WO2015168716A1 - Bedieneinrichtung und steuersystem - Google Patents
Bedieneinrichtung und steuersystem Download PDFInfo
- Publication number
- WO2015168716A1 WO2015168716A1 PCT/AT2015/050111 AT2015050111W WO2015168716A1 WO 2015168716 A1 WO2015168716 A1 WO 2015168716A1 AT 2015050111 W AT2015050111 W AT 2015050111W WO 2015168716 A1 WO2015168716 A1 WO 2015168716A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control
- operating
- visualization
- data
- evaluation
- Prior art date
Links
- 238000011156 evaluation Methods 0.000 claims abstract description 149
- 238000012545 processing Methods 0.000 claims abstract description 81
- 238000000034 method Methods 0.000 claims abstract description 45
- 238000009434 installation Methods 0.000 claims abstract description 6
- 238000012800 visualization Methods 0.000 claims description 164
- 230000006870 function Effects 0.000 claims description 50
- 230000008569 process Effects 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 claims description 9
- 230000006399 behavior Effects 0.000 claims description 8
- 238000011161 development Methods 0.000 claims description 7
- 230000009849 deactivation Effects 0.000 claims description 4
- 230000011664 signaling Effects 0.000 claims description 4
- 230000003213 activating effect Effects 0.000 claims description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000002123 temporal effect Effects 0.000 claims description 2
- 238000009966 trimming Methods 0.000 claims 1
- 238000012795 verification Methods 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 16
- 238000005516 engineering process Methods 0.000 description 8
- 230000004913 activation Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 6
- 239000000243 solution Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 238000011017 operating method Methods 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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- 230000001934 delay Effects 0.000 description 1
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- 238000009826 distribution Methods 0.000 description 1
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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
- G05B19/409—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 using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- 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
- G05B2219/10—Plc systems
- G05B2219/13—Plc programming
- G05B2219/13031—Use of touch screen
-
- 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
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23044—Transparent overlay with touch sensors, put over display panel, select function
-
- 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
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23377—Touch screen, with representation of buttons, machine on screen
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36168—Touchscreen
Definitions
- the HMI device (control panel or handheld terminal) has a processor and memory that performs software both for displaying information to the user and for detecting inputs by the user and communicating with the controller of a machine via a suitable data interface and exchanges information as well as sends commands to the machine control.
- This software Even complex process diagrams, machine graphics, process data, etc. can be graphically presented and animated on a case-by-case basis.
- the essential parts of this software are usually an operating system (eg Windows or Linux) with integrated support for graphical user interfaces under which then a device-specific basic software for the control panel or the handheld terminal (eg drivers, function libraries) and a machine software. specific application software will be executed.
- machine-specific software components for the operation and visualization can also be executed only on the machine control itself and the communication between the HMI device and the machine control can take place in a generally held format, eg in the manner of an HTTP server in the machine control and a browser on the HMI device.
- the device-specific basic software is developed and provided by the manufacturer of the HMI device.
- the machine-specific application software is usually developed and provided by the manufacturer of the machine or system in which the HMI device is integrated, whereby the machine manufacturer uses software tools and libraries of the HMI device manufacturer to create this machine-specific software, in particular the screen masks ,
- the generation and provision of the control commands for the control device at the output interface takes place uninfluenced by the time of the data processing device of the / a visualization device.
- the time sequence or the speed of the data processing in the data processing device of the value device is independent of the data processing device of the visualization device.
- the data processing in the data processing device of the value device is therefore independent of a processing process running on the data processing device of the visualization device.
- the generation of the control commands in the data processing device of the evaluation unit, its provision or transmission to the control device can thus be done by bypassing the data processing device of the visualization device or the interface for the visualization device.
- the evaluation device evaluates the touch operator actions autonomously and independently of the visualization device, but in addition does not need to take on additional computationally time-consuming tasks, the evaluation of the operating processes is carried out within a defined narrow time frame, i. in real time, possible. Due to the direct forwarding of the control commands to the control device, bypassing the visualization device, preferably by direct connection via a real-time communication bus, the immediate and instantaneous execution of machines or system functions, in particular traversing movements is possible.
- gestures For activating the controls, special gestures, i. in relation to the actual actuation process necessarily additional introductory, accompanying or final movement or contact pattern be provided on the touch sensor, whose execution is checked by the evaluation and so the risk of unwanted operation in the course of accidental or unintentional contact of the controls is reduced. It is also possible to provide functions and gestures which temporarily block the triggering or actuation of all operating elements, for example in order to be able to temporarily clean the entire touch surface without triggering unwanted operating processes.
