JPH07303389A - Servomotor drive controller - Google Patents
Servomotor drive controllerInfo
- Publication number
- JPH07303389A JPH07303389A JP6114474A JP11447494A JPH07303389A JP H07303389 A JPH07303389 A JP H07303389A JP 6114474 A JP6114474 A JP 6114474A JP 11447494 A JP11447494 A JP 11447494A JP H07303389 A JPH07303389 A JP H07303389A
- Authority
- JP
- Japan
- Prior art keywords
- type
- photocouplers
- photocoupler
- input
- led
- 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.)
- Granted
Links
Landscapes
- Inverter Devices (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Power Conversion In General (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、直流又は交流のサーボ
モータを駆動する制御回路に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control circuit for driving a DC or AC servomotor.
【０００２】[0002]
【従来の技術】ＰＷＭ制御によるサーボモータ駆動方式
では、たとえば図３のように可逆制御を行うために、Ｐ
型、Ｎ型２つのタイプのＦＥＴなどのパワー素子６、７
および８、９を組み合わせてモータ５を駆動している。
そして、それぞれのパワー素子６、７および８、９の制
御信号毎にフォトカプラ１、２および３、４の１次側Ｌ
ＥＤ駆動抵抗１０、１１および１２、１３を必要として
いる。Ｐ、Ｎは正、負の直流電圧、１４、１５はそれぞ
れ正、負に変化するゲート制御信号である。2. Description of the Related Art In a servomotor drive system using PWM control, for example, P is used to perform reversible control as shown in FIG.
Type and N type power devices 6 and 7 such as two types of FETs
The motor 5 is driven by combining 8 and 9.
Then, the primary side L of the photocouplers 1, 2 and 3, 4 is set for each control signal of the respective power elements 6, 7 and 8, 9.
ED drive resistors 10, 11 and 12, 13 are required. P and N are positive and negative DC voltages, and 14 and 15 are gate control signals that change to positive and negative, respectively.
【０００３】[0003]
【発明が解決しようとする課題】従来のＰＷＭ制御によ
るサーボモータ駆動方式においては、３相モータ駆動の
場合、各相毎の正、負のゲート制御信号で、合計６個の
ＬＥＤ駆動抵抗が必要である。また、直流モータ駆動の
場合では、合計４個のＬＥＤ駆動抵抗が必要である。従
って部品点数が多く、コストや製造面での課題があっ
た。本発明は、簡単な構成のサーボモータ駆動制御回路
を提供することを目的とする。In the conventional servo motor drive system by PWM control, in the case of three-phase motor drive, positive and negative gate control signals for each phase require a total of six LED drive resistors. Is. Further, in the case of the DC motor drive, a total of four LED drive resistors are required. Therefore, the number of parts is large, and there are problems in terms of cost and manufacturing. An object of the present invention is to provide a servo motor drive control circuit having a simple structure.
【０００４】[0004]
【課題を解決するための手段】以上の課題を解決するた
め、本発明は、Ｐ型ＦＥＴのドレインとＮ型ＦＥＴのド
レインを接続した直列体を２個並列接続し、その直列体
の両端に直流電圧を前記Ｐ型ＦＥＴのソース側が正にな
るように印加し、前記Ｐ型、Ｎ型ＦＥＴの接続点にサー
ボモータを接続して駆動制御するサーボモータの駆動制
御回路において、前記Ｐ型ＦＥＴのゲートにそれぞれ出
力側が接続される第１、第２のフォトカプラの入力側Ｌ
ＥＤのカソード側に共通に一端が接続される第１の抵抗
器と、前記Ｎ型ＦＥＴのゲートにそれぞれ出力側が接続
される第３、第４のフォトカプラの入力側ＬＥＤのアノ
ード側に共通に一端が接続される第２の抵抗器とを備
え、前記第１のフォトカプラの入力側ＬＥＤのアノード
側と前記第４のフォトカプラの入力側ＬＥＤのカソード
側に共通に印加される第１のゲート制御信号と前記第２
のフォトカプラの入力側ＬＥＤのアノード側と前記第３
のフォトカプラの入力側ＬＥＤのカソード側に共通に印
加される前記第１のゲート制御信号と逆極性の第２のゲ
ート制御信号とを備えたことを特徴とし、また、 Ｐ型
ＦＥＴのドレインと他のＰ型ＦＥＴのドレインを接続し
た直列体を３個並列接続し、その直列体の両端に直流電
圧を前記Ｐ型ＦＥＴのソース側が正になるように印加
し、前記Ｐ型、他のＰ型ＦＥＴの接続点にサーボモータ
を接続して駆動制御するサーボモータの駆動制御回路に
おいて、前記Ｐ型ＦＥＴのゲートにそれぞれ出力側が接
続される第１、第２、第３のフォトカプラと前記他のＰ
型ＦＥＴのゲートにそれぞれ出力側が接続される第４、
第５、第６のフォトカプラと、前記第１、第４のフォト
カプラ、前記第２、第５のフォトカプラおよび前記第
３、第６のフォトカプラの各入力側ＬＥＤのアノード側
にそれぞれ共通に一端が接続される第１、第２、第３の
抵抗器とを備え、前記第１、第２、第３のフォトカプラ
の入力側ＬＥＤのカソードに入力される第１、第２、第
３のゲート制御信号と前記第４、第５、第６のフォトカ
プラの入力側ＬＥＤのカソードに入力される第４、第
５、第６のゲート制御信号とがそれぞれ逆極性であるこ
とを特徴とする。In order to solve the above problems, the present invention is to connect two series bodies in which a drain of a P-type FET and a drain of an N-type FET are connected in parallel, and to connect both ends of the series body. In a drive control circuit of a servo motor, wherein a direct current voltage is applied so that the source side of the P-type FET is positive, and a servo motor is connected to a connection point of the P-type and N-type FETs for drive control, the P-type FET The input side L of the first and second photocouplers whose output side is connected to the respective gates of
A first resistor whose one end is commonly connected to the cathode side of the ED, and an anode side of the input side LEDs of the third and fourth photocouplers whose output sides are respectively connected to the gates of the N-type FETs. A second resistor having one end connected, and a first resistor applied to the anode side of the input side LED of the first photocoupler and the cathode side of the input side LED of the fourth photocoupler in common. Gate control signal and the second
The input side of the photocoupler of the anode side of the LED and the third side
Of the photocoupler, the first gate control signal commonly applied to the cathode side of the LED on the input side and the second gate control signal having the opposite polarity, and the drain of the P-type FET. Three series bodies in which the drains of the other P-type FETs are connected are connected in parallel, and a DC voltage is applied to both ends of the series body so that the source side of the P-type FET becomes positive. In a drive control circuit of a servomotor for controlling a drive by connecting a servomotor to a connection point of the type FET, first, second, and third photocouplers whose output side is connected to the gate of the P-type FET and the other Of P
The output side is connected to the gate of each type FET,
Common to the anode side of each input side LED of the fifth and sixth photo couplers, the first and fourth photo couplers, the second and fifth photo couplers, and the third and sixth photo couplers. First, second, and third resistors each having one end connected to the first, second, and third photocouplers, and the first, second, and third photocouplers input to the cathodes of the input LEDs. The third gate control signal and the fourth, fifth, and sixth gate control signals input to the cathodes of the input side LEDs of the fourth, fifth, and sixth photocouplers have opposite polarities. And
【０００５】[0005]
【作用】２相の場合は、第１のＬＥＤ駆動抵抗により第
１、第２のフォトカプラが共通に駆動され、第２のＬＥ
Ｄ駆動抵抗により第３、第４のフォトカプラが共通に駆
動される。３相の場合は第１、第２、第３のＬＥＤ駆動
抵抗により、それぞれ第１、第４のフォトカプラ、第
２、第５のフォトカプラ、第３、第６のフォトカプラが
共通に駆動される。In the case of two phases, the first and second photocouplers are commonly driven by the first LED drive resistor, and the second LE is connected.
The third and fourth photocouplers are commonly driven by the D drive resistance. In the case of three phases, the first, second, and third LED drive resistors drive the first, fourth, fifth, fifth, third, and sixth photocouplers in common, respectively. To be done.
【０００６】[0006]
【実施例】以下、本発明の具体的実施例を図１、図２に
示して説明する。回路構成部品で図３と同じ符号のもの
は説明を省略する。図１において、ＦＥＴのゲート制御
信号１４及び１５は、必ず一方がＨｉ（１）であればも
う一方はＬｏｗ（０）である。まず、ゲート制御信号１
５がＨｉの場合、フォトカプラ３の１次側赤外ＬＥＤに
は順電流ＩＦは流れずフォトカプラ３はＯＦＦの状態で
あり、Ｎ型のＦＥＴ８もＯＦＦの状態にある。フォトカ
プラ２の１次側赤外ＬＥＤはＬＥＤ駆動抵抗１６を介し
て順電流が流れフォトカプラ２はＯＮの状態であるが、
Ｐ型であるＦＥＴ７はＯＦＦの状態にあり、よってＦＥ
Ｔ７、ＦＥＴ８はともにＯＦＦの状態になる。また、ゲ
ート制御信号１４はＬｏｗであり、フォトカプラ１の１
次側赤外ＬＥＤには順電流は流れずフォトカプラ１はＯ
ＦＦの状態であるが、Ｐ型であるＦＥＴ６はＯＮの状態
にある。フォトカプラ４の１次側赤外ＬＥＤはＬＥＤ駆
動抵抗１７を介して順電流が流れ、フォトカプラ４はＯ
Ｎの状態であり、Ｎ型であるＦＥＴ９もＯＮの状態にあ
り、よってＦＥＴ６、ＦＥＴ９はともにＯＮの状態にな
る。したがって、モータ５には電流がＦＥＴ６から入り
ＦＥＴ９へ出るように流れる。次にゲート制御信号１５
がＬｏｗの場合、フォトカプラ３の１次側赤外ＬＥＤは
駆動抵抗１７を介して順電流ＩＦが流れフォトカプラ３
はＯＮの状態であり、Ｎ型であるＦＥＴ８はＯＮの状態
にある。また、フォトカプラ２の１次側赤外ＬＥＤには
順電流ＩＦは流れずフォトカプラ２はＯＦＦの状態であ
るが、Ｐ型であるＦＥＴ７はＯＮの状態にあり、よって
ＦＥＴ８、ＦＥＴ７は共にＯＮの状態になる。この時、
ゲート制御信号１４はＨｉであり、フォトカプラ１の１
次側赤外ＬＥＤには順電流ＩＦが流れる。フォトカプラ
１はＯＮの状態であるが、Ｐ型であるＦＥＴ６はＯＦＦ
の状態にある。また、フォトカプラ４の１次側赤外ＬＥ
Ｄには順電流ＩＦは流れずフォトカプラ４はＯＦＦの状
態であり、Ｎ型であるＦＥＴ９もＯＦＦの状態にあり、
よってＦＥＴ６、ＦＥＴ９はともにＯＦＦの状態にな
る。したがって、モータ５には電流がＦＥＴ７から入り
ＦＥＴ８から出るように流れる。つぎに、図２は３相の
サーボモータを駆動制御する本発明の第２の実施例を示
す図である。２７、２８、２９はＰ型ＦＥＴであり、ソ
ース側が正電位となるように接続され、３０、３１、３
２は他のＰ型ＦＥＴであり、ソース側が負電位となるよ
うに接続されている。また、Ｐ型ＦＥＴと他のＰ型ＦＥ
Ｔの接続点には３相モータ５が接続される。フォトカプ
ラ２１、２２、２３にはそれぞれゲート制御信号ＢＤ
１、ＢＤ２、ＢＤ３が入力され、その出力信号でＰ型Ｆ
ＥＴ２７、２８、２９を制御する。また、フォトカプラ
２４、２５、２６にはそれぞれゲート制御信号／ＢＤ
１、／ＢＤ２、／ＢＤ３が入力され、その出力信号で他
のＰ型ＦＥＴ３０、３１、３２を制御する。図３はゲー
ト制御信号ＢＤ１〜／ＢＤ３のタイムチャートを示す。
たとえばＢＤ１と／ＢＤ１とは必ず逆極性となるように
図のようにＨｉ（１）、Ｌｏ（０）となる。時刻ｔ１ま
ではＢＤ１がＨｉなのでＦＥＴ２７はＯＮ、ＢＤ２、Ｂ
Ｄ３がＬｏなのでＦＥＴ２８、２９はＯＦＦ、また、／
ＢＤ１がＬｏなのでＦＥＴ３０はＯＦＦである。さらに
／ＢＤ２、／ＢＤ３がＨｉなのでＦＥＴ３１、３２がＯ
Ｎである。したがって電流はＦＥＴ２７からモータ５を
通りＦＥＴ３１、３２へ流れる。なお、ＦＥＴの極性は
この組合せに限られないので、２７〜２９をＰ型とし、
３０〜３２をＮ型としても、あるいはこの逆の組合せと
しても、ゲート信号を適当に変えれば実施可能である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A concrete embodiment of the present invention will be described below with reference to FIGS. Descriptions of circuit components having the same reference numerals as those in FIG. 3 are omitted. In FIG. 1, the gate control signals 14 and 15 of the FET are always Hi (1) when one is Low (0). First, gate control signal 1
When 5 is Hi, the forward current IF does not flow in the primary side infrared LED of the photocoupler 3, the photocoupler 3 is in the OFF state, and the N-type FET 8 is also in the OFF state. A forward current flows through the primary side infrared LED of the photocoupler 2 through the LED drive resistor 16, and the photocoupler 2 is in the ON state.
FET7, which is P-type, is in the OFF state, so FE
Both T7 and FET8 are turned off. In addition, the gate control signal 14 is Low, which is 1 of the photocoupler 1.
No forward current flows through the secondary infrared LED, and the photocoupler 1 is O
Although in the FF state, the P-type FET 6 is in the ON state. A forward current flows through the primary side infrared LED of the photocoupler 4 via the LED drive resistor 17, and the photocoupler 4 becomes O
In the N state, the N-type FET 9 is also in the ON state, so that both the FET 6 and the FET 9 are in the ON state. Therefore, a current flows through the motor 5 so as to enter from the FET 6 and exit to the FET 9. Next, gate control signal 15
Is low, a forward current IF flows in the primary side infrared LED of the photocoupler 3 via the drive resistor 17.
Is ON, and the N-type FET 8 is ON. Further, the forward current IF does not flow through the primary side infrared LED of the photocoupler 2 and the photocoupler 2 is in the OFF state, but the P-type FET 7 is in the ON state, and therefore both the FET 8 and the FET 7 are ON. It becomes the state of. At this time,
The gate control signal 14 is Hi, which is 1 of the photocoupler 1.
A forward current IF flows through the secondary infrared LED. The photocoupler 1 is ON, but the P-type FET 6 is OFF
Is in the state of. In addition, the primary-side infrared LE of the photocoupler 4
The forward current IF does not flow through D, the photocoupler 4 is in the OFF state, and the N-type FET 9 is also in the OFF state.
Therefore, both FET6 and FET9 are turned off. Therefore, a current flows through the motor 5 so as to enter from the FET 7 and exit from the FET 8. Next, FIG. 2 is a diagram showing a second embodiment of the present invention for driving and controlling a three-phase servomotor. 27, 28, and 29 are P-type FETs, which are connected so that the source side has a positive potential.
Reference numeral 2 is another P-type FET, which is connected so that the source side has a negative potential. In addition, P-type FET and other P-type FE
A three-phase motor 5 is connected to the connection point of T. A gate control signal BD is supplied to each of the photocouplers 21, 22 and 23.
1, BD2, BD3 are input, and the P-type F
Control ET 27, 28, 29. The photo couplers 24, 25, and 26 have gate control signals / BD, respectively.
1, / BD2, / BD3 are input, and the other P-type FETs 30, 31, 32 are controlled by the output signals thereof. FIG. 3 shows a time chart of the gate control signals BD1 to / BD3.
For example, BD (1) and / BD (1) are Hi (1) and Lo (0) as shown so that the polarities are always opposite. Until time t1, BD1 is Hi, so FET27 is ON, BD2, B
Since D3 is Lo, FETs 28 and 29 are OFF, and /
Since BD1 is Lo, the FET 30 is OFF. Further, since / BD2 and / BD3 are Hi, the FETs 31 and 32 are O.
N. Therefore, the current flows from the FET 27 through the motor 5 to the FETs 31 and 32. Since the polarity of the FET is not limited to this combination, 27 to 29 are P-type,
Even if 30 to 32 are N-type or the reverse combination, it can be implemented by appropriately changing the gate signal.
【０００７】[0007]
【発明の効果】以上説明したように、本発明によればＰ
ＷＭ制御によるサーボモータの駆動回路を簡素化でき、
信頼性及び組立て工数等の面で有効である。As described above, according to the present invention, P
The drive circuit of the servo motor can be simplified by WM control,
It is effective in terms of reliability and man-hours for assembly.
【図１】本発明の第１の実施例をあらわす図。FIG. 1 is a diagram showing a first embodiment of the present invention.
【図２】本発明の第２の実施例をあらわす図。FIG. 2 is a diagram showing a second embodiment of the present invention.
【図３】ゲート制御信号のタイムチャートをあらわす
図。FIG. 3 is a diagram showing a time chart of a gate control signal.
【図４】従来のドライブ回路をあらわす図。FIG. 4 is a diagram showing a conventional drive circuit.
１、２、３、４、２１、２２、２３、２４、２５、２６
フォトカプラ ５ モータ ６、７、２７、２８、２９ Ｐ型ＦＥＴ ８、９ Ｎ型ＦＥＴ １０、１１、１２、１３、１６、１７、１８、１９、２
０ ＬＥＤ駆動抵抗 １４、１５ ゲート制御信号 ３０、３１、３２ 他のＰ型ＦＥＴ1, 2, 3, 4, 21, 22, 23, 24, 25, 26
Photocoupler 5 Motor 6, 7, 27, 28, 29 P-type FET 8, 9 N-type FET 10, 11, 12, 13, 16, 17, 18, 19, 2
0 LED drive resistance 14, 15 Gate control signal 30, 31, 32 Other P-type FET
Claims (2)
レインを接続した直列体を２個並列接続し、その直列体
の両端に直流電圧を前記Ｐ型ＦＥＴのソース側が正にな
るように印加し、前記Ｐ型、Ｎ型ＦＥＴの接続点にサー
ボモータを接続して駆動制御するサーボモータの駆動制
御回路において、前記Ｐ型ＦＥＴのゲートにそれぞれ出
力側が接続される第１、第２のフォトカプラの入力側Ｌ
ＥＤのカソード側に共通に一端が接続される第１の抵抗
器と、前記Ｎ型ＦＥＴのゲートにそれぞれ出力側が接続
される第３、第４のフォトカプラの入力側ＬＥＤのアノ
ード側に共通に一端が接続される第２の抵抗器とを備
え、前記第１のフォトカプラの入力側ＬＥＤのアノード
側と前記第４のフォトカプラの入力側ＬＥＤのカソード
側に共通に印加される第１のゲート制御信号と前記第２
のフォトカプラの入力側ＬＥＤのアノード側と前記第３
のフォトカプラの入力側ＬＥＤのカソード側に共通に印
加される前記第１のゲート制御信号と逆極性の第２のゲ
ート制御信号とを備えたことを特徴とするサーボモータ
の駆動制御回路。1. Two series bodies in which a drain of a P-type FET and a drain of an N-type FET are connected in parallel, and a DC voltage is applied to both ends of the series body so that the source side of the P-type FET becomes positive. In the drive control circuit of the servomotor for controlling the drive by connecting the servomotor to the connection point of the P-type and N-type FETs, first and second photocouplers whose output sides are connected to the gates of the P-type FETs, respectively. Coupler input side L
A first resistor whose one end is commonly connected to the cathode side of the ED, and an anode side of the input side LEDs of the third and fourth photocouplers whose output sides are respectively connected to the gates of the N-type FETs. A second resistor having one end connected, and a first resistor applied to the anode side of the input side LED of the first photocoupler and the cathode side of the input side LED of the fourth photocoupler in common. Gate control signal and the second
The input side of the photocoupler of the anode side of the LED and the third side
2. A drive control circuit for a servo motor, comprising: the first gate control signal and a second gate control signal of opposite polarity, which are commonly applied to the cathode side of the input side LED of the photo coupler.
のドレインを接続した直列体を３個並列接続し、その直
列体の両端に直流電圧を前記Ｐ型ＦＥＴのソース側が正
になるように印加し、前記Ｐ型、他のＰ型ＦＥＴの接続
点にサーボモータを接続して駆動制御するサーボモータ
の駆動制御回路において、前記Ｐ型ＦＥＴのゲートにそ
れぞれ出力側が接続される第１、第２、第３のフォトカ
プラと前記他のＰ型ＦＥＴのゲートにそれぞれ出力側が
接続される第４、第５、第６のフォトカプラと、前記第
１、第４のフォトカプラ、前記第２、第５のフォトカプ
ラおよび前記第３、第６のフォトカプラの各入力側ＬＥ
Ｄのアノード側にそれぞれ共通に一端が接続される第
１、第２、第３の抵抗器とを備え、前記第１、第２、第
３のフォトカプラの入力側ＬＥＤのカソードに入力され
る第１、第２、第３のゲート制御信号と前記第４、第
５、第６のフォトカプラの入力側ＬＥＤのカソードに入
力される第４、第５、第６のゲート制御信号とがそれぞ
れ逆極性であることを特徴とするサーボモータの駆動制
御回路。2. A drain of a P-type FET and another P-type FET
3 connected in series with the drains connected in parallel, and a DC voltage is applied across the series so that the source side of the P-type FET is positive, and the connection point of the P-type and other P-type FETs In a drive control circuit of a servo motor for controlling the drive by connecting a servo motor to the first, second, and third photocouplers whose output sides are respectively connected to the gates of the P-type FETs, and the other P-type FETs. Fourth, fifth, and sixth photocouplers whose output sides are respectively connected to gates, the first, fourth photocouplers, the second, fifth photocouplers, and the third, sixth photocouplers Each input side LE
The first, second, and third resistors each having one end commonly connected to the anode side of D are provided, and are input to the cathodes of the input-side LEDs of the first, second, and third photocouplers. The first, second, and third gate control signals and the fourth, fifth, and sixth gate control signals input to the cathodes of the input-side LEDs of the fourth, fifth, and sixth photocouplers, respectively. A drive control circuit for a servo motor, which has a reverse polarity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11447494A JP3367536B2 (en) | 1994-04-28 | 1994-04-28 | Servo motor drive control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11447494A JP3367536B2 (en) | 1994-04-28 | 1994-04-28 | Servo motor drive control circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07303389A true JPH07303389A (en) | 1995-11-14 |
| JP3367536B2 JP3367536B2 (en) | 2003-01-14 |
Family
ID=14638649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11447494A Expired - Fee Related JP3367536B2 (en) | 1994-04-28 | 1994-04-28 | Servo motor drive control circuit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3367536B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002073788A1 (en) * | 2001-03-14 | 2002-09-19 | Akira Hosaka | Magnetic motor |
| CN103368429A (en) * | 2012-04-05 | 2013-10-23 | 控制技术有限公司 | Circuits arranged to produce first and second outputs and method for controlling same |
-
1994
- 1994-04-28 JP JP11447494A patent/JP3367536B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002073788A1 (en) * | 2001-03-14 | 2002-09-19 | Akira Hosaka | Magnetic motor |
| US6956311B2 (en) | 2001-03-14 | 2005-10-18 | Akira Hosaka | Magnetic motor |
| CN103368429A (en) * | 2012-04-05 | 2013-10-23 | 控制技术有限公司 | Circuits arranged to produce first and second outputs and method for controlling same |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3367536B2 (en) | 2003-01-14 |
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| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |