WO2005114345A1 - Systeme de reglage et commande pour une presse d'injection - Google Patents

Systeme de reglage et commande pour une presse d'injection Download PDF

Info

Publication number
WO2005114345A1
WO2005114345A1 PCT/EP2005/052154 EP2005052154W WO2005114345A1 WO 2005114345 A1 WO2005114345 A1 WO 2005114345A1 EP 2005052154 W EP2005052154 W EP 2005052154W WO 2005114345 A1 WO2005114345 A1 WO 2005114345A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
actuator
machine control
regulation system
machine
Prior art date
Application number
PCT/EP2005/052154
Other languages
German (de)
English (en)
Inventor
Karsten Müller
Original Assignee
Bosch Rexroth Ag
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 Bosch Rexroth Ag filed Critical Bosch Rexroth Ag
Publication of WO2005114345A1 publication Critical patent/WO2005114345A1/fr

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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76494—Controlled parameter
    • B29C2945/76531—Temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76494—Controlled parameter
    • B29C2945/76648—Sequence, e.g. the order in which operations are conducted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76929—Controlling method
    • B29C2945/76993—Remote, e.g. LAN, wireless LAN
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34273—Pc and plc and nc integrated, pcnc concept
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34287—Plc and motion controller combined
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45244—Injection molding
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a machine control and regulation system according to the preamble of claim 1 and in particular to an actuator according to the preamble of claim 8, which is provided for the machine control and regulation system and has the functionality of a machine control (PLC).
  • PLC machine control
  • the present invention is described below with reference to a machine control and regulation system for an injection molding machine.
  • a conventional machine control and regulating system for an injection molding machine as shown in Figs. 3 and 4 of the present invention includes various devices. These devices have, for example, the functionality of an injection molding machine controller 1 ', 1''(hereinafter referred to as PLC), of axis controllers 2', 2 '', an axis 3A, 3B, analog and digital I / O inputs and outputs 4, 4 ' , Temperature controllers 5, heaters 6 or a human-machine interface (hereinafter referred to as HMI) 7. As shown in FIG.
  • high-speed BMI buses for example CAN bus or Profibus-DP
  • CAN bus or Profibus-DP connect the individual devices and enable the construction of a modular machine control and regulation system.
  • a PLC 1 'of a machine control and regulation system provided with the functions of the sequence control and the coordination of the movement sequences also contains the required axis controllers 2'.
  • Figure 4 of US 6 275 741 B1 discloses such a machine control and regulation system in which existing axes are controlled by means of a central control.
  • the second concept is a "decentralized concept", which is disclosed in US Pat. No. 6,289,259 B1. As shown in FIG. 4 of the present invention, the required axis controllers 2 ′′ in the decentralized concept are each arranged on corresponding axes 3A, 3B and are not contained in a PLC 1 ′′. US Pat. No.
  • 6,289,259 B1 shows, for example, a machine control and Control system in which the axis controllers are arranged on a hydraulic block, however, this machine control and regulation system still has a spatially separate PLC (referred to in the publication as System Control Processor) which is provided with the functions of sequence control and the coordination of the movement sequences
  • System Control Processor referred to in the publication as System Control Processor
  • the axis controller 2 ' in the decentralized concept are consequently implemented in separate electronics on the respective axis 3A, 3B.
  • such electronics have the functionality of the control devices for servomotors.
  • controllers are arranged in separate electronics directly on the respective axis (see DE 100 12 409 A1).
  • both the machine control and regulation systems described above and the components mentioned are constructed in such a way that a device separate from the axes with the functionality of a PLC is required to control and / or regulate the machine control and regulation system.
  • the costs associated with the hardware of this PLC adversely affect the cost-effective implementation of the injection molding machine.
  • the present invention is accordingly based on the object of developing a machine control and regulation system in accordance with the preamble of claim 1 in such a way that the costs associated with separate PLC hardware can be saved.
  • the present invention is intended to further develop an actuator according to the preamble of claim 8 in such a way that it can be used in the machine control and regulating system for the purpose of the invention.
  • the core idea of the present invention is therefore to implement a machine control and regulation system for an injection molding machine, in which the functions of the sequence control and the coordination of the movement sequences for this machine control and regulation system are provided via a decentralized actuator hardware (hereinafter referred to as axis control hardware) of the actuator mentioned are.
  • axis control hardware decentralized actuator hardware
  • the above core idea is realized according to the invention in that the functions of the sequence control and the coordination of the movement sequences for the machine control and regulation system are provided in the form of additional control software via the decentralized axis control hardware (digital electronics) of an actuator which is already present in the machine. that the machine control and regulation system no longer requires spatially separate PLC hardware.
  • the axis control hardware of the actuator thus has, in addition to existing axis control functions for the corresponding axis, the functionality of a PLC. According to the invention, the above measures result in significant cost savings with regard to the required achieved hardware for a machine control and regulation system.
  • a further advantage of the present invention lies in one of the subclaims in that the transit times of important information (e.g. the target values) with respect to an axis can be minimized.
  • the axis control hardware in which the functions of the sequence control and the coordination of the movement sequences for the injection molding machine are additionally integrated, is arranged on the axis with the highest real-time requirements.
