated.
  • a second differential element in particular a second DT1 member generated.
  • all second, in the web course behind the first arranged processing facilities mitver Liste.
  • a proportional element in particular a P-member
  • a proportional element with delay in particular a PT1 element generated.
  • other PTn members are also contemplated and those skilled in the art will adapt the selection to the underlying machine model.
  • the distance between two printing units is due to the dominant path time constant, resulting from the quotient of the web length between the printing units and the web speed calculated, typically approximating PT1 behavior.
  • the corresponding decoupling structure can also be applied without departing from the scope of the invention.
  • a decoupling would also take place with a PTn element instead of a PT1 element.
  • all third, in the web course before the first arranged processing facilities and / or all second, in the web course behind the first arranged processing facilities mitver Liste.
  • the affected processing device itself is not adjusted in an upstream control.
  • the web path lengths entering the controller parameters are estimated or calculated on a model-based basis.
  • the dimensions of the processing machine such as The circumferences of the rollers, the distances of the rollers, etc., as well as the position of the processing devices (for example angular position) are known or at least determinable, so that the length of the individual material web sections can be determined therefrom.
  • An arithmetic unit according to the invention is, in particular programmatically, configured to perform a method according to the invention.
  • the invention further relates to a computer program with program code means to perform all the steps for determining a control command for the at least one second processing device according to a method according to the invention, when the computer program on a Computer or a corresponding processing unit is executed.
  • the inventively provided computer program product with program code means which are stored on a computer-readable data carrier is designed to perform all steps for determining a control command for the at least one second processing device according to a method according to the invention when the computer program is executed on a computer or a corresponding computing unit.
  • Suitable data carriers are, in particular, floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and the like. It is also possible to download a program via computer networks (Internet, intranet, etc.).
  • FIG. 1 is designed as a printing machine processing machine designated 100 in total.
  • a printing material for example paper 101
  • the paper 101 is guided and printed by processing devices designed as printing units 111, 112, 113, 114 and output again by an outfeed 115.
  • the input, extraction and printing units are positioned, in particular cylinder or angle correctable, arranged.
  • the printing units 111 to 114 are located in a web-tension-controlled area between the intake unit 110 and the extension unit 115.
  • the printing units 111 to 114 each have a printing cylinder 111 'to 114', against which a respective impression roller 111 "to 114" is made with strong pressure.
  • the impression cylinders are individually and independently drivable.
  • the associated drives 111 "'to 114"' are shown schematically.
  • the impression rollers are freely rotatable.
  • the printing units 111 to 114 together with the continuous paper 101 form a frictionally connected unit (clamping point).
  • the drives of the individual works are over a data connection 151 is connected to a controller 150.
  • the controller 150 comprises an embodiment of a computing unit according to the invention.
  • the paper 101 is guided over unspecified explained roles, which are designated 102.
  • rollers are provided with reference numeral 102. In particular, these may be deflection rollers, drying, cooling or trimming devices, etc.
  • the sensors 132, 133, 134 are arranged, which determine the register position of the web 101 and, for example, are designed as a brand reader.
  • a mark reader detects when a print mark (not shown), which is preferably applied by the first printing unit 111, reaches the mark reader.
  • the measured value is fed to a device for register control (register controller).
  • register controller the position of the corresponding pressure cylinder 112 'to 114' is detected and this measured value is also supplied to the register controller. From this, a respective register deviation can be calculated (path / cylinder correction; Key color control).
  • the detected register deviations are used for positioning the printing units 112 to 114 and preferably also for the positioning of the infeed 110 and the extension unit 115.
  • the tag reader may measure positions of all previously applied register marks and supply them to the register control device. From this, a respective register deviation between applied register marks can be calculated (path / path correction, predecessor color control) and used for positioning the printing units 111 to 114 and preferably also for the positioning of the infeed 110 and the extension unit 115.
  • u R, i denotes the controller output variable for the processing device or the printing unit i.
  • u i denotes the manipulated variable for the processing device or the printing unit i.
  • L i, i + 1 denotes the length of the web between the printing units i and i + 1.
  • FIG. 2 a signal flow plan for a downstream predecessor color control according to a first preferred embodiment of the invention is shown schematically and in part and designated overall by 200.
  • the controller outputs u R are each supplied to an adder 201.
  • Adder 201 also has an input control variable which is composed of the controller output variable u R of the respective preceding one Printing unit is generated.
  • This pilot control quantity relates to the removal of an induced web tension change in the predecessor color control.
  • the controller output variables U R are each guided via a dead time element 205, 206 in order to generate the pilot control variable.
  • the regulator output variable u R, i-1 is passed through the dead time element 205 in order to enter the adder 201 as the pilot control variable into the adjustment command u , i .
  • the dead-time elements 205, 206 are modified by means of differential links, more precisely DT1 links 203, 204.
  • the controller output u R of the previous printing unit, which is guided via a DT1 element 203, 204.
  • each adder 207 also has a pre-control quantity, which is generated from a setting command of the respective preceding printing unit. This pre-control quantity relates to the decoupling of an induced web tension change in the predecessor color control.
  • each adder 207 is supplied with the output of an adder 208.
  • In the adder 208 is a control command of the previous printing unit via a DT1 member 209, 210 and also the Output of the previous adder 208 a.
  • an exemplary adjustment of any printing unit i is piloted on subsequent printing units.
  • a DT1 adjustment (compare 209, 210) of the following impression cylinders is carried out first.
  • the subsequent impression cylinders must produce the same change in web tensioning or stretching behavior as preceding impression cylinders, since a change in elongation always causes a change in the register.
  • upstream predecessor color control can be performed for different lengths.
  • Upstream thus means that an occurring register deviation of x mm at printing unit i is not effected by an adjustment of the printing unit i by x mm, but by an adjustment of all preceding printing units, optionally the Infeeds and other clamping points by -x mm.
  • the controller output is pre-controlled via a proportional element with gain -1 to all preceding printing units.
  • the printing unit i is not adjusted by itself. Because the decoupling subsequent nips should be maintained, they must also be adjusted.
  • Add -ü to the adjustment of the subsequent printing units according to FIG. 2 the DT1 gates 209, 210 are modified to PT1 gates with negative gain.
  • the dead-time elements 205, 206 and their modification by means of the DT1 members 203, 204 remain unchanged.
  • An advantage of the upstream control is that the PT1 element for the decoupling structure can show a more robust behavior than the downstream decoupling with the DT1 element, especially in systems with strong noise.
  • the solution according to the invention makes it possible to achieve a reduction in waste through greater control loop dynamics due to the decoupling of the subsystems (costs of material and printing ink). Furthermore, the starting process can be shortened, since due to the .Delkopplungsstrategie the register controller can be switched on at the same time, since they work independently. By taking into account different track lengths between the printing units, more flexible machine concepts are possible. In particular, defective printing units or printing units that are not required for certain products can be omitted.