- a preferred embodiment is characterized in that the touch controller and the evaluation device in addition to the sensor data connection, are transmitted via the sensor raw data to the evaluation, via a communication link, preferably in the manner of an interrupt signal line, interconnected via that the touch controller of the evaluation asynchronously and without delay can signal the presence of a relevant for the evaluation operation.
- the generation and provision of the control commands for the control device at the output interface takes place temporally uninfluenced by the data processing device of the visualization device.
- the data processing in the data processing device of the value device is therefore independent of a processing process running on the data processing device of the visualization device.
- the generation of the control commands in the data processing device of the evaluation unit, its provision or transmission to the control device can thus be carried out bypassing the data processing device of the visualization device.
- the output interface of the evaluation device is connected to the control device via a real-time capable data bus (eg SERCOS, Profinet, EtherCAT, Varan, PowerLink, EtherNet / IP or other Real Time Ethernet connections).
- a real-time capable data bus eg SERCOS, Profinet, EtherCAT, Varan, PowerLink, EtherNet / IP or other Real Time Ethernet connections.
- the object is also achieved by methods for controlling a machine or plant by means of an operating device and / or by means of a control system according to one of the embodiments described above, wherein the visualization device provides image data for the display of the touch screen so that controls are visualized on the display and wherein the Real-time data processing device of the value device as a function of the sensor data of the touch sensor of the touch screen generates control commands and transmitted to the control device.
- the generation and transmission of the control commands takes place temporally uninfluenced by the data processing of the visualization device.
- the time sequence or the speed of the data processing in the data processing device of the evaluation device is independent of the data processing device of the visualization device.
- a preferred embodiment is characterized in that the configuration data relating to an operating element, which are transmitted from the visualization device and / or control device to the evaluation device, are / are provided within the evaluation device with a time-limited validity, and that the corresponding operating element is deactivated after the expiration of validity, so that operation of the machine or system is disabled via this control.
- the parameterization of the virtual control elements and / or their activation status (ie release for issuing control commands) transmitted by the visualization device to the evaluation device can be provided with a time-limited validity within the evaluation device.
- FIG. 1 control system of a machine or system
- 2 shows an operating device according to the prior art
- Fig. 3 A control system according to the prior art
- 4 shows an operating device according to the invention
- first input / output area In the upper first input / output area are input / output elements, conventional touch controls 7a, shown, which are provided for displaying and changing machine parameters and process states.
- middle part or the second input / output area An overview picture of the controlled machine or system is shown. It can be used to both represent certain machine states (i.e., the map may be changed depending on the machine state and display the machine state), as well as for the simple, intuitive selection of a machine component for the presentation and modification of detailed data in the first input / output area.
- some control elements 7b for triggering control commands (machine commands) for immediate execution by the machine or system are shown by way of example. These are virtual controls in the form of bistable inputs and switches, monostable buttons and sliders and turntable, with which, for example, positions or speeds are quasi analog predeterminable.
- the nature of the respective operating elements 7b, ie the virtual control elements, their position on the screen, their orientation (orientation) and their initial operating state can but also parameterizable, in particular by the visualization device 10 via the data connection 17 can be specified.
- Such a parameterization of the evaluation device 13 can take place once during the initialization phase of the operating device 2 but also several times during ongoing operation, for example, to adapt the type and number of operating elements 7b to different operating and operating situations.
- the touch controller 21 and the evaluation device 13 can, in addition to the sensor data connection 18, are transmitted via the raw sensor data to the value-value device 13 via a communication connection 23, preferably in the manner of an interrupt signal line. Via this communication connection, the touch controller 21 of the value-value device 13 can signal in advance asynchronously and without delay the presence of an operating process relevant for the evaluation.
- the operating device 2 may be a structurally independent operating device 24, in particular in the form of an HMI (human-machine-interface) panel, a handheld terminal, a handheld programmer, a TPU (teach pendant unit) and the like ..
- HMI human-machine-interface
- TPU terminal unit
- the operating elements 7a and 7b shown in FIGS. 4 to 7 represent virtual input elements which are visually variable via the display 6 and represent the use of structurally independent and additional mechanical operating elements for delivering real-time machine commands and movement commands necessary.
- the elimination of additional mechanical input elements results in significant simplifications in terms of production engineering, for example in terms of sealing against the ingress of dirt and liquids.
- FIG. 7 also shows a variant in which the touch controller 21 (from FIGS. 5 and 6), which converts the signals of the touch sensor 8 into a corresponding data stream, is already structurally integrated into the evaluation device 13 or the value device 13 already takes over the function of the touch controller 21 with.
- the evaluation device 13 additional and direct sensor information for the evaluation are available, which allow a more reliable and faster response.