  • the information relevant to this axis is thus generated on the axis on which it is also processed.
  • FIG. 1 shows a block diagram of a machine control and regulation system according to the invention for an injection molding machine according to a first exemplary embodiment of the present invention
  • FIG. 2 shows a block diagram of a machine control and regulation system according to the invention for a plurality of injection molding machines according to a second exemplary embodiment of the present invention
  • 3 shows a block diagram of a machine control and regulation system according to the prior art, which is constructed according to a central concept for injection molding machine control;
  • Fig. 4 is a block diagram of a machine control and regulation system according to the prior art, which is constructed according to a decentralized concept for injection molding machine control.
  • FIG. 1 shows a block diagram of a machine control and regulation system for an injection molding machine according to a first exemplary embodiment of the present invention.
  • a machine control and regulating system has a bus system BMI, which connects a plurality of bus users to one another.
  • Bus participants are: an actuator arranged on an axis 3A, which has at least one axis controller 2 with decentralized axis control hardware, at least one further possible axis 3B, a device 4 which contains other I / O (analog and digital I / O inputs and outputs) ), a temperature controller 5, which is connected to at least one heater 6, and an HMI (Human-Machine Interface) 7.
  • I / O analog and digital I / O inputs and outputs
  • HMI Human-Machine Interface
  • the functions of the sequence control and the coordination of the movement sequences for the machine control and regulation system are provided via the axis control hardware of the actuator in the form of additional control software. That is, the functions of the injection molding machine control system 1 (hereinafter referred to as PLC 1) are integrated into digital electronics of an actuator already present in the machine.
  • Machine control and regulation systems which can have such axis control hardware, are, for example, a control pump with integrated digital electronics Control valve with integrated digital electronics or a motor controller for machines with electronic actuators.
  • the functions of the PLC 1 are provided via its axis control hardware in the form of additional control software.
  • a machine control and regulation system with several actuators e.g. a multi-pump system
  • such functions are integrated via the axis control hardware of the actuator, which has a master functionality. It is possible for several actuators to have axis control hardware.
  • the functions of the sequence control and the coordination of the motion sequences for the machine control and regulation system are integrated via the axis control hardware of the actuator, which is arranged on an axis with the highest "real-time requirements (usually the injection axis, which also has the highest quality valve) minimizes the running times of important information (for example, the setpoints) with regard to the system arranged on the corresponding axis, since the information relevant to this axis is generated where it is processed.
  • the bus subscribers serving the machine control and regulation system each have individual functionalities.
  • axis control these are, for example, a replacing speed-pressure control (for example based on the minimum value principle) for all axes, the pressure control including force control.
  • the axis controller receives two setpoints (v, p) at any time.
  • An additional axis positioning is possible as a further regulation (e.g. a path-dependent total braking (WAB) possible with a clamping unit).
  • WAB path-dependent total braking
  • the PLC 1 processes both digital input values DI (from buttons and switches, for example) and analog input values AI (eg, distances and pressures), determines a status (k + 1) from a status (k) and the input values and gives both digital Output values DI (switching signals) and analog output values AI (setpoints v, F) in accordance with the determined state.
  • the temperature controller 5 can be used for cylinder heating, tool temperature control and temperature control of hot runner tools.
  • the HMI 7 can be used, for example, to enter setpoints, display the process status, the actual and setpoint trends as well as error messages, save data and communicate with a higher-level control system. Furthermore, quality and technology programs can optionally be carried out with regard to the system.
  • the PLC 1 with the functions of the sequence control and the coordination of the movement sequences which according to the prior art is provided as a single device of the system with its own hardware (see FIG. 4), is completely saved in the present invention with regard to these hardware components.
  • the associated reduction in costs is a major advantage when implementing such a machine control and regulation system.
  • FIG. 2 of the present invention shows a block diagram of a machine control and regulation system for a plurality of injection molding machines according to a second embodiment of the present invention.
  • the machine control and regulation system used here corresponds to the machine control and regulation system of the first exemplary embodiment except for the differences described below. consequently For reasons of redundancy, explanations and relationships relating to individual components of the machine control and regulation system, which are evident from the above description, are omitted and only supplementary essential features are emphasized.
  • the tasks independent of the operator as described above are taken over by a higher-level computer 8, which is constructed in such a way that it can record the data of the systems connected to it. This enables him to monitor quality and productivity, to save the relevant data and to send emergency signals if necessary.
  • the computer 8 is connected via a bus system BMI of the injection molding machine or via another bus system L to the actuator, which has the functions of the PLC 1.
  • the other bus system L is e.g. a local area network (LAN) to which at least one further injection molding machine (SN) is connected in this exemplary embodiment.
  • LAN local area network
  • SN further injection molding machine
  • the second embodiment makes it possible to save the costs for n-1 HMI 7 when using n injection molding machines. This causes, in addition to the above-mentioned reduction in PLC hardware costs, a further reduction in costs the implementation of a machine control and regulation system according to the invention can be achieved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)