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  • Inking, Control Or Cleaning Of Printing Machines (AREA)

Claims (16)

  1. Procédé de correction de l'alignement en longueur dans le cas d'une machine de traitement sans arbre destinée à traiter une bande (101), notamment une machine d'impression sans arbre (100),
    dans lequel la bande (101) est traitée par au moins deux dispositifs de traitement (111, 112, 113, 114) respectivement entraînés séparément,
    dans lequel les au moins deux dispositifs de traitement (111, 112, 113, 114) peuvent respectivement recevoir une instruction de réglage (ui-1, ui, ui+1) destinée à régler leur position d'alignement,
    dans lequel, pour découpler le réglage de la position d'alignement d'un premier dispositif de traitement (111, 112, 113, 114), la position d'alignement d'au moins un deuxième dispositif de traitement (111, 112, 113, 114) est réglée,
    caractérisé en ce que l'instruction de réglage (ui, ui+1) destinée à l'au moins un deuxième dispositif de traitement est générée par utilisation d'un élément de temps mort (205, 206) qui est modifié au moyen d'un élément dynamique (203, 204) ayant une fonction de transfert non constante, à partir de l'instruction de réglage (ui-1, ui, uR, i-1, uR, i) destinée à régler la position d'alignement du premier dispositif de traitement (111, 112, 113, 114).
  2. Procédé selon la revendication 1, dans lequel la caractéristique de temps mort présente un temps mort Tt = Li, i+i/v, dans lequel i+1 désigne le deuxième dispositif de traitement, Li, j est la longueur de bande de la section de bande comprise entre les dispositifs de traitement i et j, et v est la vitesse de la bande.
  3. Procédé selon la revendication 1 ou 2, dans lequel la fonction de transfert non constante comprend la fonction de transfert d'un premier élément différentiel, présentant notamment un retard, notamment d'un élément DT1 (203, 204).
  4. Procédé selon la revendication 3, dans lequel la première caractéristique de l'élément différentiel présente une amplification différentielle KD = (Li, i+1 - Li-1, i)/v et une constante de temps T = Li-1, i/v, dans lequel i+1 désigne le deuxième dispositif de traitement, Li, j est la longueur de bande de la section de bande comprise entre les dispositifs de traitement i et j, et v est la vitesse de la bande.
  5. Procédé selon l'une quelconque des revendications 3 ou 4, dans lequel l'instruction de réglage (ui, ui+1) destinée à l'au moins un deuxième dispositif de traitement (112, 113, 114 ; 113, 114 ; 114) disposé à l'arrière du premier dispositif de traitement (111 ; 112 ; 113) sur le trajet de la bande est générée par utilisation d'au moins un deuxième élément différentiel (209, 210).
  6. Procédé selon la revendication 5, dans lequel l'instruction de réglage (ui, ui+1) destinée à l'au moins un deuxième dispositif de traitement (112, 113, 114 ; 113, 114 ; 114) est générée par utilisation d'un deuxième élément DT1 (209, 210).
  7. Procédé selon la revendication 5 ou 6, dans lequel la deuxième caractéristique de l'élément différentiel présente une amplification différentielle KD = Li-1, i/v et une constante de temps T = Li-1, i/v, dans lequel i+1 désigne le deuxième dispositif de traitement, Li, j est la longueur de bande de la section de bande comprise entre les dispositifs de traitement i et j, et v est la vitesse de la bande.
  8. Procédé selon l'une quelconque des revendications précédentes, dans lequel l'instruction de réglage destinée à au moins un troisième dispositif de traitement disposé à l'avant du premier dispositif de traitement sur le trajet de la bande est générée par utilisation d'un élément proportionnel, notamment d'un élément P, et l'instruction de réglage destinée à l'au moins un deuxième dispositif de traitement disposé à l'arrière du premier dispositif de traitement sur le trajet de la bande est générée par utilisation d'un élément proportionnel à retard, notamment d'un élément PT1.
  9. Procédé selon la revendication 8, dans lequel l'élément proportionnel présente une amplification négative Kp = -1 et l'élément proportionnel à retard présente une amplification négative Kp = -1 et une constante de temps T = Li-1, i/v, dans lequel i+1 désigne le deuxième dispositif de traitement, Li, j est la longueur de bande de la section de bande comprise entre les dispositifs de traitement i et j, et v est la vitesse de la bande.
  10. Procédé selon l'une quelconque des revendications 2, 4, 7, 9, caractérisé en ce que les longueurs de bande entrant dans les paramètres du régulateur sont calculées par estimation ou modélisation.
  11. Procédé selon l'une quelconque des revendications précédentes, dans lequel une régulation des couleurs fondamentales est effectuée.
  12. Procédé selon l'une quelconque des revendications précédentes dans le cas d'une machine de traitement réalisée sous la forme d'une machine d'impression (100) ayant au moins deux postes de traitement (111, 112, 113, 114).
  13. Unité de calcul conçue pour générer les instructions de réglage (ui-1, ui, ui+1, uR, i-1, uR, i, uR, i+1) destinées à l'au moins un deuxième dispositif de traitement (111, 112, 113, 114) conformément à un procédé selon l'une quelconque des revendications précédentes.
  14. Machine de traitement sans arbre destinée à traiter une bande (101), notamment, machine d'impression sans arbre (100),
    comportant au moins deux dispositifs de traitement (111, 112, 113, 114) respectivement entraînés séparément pour traiter la bande (101), qui peuvent respectivement recevoir une instruction de réglage (ui-1, ui, ui+1) pour le réglage de leur position d'alignement en longueur,
    une unité de calcul (150) qui est conçue, à des fins de découplage du réglage de l'alignement de la position en longueur d'un premier dispositif de traitement (111, 112, 113, 114), pour générer une instruction de réglage (ui, ui+1) destinée à au moins un deuxième dispositif de traitement (111, 112, 113, 114),
    caractérisé en ce que l'unité de calcul (150) est conçue pour générer l'instruction de réglage (ui, ui+1) destinée à l'au moins un deuxième dispositif de traitement (111, 112, 113, 114) par utilisation d'un élément de temps mort (205, 206) qui est modifié au moyen d'un élément dynamique (203, 204) ayant une fonction de transfert non constante, à partir de l'instruction de réglage (ui-1, ui, uR, i-1, uR, i) destinée au premier dispositif de traitement (111, 112, 113, 114).
  15. Programme d'ordinateur comportant des moyens à codes de programmes destinés à mettre en oeuvre toutes les étapes servant à générer les instructions de réglage destinées à l'au moins un deuxième dispositif de traitement d'un procédé selon l'une quelconque des revendications 1 à 12, lorsque le programme d'ordinateur est exécuté sur un ordinateur ou une unité de calcul correspondante.
  16. Produit de programme d'ordinateur comportant des moyens à codes de programmes qui sont stockés sur un support de données lisible par ordinateur afin de mettre en oeuvre toutes les étapes servant à générer les instructions de réglage destinées à l'au moins un deuxième dispositif de traitement d'un procédé selon l'une quelconque des revendications 1 à 12, lorsque le programme d'ordinateur est exécuté sur un ordinateur ou une unité de calcul correspondante.
EP10000370.6A 2009-01-22 2010-01-16 Procédé de correction de registre dans une machine de traitement et machine de traitement Active EP2210838B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009005820A DE102009005820A1 (de) 2009-01-22 2009-01-22 Verfahren zur Registerkorrektur bei einer Bearbeitungsmaschine sowie Bearbeitungsmaschine

Publications (3)

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EP2210838A2 EP2210838A2 (fr) 2010-07-28
EP2210838A3 EP2210838A3 (fr) 2011-03-09
EP2210838B1 true EP2210838B1 (fr) 2016-12-28

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EP (1) EP2210838B1 (fr)
CN (1) CN101927597A (fr)
DE (1) DE102009005820A1 (fr)
ES (1) ES2621083T3 (fr)

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Publication number Priority date Publication date Assignee Title
US9970384B2 (en) 2009-11-06 2018-05-15 Federal-Mogul Llc Steel piston with cooling gallery and method of construction thereof
DE102011008359B3 (de) 2011-01-12 2012-02-02 Lpcon Gmbh Verfahren zur Registerregelung mit frei wählbaren Marken
DE102012013435A1 (de) 2012-04-04 2013-10-10 Robert Bosch Gmbh Verfahren zur Vorregistrierung einerBearbeitungsstation
DE102017101812A1 (de) 2017-01-31 2018-08-02 Océ Holding B.V. Verfahren zur Passerregelung eines Drucksystems und Drucksystem

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Publication number Priority date Publication date Assignee Title
US3852578A (en) * 1970-02-03 1974-12-03 Industrial Nucleonics Corp Control system and method for machine or process having dead time
EP0575636A1 (fr) * 1992-06-10 1993-12-29 Siemens Aktiengesellschaft Méthode de régulation des boucles de contrôle impliquants des temps morts
DE19723059A1 (de) 1997-06-02 1998-12-03 Wifag Maschf Registerhaltige Abstimmung von Druckzylindern einer Rollenrotationsmaschine
JP4910537B2 (ja) * 2006-07-24 2012-04-04 大日本印刷株式会社 グラビア印刷機およびその制御方法
DE102007024323A1 (de) 2007-05-24 2008-11-27 Robert Bosch Gmbh Verfahren zum Verstellen von Druckmaschinenmodulen
DE102007017096A1 (de) 2007-04-10 2008-10-16 Robert Bosch Gmbh Verfahren zum Verstellen von Druckmaschinenmodulen

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EP2210838A2 (fr) 2010-07-28
DE102009005820A1 (de) 2010-07-29
ES2621083T3 (es) 2017-06-30
CN101927597A (zh) 2010-12-29
EP2210838A3 (fr) 2011-03-09

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