JP2000512478A - モータ用制御装置および制御方法 - Google Patents
モータ用制御装置および制御方法Info
- Publication number
- JP2000512478A JP2000512478A JP10500232A JP50023298A JP2000512478A JP 2000512478 A JP2000512478 A JP 2000512478A JP 10500232 A JP10500232 A JP 10500232A JP 50023298 A JP50023298 A JP 50023298A JP 2000512478 A JP2000512478 A JP 2000512478A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- sensor
- force transmission
- control
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
- G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
- G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
- G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/237—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/232 - G05B19/235
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33078—Error table, interpolate between two stored values to correct error
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37019—Position detection integrated in actuator, lvdt integrated linear actuator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37035—Sensor in air gap of drive, detect directly speed or position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37323—Derive acceleration from position or speed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41436—Feedforward of speed and acceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42064—Position, speed and acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Linear Motors (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1. モータ(200)用制御装置であって、該モータは少なくとも2つのモータ 部材(210,220)を有し、 当該モータ部材は、力伝達介在箇所(270)を介して相互に交互作用し、 かつ相互に相対的に運動し、 さらにモータ部材の運動状態を検出するためのセンサ(250)と、モータ の運動状態を前記センサの信号に依存して制御するための制御器(100)とを 有する制御装置において、 前記センサは、モータ(200)の力伝達介在箇所(270)に配属されて いる、 ことを特徴とする制御装置。 2. センサは、モータの力伝達媒体に配置されている、請求項1記載の制御装置 。 3. センサは、モータの力伝達媒体の少なくとも1つの状態パラメータを検出す る、請求項1または2記載の制御装置。 4. モータの力伝達媒体は、流体または電磁界である、請求項1から3までのい ずれか1項記載の制御装置。 5. モータは回転モータであり、センサは角度発生器、角速度発生器および/ま たは角加速度発生器であ る、請求項1から4までのいずれか1項記載の制御装置。 6. モータはリニアモータであり、センサは距離発生器、速度発生器および/ま たは加速度発生器である、請求項1から5までのいずれか1項記載の制御装置。 7. センサは電磁界または電磁界の変化を検出し、 モータの力伝達は前記電磁界に基づくものである、請求項5または6記載の 制御装置。 8. センサ(250)は磁気誘導センサであり、請求項7記載の制御装置。 9. センサ(250)は1つまたは複数のコイルを有する、請求項8記載の制御 装置。 10.信号変換器(252)が設けられており、 該信号変換器は距離発生器(240)およびセンサ(250)ど運動状態の 検出のために接続されており、 さらにメモリ手段および補正手段を有し、 当該手段により、センサ(250)信号の位置依存性が補正される、請求項 1から9までのいずれか1項記載の制御装置。 11.モータの制御方法であって、該モータは少なくとも2つのモータ部材を有し 、当該モータ部材は力伝達介在箇所を介して相互に交互作用し、かつ相互に相対 運動する形式のモータの制御方法において、 モータの運動状態をモータの力伝達介在箇所で検出する、 ことを特徴とする方法。 12.モータの力伝達媒体の状態パラメータを検出する、請求項11記載の方法。 13.流体の圧力または圧力変化または電磁界の強度または電磁界変化をモータの 力伝達介在箇所で検出する、請求項11または12記載の方法。 14.モータ部材の角度位置、角速度および/または角加速度を力伝達介在箇所で 検出する、請求項11から13までのいずれか1項記載の方法。 15.直線距離、直線速度および/また直線加速度をモータの力伝達介在箇所で検 出する、請求項11から14までのいずれか1項記載の方法。 16.位置制御と速度制御とはカスケードされている、請求項11から15までの いずれか1項記載の方法。 17.速度予制御を行う、請求項16記載の方法。 18.カスケード制御を加速度制御と共に行う、請求項16または17記載の方法 。 19.加速度予制御を行う、請求項18記載の方法。 20.モータの運動状態を、磁気誘導センサ、有利には1つまたは複数のコイルを 有するセンサ(250)により、電動機の力伝達介在箇所で速度比例信号の形態 で検出する、請求項11から19までのいずれ か1項記載の方法。 21.速度比例信号を速度制御部に供給し、 速度比例信号を時間微分の後、加速度制御部に供給する、請求項20記載の 方法。 22.モータの運転開始前に検査試行で、モータを1回または複数回、一定の速度 で駆動し、速度比例信号をモータの瞬時位置に依存して記録し、 瞬時の速度比例信号(v)と瞬時位置(s)についての信号とから補正関数 (v*(s))を求め、 センサ(250)の信号を補正関数を用いて、センサ(250)の信号がモ ータの位置(s)に依存するのが補償されるように補正する、請求項20または 21記載の方法。 23.補正関数(v*(s))は検索テーブルの形態で記憶されているか、または 近似関数の形態で発生する、請求項22記載の方法。 24.工作機械、実装オートメーション、ボンディングオートメーション等の並進 駆動部に適用する、請求項1から10までのいずれか1項記載の制御装置または 請求項11から23までのいずれか1項記載の制御方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19622699.6 | 1996-06-05 | ||
DE19622699A DE19622699A1 (de) | 1996-06-05 | 1996-06-05 | Regeleinrichtung und -verfahren für Motoren |
PCT/EP1997/002910 WO1997046924A1 (de) | 1996-06-05 | 1997-06-05 | Regeleinrichtung und -verfahren für motoren |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2000512478A true JP2000512478A (ja) | 2000-09-19 |
Family
ID=7796291
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP10500232A Pending JP2000512478A (ja) | 1996-06-05 | 1997-06-05 | モータ用制御装置および制御方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US6118245A (ja) |
EP (1) | EP0902918B2 (ja) |
JP (1) | JP2000512478A (ja) |
KR (1) | KR20000016377A (ja) |
DE (2) | DE19622699A1 (ja) |
WO (1) | WO1997046924A1 (ja) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000191140A (ja) * | 1998-12-26 | 2000-07-11 | Minebea Co Ltd | リニアモ―タを用いた搬送システム |
DE19930777A1 (de) * | 1999-07-03 | 2001-01-04 | Heidenhain Gmbh Dr Johannes | Regelungsanordnung und Verfahren zur schnellen Lageregelung eines Elektromotors |
DE19952805C5 (de) * | 1999-11-02 | 2011-03-31 | Thielenhaus Technologies Gmbh | Verfahren und Vorrichtung zur Finishbearbeitung von Werkstücken |
US20020099473A1 (en) * | 2000-11-08 | 2002-07-25 | Paul Amadeo | Integrated computer-aided design (CAD) and robotic systems for rapid prototyping and manufacture of smart cards |
JP3592628B2 (ja) * | 2000-12-06 | 2004-11-24 | 恒彦 山崎 | 数値制御方法 |
DE20114750U1 (de) | 2001-09-06 | 2002-11-28 | Brueckner Maschbau | Anordnung zum Betrieb einer Kontaktwalze |
US6427794B1 (en) * | 2001-09-17 | 2002-08-06 | Ford Global Technologies, Inc. | Adaptive demagnetization compensation for a motor in an electric or partially electric motor vehicle |
DE10304970B4 (de) * | 2003-02-06 | 2006-08-10 | Ina - Drives & Mechatronics Gmbh & Co. Ohg | Positioniereinheit mit einem Kraftsensor |
DE10334736A1 (de) * | 2003-07-29 | 2005-02-17 | Rexroth Indramat Gmbh | Linearmotor mit Fortbewegungsregelung |
JP2007506397A (ja) * | 2003-09-15 | 2007-03-15 | シーメンス アクチエンゲゼルシヤフト | 電動機の制御方法及び装置 |
DE10342562A1 (de) | 2003-09-15 | 2005-04-21 | Siemens Ag | Regelungseinrichtung bzw. Regelung einer elektrischen Maschine |
DE102006015065A1 (de) * | 2006-03-31 | 2007-10-18 | Siemens Ag | Einbaumotor, insbesondere Einbau-Torquemotor |
US8084969B2 (en) * | 2007-10-01 | 2011-12-27 | Allegro Microsystems, Inc. | Hall-effect based linear motor controller |
US7936144B2 (en) | 2008-03-06 | 2011-05-03 | Allegro Microsystems, Inc. | Self-calibration algorithms in a small motor driver IC with an integrated position sensor |
DE502008002888D1 (de) * | 2008-09-09 | 2011-04-28 | Siemens Ag | Transfervorrichtung mit dynamisch veränderbaren Antriebsbereichen |
EP2574821B1 (de) | 2011-09-30 | 2013-10-30 | Siemens Aktiengesellschaft | Aktiver Schwingungsdämpfer ohne direkte Beschleunigungserfassung |
EP2574820B1 (de) | 2011-09-30 | 2014-04-16 | Siemens Aktiengesellschaft | Bearbeitungsmaschine mit Schwingungskompensation beweglicher mechanischer Strukturen |
DE102012210097A1 (de) * | 2012-06-15 | 2013-12-19 | Hilti Aktiengesellschaft | Steuerungsverfahren |
CN104793568A (zh) * | 2015-04-10 | 2015-07-22 | 深圳市明速自动化设备有限公司 | 多轴插补方法 |
CN107742997B (zh) * | 2017-10-20 | 2020-08-07 | 北京航天发射技术研究所 | 双轴转位机构控制系统、控制方法及捷联惯组自标定方法 |
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US3555254A (en) * | 1967-04-17 | 1971-01-12 | Gerber Scientific Instr Co | Error correcting system and method for use with plotters, machine tools and the like |
DE2020780A1 (de) † | 1969-04-04 | 1970-12-17 | Pioneer Electronic Corp | Elektrischer Gleichstrommotor |
DE2146499C3 (de) * | 1971-09-17 | 1975-09-25 | Messerschmitt-Boelkow-Blohm Gmbh, 8000 Muenchen | Regelanordnung zur abstandshaltenden elektromagnetischen Schwebeführung eines Schwebefahrzeuges gegenüber Trag- und Führungsschienen |
US3867656A (en) † | 1971-12-13 | 1975-02-18 | Siwa Seikosha Kk | Brushless direct current motor |
DE2314257C2 (de) † | 1973-03-22 | 1982-10-21 | Papst-Motoren GmbH & Co KG, 7742 St Georgen | Schaltungsanordnung zur Drehzahlregelung eines kollektorlosen Gleichstrommotors |
JPS534883B2 (ja) * | 1973-03-31 | 1978-02-22 | ||
DE2414721C3 (de) * | 1974-03-27 | 1980-06-19 | Brown, Boveri & Cie Ag, 6800 Mannheim | Verfahren zur Steuerung der Drehzahl- bzw. Geschwindigkeit einer frequenzumrichtergespeisten Drehstrom-Asynchronmaschine |
GB1596681A (en) * | 1977-01-19 | 1981-08-26 | Sony Corp | Drive circuits with speed control for brushless dc motors |
JPS54139016A (en) * | 1978-04-20 | 1979-10-29 | Pioneer Electronic Corp | Linear motor drive controller |
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DE3231966A1 (de) † | 1982-08-27 | 1984-03-01 | Erich 8500 Nürnberg Rabe | Elektrische maschine |
US4628499A (en) * | 1984-06-01 | 1986-12-09 | Scientific-Atlanta, Inc. | Linear servoactuator with integrated transformer position sensor |
DE3526166C2 (de) † | 1984-07-23 | 1996-05-02 | Asahi Chemical Ind | Bürstenloser Elektromotor und Verfahren zum Herstellen einer Spuleneinheit für diesen |
JPH02297611A (ja) * | 1989-05-12 | 1990-12-10 | Fanuc Ltd | 速度・加速度のフィードフォアードを含むスライディングモード制御方式 |
US5063335A (en) * | 1990-09-11 | 1991-11-05 | Allen-Bradley Company, Inc. | Two-input control with independent proportional and integral gains for velocity error and velocity feedforward including velocity command limiting |
DE4122769A1 (de) * | 1991-07-10 | 1993-01-21 | Ief Werner Gmbh | Positionssensor fuer linearmotoren |
JPH0683403A (ja) * | 1992-07-17 | 1994-03-25 | Fanuc Ltd | 適応pi制御方式 |
US5250880A (en) * | 1992-10-22 | 1993-10-05 | Ford Motor Company | Linear motor control system and method |
DE19543564A1 (de) * | 1994-11-22 | 1996-05-23 | Bosch Gmbh Robert | Anordnung zur berührungslosen Drehwinkelerfassung eines drehbaren Elements |
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DE19605413A1 (de) * | 1996-02-14 | 1996-07-11 | Schinkoethe Wolfgang Prof Dr I | Gleichstromlinearmotor mit integriertem Wegmeßsystem |
-
1996
- 1996-06-05 DE DE19622699A patent/DE19622699A1/de not_active Withdrawn
-
1997
- 1997-06-05 WO PCT/EP1997/002910 patent/WO1997046924A1/de not_active Application Discontinuation
- 1997-06-05 KR KR1019980709951A patent/KR20000016377A/ko not_active Application Discontinuation
- 1997-06-05 US US09/194,757 patent/US6118245A/en not_active Expired - Lifetime
- 1997-06-05 JP JP10500232A patent/JP2000512478A/ja active Pending
- 1997-06-05 DE DE59702321T patent/DE59702321D1/de not_active Expired - Lifetime
- 1997-06-05 EP EP97927135A patent/EP0902918B2/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
WO1997046924A1 (de) | 1997-12-11 |
KR20000016377A (ko) | 2000-03-25 |
EP0902918B2 (de) | 2005-01-12 |
DE59702321D1 (de) | 2000-10-12 |
EP0902918A1 (de) | 1999-03-24 |
EP0902918B1 (de) | 2000-09-06 |
US6118245A (en) | 2000-09-12 |
DE19622699A1 (de) | 1997-12-11 |
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KR100937318B1 (ko) | 머시닝센터 이송축의 직각도 조정장치 |
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