- the direct integration can enable a faster acquisition and reaction to the inputs.
- changes to the operating states of the operating elements 7b can also be fed directly to the visualization device 10 via the data connection 17 between the evaluation device 13 and the visualization device 10 and used there to adapt the display output.
- a non-volatile memory 15 may be provided, in which a program code and data are stored, which should be available again after the power supply is switched off again. This may be read only memory (ROM), but it may also be nonvolatile writable memory (NVRAM - Non Volatile RAM).
- the non-volatile memory 15 may also contain only a simple bootloader program which, after the supply voltage has been switched on, makes it possible to load the actual program code of the evaluation device 13 together with data via the data connection 17 by the visualization device 10.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- User Interface Of Digital Computer (AREA)
- Position Input By Displaying (AREA)
- Numerical Control (AREA)
- Testing And Monitoring For Control Systems (AREA)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016567238A JP6629759B2 (ja) | 2014-05-09 | 2015-05-05 | 操作装置及び制御システム |
| CN201580024225.3A CN106457564B (zh) | 2014-05-09 | 2015-05-05 | 操纵装置和控制系统 |
| EP15728382.1A EP3140083A1 (de) | 2014-05-09 | 2015-05-05 | Bedieneinrichtung und steuersystem |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ATA50325/2014 | 2014-05-09 | ||
| ATA50325/2014A AT515719A1 (de) | 2014-05-09 | 2014-05-09 | Bedieneinrichtung und Steuersystem |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2015168716A1 true WO2015168716A1 (de) | 2015-11-12 |
Family
ID=53385407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/AT2015/050111 WO2015168716A1 (de) | 2014-05-09 | 2015-05-05 | Bedieneinrichtung und steuersystem |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP3140083A1 (zh) |
| JP (1) | JP6629759B2 (zh) |
| CN (1) | CN106457564B (zh) |
| AT (1) | AT515719A1 (zh) |
| WO (1) | WO2015168716A1 (zh) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997425A (zh) * | 2016-11-29 | 2019-07-09 | 株式会社富士 | 安装装置 |
| EP3543402A1 (de) * | 2018-03-19 | 2019-09-25 | Joseph Vögele AG | Baumaschine zum erstellen oder bearbeiten einer strasse |
| CN115157201A (zh) * | 2022-07-02 | 2022-10-11 | 歌尔股份有限公司 | 一种用于放置固化保压工装的定时货架 |
| EP4296810A1 (de) * | 2022-06-21 | 2023-12-27 | WEILER Werkzeugmaschinen GmbH | Werkzeugmaschine mit einem sicherheitsgeschützten betriebszustand |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016004630A1 (de) * | 2016-04-16 | 2017-10-19 | J.G. WEISSER SöHNE GMBH & CO. KG | Werkzeugmaschine sowie Verwendung eines berührempfindlichen Displays zur Ansteuerung eines Maschinenteils einer Werkzeugmaschine |
| DE102017108547A1 (de) * | 2017-04-21 | 2018-10-25 | Sig Technology Ag | Bereitstellen einer Benutzeroberfläche zum Überwachen und/oder Steuern einer Verpackungsanlage |
| DE102017210947B4 (de) * | 2017-06-28 | 2019-08-01 | Kuka Deutschland Gmbh | Feedback Robotermechanik |
| CN107479486A (zh) * | 2017-09-12 | 2017-12-15 | 昆山思柯马自动化设备有限公司 | 基于流水线、成型机和robot的智能控制方法 |
| JP7188407B2 (ja) * | 2020-03-25 | 2022-12-13 | ブラザー工業株式会社 | 工作機械と工作機械の制御方法 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009017030A1 (de) | 2009-08-06 | 2011-02-10 | Bachmann Gmbh | Schnelles Mensch-Maschinen-Interface |
| EP2386387A1 (en) * | 2009-07-06 | 2011-11-16 | Hunan Sany Intelligent Control Equipment Co., Ltd | Engineering vehicle arm support controller control system engineering vehicle and control method |
| WO2012155167A2 (de) * | 2011-05-16 | 2012-11-22 | Keba Ag | Verfahren zur manuell gesteuerten beeinflussung von bewegungen einer maschine oder anlage sowie entsprechende maschinensteuerung |
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| US5465215A (en) * | 1994-07-07 | 1995-11-07 | Cincinnati Milacron Inc. | Numerical control method and apparatus |
| US6275741B1 (en) * | 1998-10-05 | 2001-08-14 | Husky Injection Molding Systems Ltd. | Integrated control platform for injection molding system |
| US6684264B1 (en) * | 2000-06-16 | 2004-01-27 | Husky Injection Molding Systems, Ltd. | Method of simplifying machine operation |
| JP2007536634A (ja) * | 2004-05-04 | 2007-12-13 | フィッシャー−ローズマウント・システムズ・インコーポレーテッド | プロセス制御システムのためのサービス指向型アーキテクチャ |
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| US7792602B2 (en) * | 2006-08-22 | 2010-09-07 | Precision Automation, Inc. | Material processing system and a material processing method including a saw station and an interface with touch screen |
| JP2008296310A (ja) * | 2007-05-30 | 2008-12-11 | Fanuc Ltd | 加工ロボットの制御装置 |
| EP2124117B1 (de) * | 2008-05-21 | 2012-05-02 | Siemens Aktiengesellschaft | Bedieneinrichtung zur Bedienung einer Werkzeugmaschine |
| CN102282561B (zh) * | 2009-01-15 | 2014-11-12 | 三菱电机株式会社 | 冲突判定装置以及冲突判定方法 |
| JP5482023B2 (ja) * | 2009-08-27 | 2014-04-23 | ソニー株式会社 | 情報処理装置、情報処理方法、及びプログラム |
| JP2012226432A (ja) * | 2011-04-15 | 2012-11-15 | E & E Planning:Kk | 携帯端末、及び省エネルギー診断システム |
| JP5613113B2 (ja) * | 2011-06-29 | 2014-10-22 | 株式会社日立製作所 | プラント監視制御装置 |
| AT12208U3 (de) * | 2011-09-06 | 2013-07-15 | Keba Ag | Verfahren, steuerungssystem und bewegungsvorgabemittel zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters |
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| JP5901962B2 (ja) * | 2011-12-26 | 2016-04-13 | 株式会社日立システムズ | コマンド処理システム及び方法 |
| JP5779556B2 (ja) * | 2012-07-27 | 2015-09-16 | 株式会社日立製作所 | 監視制御装置、監視制御方法及び監視制御システム |
| US10081109B2 (en) * | 2012-09-06 | 2018-09-25 | Fanuc America Corporation | Haptic teach pendant |
-
2014
- 2014-05-09 AT ATA50325/2014A patent/AT515719A1/de not_active Application Discontinuation
-
2015
- 2015-05-05 JP JP2016567238A patent/JP6629759B2/ja active Active
- 2015-05-05 CN CN201580024225.3A patent/CN106457564B/zh active Active
- 2015-05-05 EP EP15728382.1A patent/EP3140083A1/de not_active Withdrawn
- 2015-05-05 WO PCT/AT2015/050111 patent/WO2015168716A1/de active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2386387A1 (en) * | 2009-07-06 | 2011-11-16 | Hunan Sany Intelligent Control Equipment Co., Ltd | Engineering vehicle arm support controller control system engineering vehicle and control method |
| DE102009017030A1 (de) | 2009-08-06 | 2011-02-10 | Bachmann Gmbh | Schnelles Mensch-Maschinen-Interface |
| WO2012155167A2 (de) * | 2011-05-16 | 2012-11-22 | Keba Ag | Verfahren zur manuell gesteuerten beeinflussung von bewegungen einer maschine oder anlage sowie entsprechende maschinensteuerung |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997425A (zh) * | 2016-11-29 | 2019-07-09 | 株式会社富士 | 安装装置 |
| EP3550948A4 (en) * | 2016-11-29 | 2019-10-09 | Fuji Corporation | MOUNTING APPARATUS |
| US11079994B2 (en) | 2016-11-29 | 2021-08-03 | Fuji Corporation | Mounting apparatus |
| EP3543402A1 (de) * | 2018-03-19 | 2019-09-25 | Joseph Vögele AG | Baumaschine zum erstellen oder bearbeiten einer strasse |
| US11345235B2 (en) | 2018-03-19 | 2022-05-31 | Joseph Voegele Ag | Construction machine with operating parameter sensor |
| EP4296810A1 (de) * | 2022-06-21 | 2023-12-27 | WEILER Werkzeugmaschinen GmbH | Werkzeugmaschine mit einem sicherheitsgeschützten betriebszustand |
| CN115157201A (zh) * | 2022-07-02 | 2022-10-11 | 歌尔股份有限公司 | 一种用于放置固化保压工装的定时货架 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106457564B (zh) | 2019-12-24 |
| JP6629759B2 (ja) | 2020-01-15 |
| CN106457564A (zh) | 2017-02-22 |
| AT515719A1 (de) | 2015-11-15 |
| JP2017525000A (ja) | 2017-08-31 |
| EP3140083A1 (de) | 2017-03-15 |
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