Abstract

L'invention concerne un système de réglage et commande de machine, dans lequel une pluralité d'abonnés du bus, servant à la commande et/ou au réglage du système, sont reliés les uns aux autres par l'intermédiaire d'au moins un système de bus (BM1). Au moins un des abonnés est un organe de réglage pourvu d'un équipement indépendant de l'ordinateur central. Les fonctions de commande de séquences et la coordination des séquences de mouvement du système de réglage et commande de machine sont intégrées sous la forme d'un logiciel de commande supplémentaire par biais de l'équipement indépendant de l'organe de réglage, de sorte que ce système de réglage et commande de machine ne nécessite plus aucun équipement API spatialement séparé.
PCT/EP2005/052154 2004-05-19 2005-05-12 Systeme de reglage et commande pour une presse d'injection WO2005114345A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004024907A DE102004024907A1 (de) 2004-05-19 2004-05-19 Maschinensteuerungs- und Regelungssystem für eine Spritzgießmaschine
DE102004024907.5 2004-05-19

Publications (1)

Publication Number Publication Date
WO2005114345A1 true WO2005114345A1 (fr) 2005-12-01

Family

ID=34969156

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/052154 WO2005114345A1 (fr) 2004-05-19 2005-05-12 Systeme de reglage et commande pour une presse d'injection

Country Status (2)

Country Link
DE (1) DE102004024907A1 (fr)
WO (1) WO2005114345A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110098206A1 (en) * 2009-10-22 2011-04-28 S. C. Johnson & Son, Inc. Low voc hard surface treating composition providing anti-fogging and cleaning benefits

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008016869A1 (de) * 2008-04-02 2009-10-15 Sumitomo (Shi) Demag Plastics Machinery Gmbh Maschinenanordnung mit einer Mehrzahl von Produktionsmaschinen, insbesondere von Kunststoff-Spritzgießmaschinen

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0643472B1 (fr) * 1993-09-11 1998-04-22 ProControl AG Servo-contrÔle
US6738388B1 (en) * 1998-09-10 2004-05-18 Fisher-Rosemount Systems, Inc. Shadow function block interface for use in a process control network
US6275741B1 (en) * 1998-10-05 2001-08-14 Husky Injection Molding Systems Ltd. Integrated control platform for injection molding system
US6289259B1 (en) * 1998-10-16 2001-09-11 Husky Injection Molding Systems Ltd. Intelligent hydraulic manifold used in an injection molding machine
DE10012409A1 (de) * 2000-03-15 2001-09-20 Mannesmann Rexroth Ag Einrichtung zur Steuerung eines hydraulischen Aktuators
DE10012405A1 (de) * 2000-03-15 2001-09-20 Mannesmann Rexroth Ag Einrichtung zur Steuerung eines hydraulischen Aktuators
AT5824U1 (de) * 2001-10-18 2002-12-27 Engel Gmbh Maschbau Handlinggerät

Non-Patent Citations (6)

* Cited by examiner, † Cited by third party
Title
"CNC STEUERT UND REGELT DIGITAL", WERKSTATT UND BETRIEB, HANSER, MUNCHEN, DE, vol. 129, no. 4, 1 April 1996 (1996-04-01), pages 251, XP000595334, ISSN: 0043-2792 *
"NEUE HOCHLEISTUNGS-CNC", ZWF ZEITSCHRIFT FUR WIRTSCHAFTLICHE FERTIGUNG UND AUTOMATISIERUNG, CARL HANSER VERLAG. MUNCHEN, DE, vol. 91, no. 6, 1 June 1996 (1996-06-01), pages 258, XP000587782, ISSN: 0947-0085 *
BERENDS P ET AL: "GEAR WHEEL PRODUCTION USING STADARD CONTROLS", ENGINEERING AND AUTOMATION, SIEMENS AKTIENGESELLSCHAFT, BERLIN, DE, vol. 16, no. 6, 1 November 1994 (1994-11-01), pages 11 - 13, XP000506345, ISSN: 0939-2068 *
FELDMANN K ET AL: "Decentralization of control tasks using intelligent field devices illustrated by the example of an NC-axis controller based on PROFIBUS-FMS", FIELDCOMMS EUROPE. THE INDUSTRIAL NETWORKING SHOW AND CONFERENCE GGH MARKETING COMMUN TITCHFIELD, UK, 1996, pages 119 - 124, XP009052281 *
KIWITT W: "FREI FUER ANDERES", ELEKTROTECHNIK, VOGEL VERLAG K.G. WURZBURG, DE, vol. 74, no. 3, 24 March 1992 (1992-03-24), pages 14,17 - 18,21, XP000291318, ISSN: 1431-9578 *
STREBEL U: "OFFENE STEUERUNG MIT NEUER BEDIENPHILOSPHIE", TECHNISCHE RUNDSCHAU, HALLWAG, BERN, CH, vol. 85, no. 43, 29 October 1993 (1993-10-29), pages 48 - 51, XP000403618, ISSN: 0040-148X *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110098206A1 (en) * 2009-10-22 2011-04-28 S. C. Johnson & Son, Inc. Low voc hard surface treating composition providing anti-fogging and cleaning benefits
US8476214B2 (en) * 2009-10-22 2013-07-02 S.C. Johnson & Son, Inc. Low voc hard surface treating composition providing anti-fogging and cleaning benefits

Also Published As

Publication number Publication date
DE102004024907A1 (de) 2005-12-15

Similar Documents

Publication Publication Date Title
EP1119434B1 (fr) Dispositif regulateur pour appareil a souder
EP2012201B1 (fr) Procédé destiné à la programmation d'une commande de sécurité
EP2486460B1 (fr) Procédé pour commander et faire fonctionner une cellule de production et un dispositif de commande
EP0524344A1 (fr) Commande de machine-outil configurable
DE102013100465A1 (de) Mikroprozessor-gesteuerte Steuerungseinrichtung für eine Spritzgiessanlage
DE102004041469B4 (de) CNC-Fertigungsanordnung mit zentraler Datenbank
DE19911824C2 (de) Schaltschranküberwachungsanlage
EP2997427A1 (fr) Système de commande et procédé de commutation de modules d'entrée/sortie d'un système de commande
EP2422248B1 (fr) Système et procédé de répartition de données de projets d'un controlleur de sécurité d'une installation automatisée aux composants de commande
WO2005111745A2 (fr) Support de donnees sur lequel est stocke un fichier de commande pour un dispositif de commande d'une machine, ainsi que procedes et dispositifs associes
WO2005114345A1 (fr) Systeme de reglage et commande pour une presse d'injection
EP1136264B1 (fr) Dispositif et procédé pour commander des zones d'encrage
EP1183577B1 (fr) Procede de production d'un bloc de controle, et bloc de controle y relatif
EP2048555A1 (fr) Dispositif de sortie analogique avec detection d'erreurs
EP1892594B1 (fr) Dispositif et procédé de commande d'une presse
EP3969970A1 (fr) Procédé de représentation et de commande de moyens de production, en particulier pour l'industrie de transformation des plastiques
DE102020000714A1 (de) System
EP1400882A2 (fr) Dispositif d'automatisation et/ou de commande de machines-outils ou de machines de production
DE10297678T5 (de) Integriertes System zum Steuern von Achsen einer industriellen Maschine
EP2687930B1 (fr) Unité d'automatisation destinée à la commande d'un appareil ou d'une installation
WO2005116784A1 (fr) Procede assiste par ordinateur pour determiner des valeurs theoriques de position supplementaires d'un element supplementaire qui peut se deplacer en etant guide en ce qui concerne sa position, et fait partie d'une machine, notamment d'une machine de production
DE102012025228A1 (de) Steuerungsübergreifende Energieverwaltung in einer Anlage
DE10344070B4 (de) Antriebsmodul für eine Druckmaschine
EP0881551B2 (fr) Dispositif d'alimentation des moteurs d'un robot
EP1620767B1 (fr) Procede pour moderniser une installation technique et element d'entrainement adapte a cet effet

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase