EP0934826A1 - Method of starting a printing machine with a plurality of functions and device for technically controlling - Google Patents
Method of starting a printing machine with a plurality of functions and device for technically controlling Download PDFInfo
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- EP0934826A1 EP0934826A1 EP99100863A EP99100863A EP0934826A1 EP 0934826 A1 EP0934826 A1 EP 0934826A1 EP 99100863 A EP99100863 A EP 99100863A EP 99100863 A EP99100863 A EP 99100863A EP 0934826 A1 EP0934826 A1 EP 0934826A1
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- European Patent Office
- Prior art keywords
- control
- parameters
- drive motor
- printing
- speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F13/00—Common details of rotary presses or machines
- B41F13/004—Electric or hydraulic features of drives
- B41F13/0045—Electric driving devices
Definitions
- the invention relates to a method for operating a printing press with a Most interacting in the functional and / or coupling network
- Printing machine parts that are moved by one or more drive motors, being used for coupling, coordination and / or synchronization of the movements one or more, commonly assigned to the printing press parts
- Guiding parameters position, speed and / or acceleration setpoints for the or a drive motor can be generated, whereupon the drive motor or motors to move the press part (s) in order to execute a or several printing functions can be controlled.
- the Invention a control or suitable for performing this method control arrangement, which has a computer-controlled drive system, which to control the multiple drive motors, one control unit each has at least one master control superordinate to this, which controls the Control units for the transmission of the control parameters is assigned.
- Printing press operating procedures and control engineering arrangements of this type are, for example, from the German Zeitschiff German printer "No. 18/8 May 1997, w30, w32, w34. Furthermore, in DE 195 27 199 A1 it is proposed in a flexographic printing machine that a guiding axis is imaged or generated in the control system, from the angular position setpoints and / or Angular position offset values for the anilox roller and / or the format cylinder of the inking units and / or for the counterpressure and / or central cylinders are derived. The electric motors assigned to these are to be controlled according to the setpoint or offset values.
- the leading axis depends on to map the output signals of the angular position sensor assigned to the central and / or impression cylinder and to influence only the inking units or any other impression cylinders with nominal position or offset values within the scope of the circumferential register adjustment as an electric motor - Generate back pressure or central cylinder t or is synthesized, and the angular position, setpoint and offset values of one, more or all of the rotation components derived from this master axis are impressed in parallel by an electric motor.
- the invention has for its object an operation and methodology for a To create printing press, which also has auxiliary functions previously provided by separately provided auxiliary drives were realized, are carried out by main drives can.
- the mode of operation should be structured in a clear and modular manner Software and can be carried out with a minimum of structural effort.
- the solution is for an operating method with the features mentioned at the beginning proposed according to the invention that to carry out the one or more printing functions or auxiliary functions for at least one of them responsible drive motor using a part of the setpoints or several travel parameters that the relevant printing (auxiliary) Functions correspond, are generated, and all from the control and Setpoint values obtained from each other to control the Drive motor are superimposed.
- the traversing parameters are superimposed in in relation to the guiding parameters and also with each other.
- the guide parameters expediently relate to the speed and / or acceleration, which is generally specified for the printing press or for its functional association with the relevant printing press parts.
- the guiding parameters can be a specification for a so-called virtual leading axis "or be implemented in this virtual master axis "forms the reference for the synchronization of a plurality of drive motors with printing machine parts moving therefrom, in particular rotating bodies such as rollers or cylinders.
- traversing block parameters are Speed and / or acceleration, the default being related to the Guiding parameters with absolute and / or relative register values.
- traversing block parameters are Speed and / or acceleration, the default being related to the Guiding parameters with absolute and / or relative register values.
- the travel parameters can be used, in particular, to set printing registers such as color / circumference and / or Cutting register of the printing press, a function and / or Coupling association thereof or the relevant press part for itself taken used. With you can also for register-correct coupling, Coordination and / or synchronization of the movements of the affected Drive motor are taken care of.
- sets of travel parameters can be used to implement additional changes in the angle of the respective drive motor in addition to machine parts coupled to it for rotation.
- the printing press or a functional association thereof according to the principle of individual drive technology known per se (cf. DE 41 38 479 A1, DE 43 22 744 A1, DE 195 27 199 A1, DE 195 29 430 A1, DE 196 33 745 A1, today's European Patent application Electrical drive system with distributed virtual master axis "from the same applicant under the attorney's file number B005 / 018 E EP), the additional angle changes of the respective individual drive compared to the so-called virtual master axis ", because this is where all setpoint and actual position values are related.
- a positive position setpoint causes an adjustment in the direction of the print Paper.
- a separate set of travel parameters can be used for the function of the Circumferential register, another separate set of travel parameters for the function of the cutting register. The following have for each traversing block Drive-specific parameters proven to be favorable: control word, mode, status, Travel offset, absolute travel, relative travel, absolute actual travel, target speed, Speed factor, minimum resulting speed, target acceleration.
- Setpoint generator which is a control module for the control parameters, a or several traversing block modules with the traversing parameters provided and has an overlay element connected downstream of these modules, whose output is assigned to the control unit, the modules mentioned for Implementation of their respective parameters in position, speed and / or Acceleration setpoints and for feeding them into the overlay element are trained.
- the one from the Superimposed result values contain compressed all information for setpoints to be entered in the downstream drive control units.
- the application flexibility is increased if after training the arrangement according to the invention the overlay member and the control unit Multiplier is interposed, which has multiple inputs, namely for the intermediate setpoint value or values output from the superimposition element and for one or more factors, for example one for a transmission over or Reduction certain gear factor.
- main and auxiliary functions of the printing press change dynamically or trigger auxiliary functions first. That will be with one Training of the arrangement according to the invention taken into account at least one of the traversing block modules on the input side with one or more externally accessible parameterization channels is provided. This can be done with the Master control or one or more control stands in connection.
- the control arrangement can be subdivided into a module level M, a processing level P and a controller level R.
- the levels are structured hierarchically in the order mentioned from top to bottom.
- a control module for recording parameters for printing press speed and printing press acceleration as well as a plurality of travel set modules V1-V5 for receiving travel parameters relating to absolute and / or relative position, speed and / or acceleration are arranged in module level M. All modules convert the recorded control and travel parameters into cyclically generated setpoints Y L , Y 1 -Y 5 for the position, speed and acceleration.
- the parameters Press speed "and Printing machine acceleration" represent specifications for a so-called virtual master axis, for which corresponding position, speed and acceleration setpoints are then generated in the setpoint generator or master value module.
- the three cyclical setpoints Y L , Y 1 -Y 5 per module L, V1 - V5 are fed to an overlay element ⁇ in processing level P, for example in the form of a summing point.
- a cyclic setpoint Y L , Y 1 -Y 5 from the modules L, V1 - V5 is superimposed with the result that an intermediate setpoint is output for the position, speed and / or acceleration of the relevant drive motor with driven machine part (s) becomes.
- These three intermediate setpoints Z L , Z G , Z B are also processed together, namely in a multiplier X. In addition to the three intermediate setpoint inputs Z L , Z G , Z B, this has a further input for an external factor F.
- the level of the setpoint generator S is left when the final setpoints E L , E G , E B are generated, and the individual setpoint / actual value comparators D L , D G , D B are supplied on the drive controller level R. At the same time, these comparators are given an actual value for the position, speed and acceleration, each with a negative sign.
- the control difference, which results from the position / actual value comparison D L is fed to a position controller with P behavior, which, in combination with a dimension factor, outputs a speed setpoint which, in addition to the final speed setpoint E G, the setpoint / actual value comparator D G is fed for speed.
- the actual value for the speed of the relevant drive motor or the driven machine part is entered with a negative sign.
- the setpoint / actual value comparator D G for the speed is followed by a speed controller with PI behavior, which also contains a dimension factor for converting the speed control difference into an acceleration.
- the acceleration resulting from the speed controller is overlaid with the final setpoint E B for acceleration from the setpoint generator S in the connected comparator D B. With this acceleration comparator, an actual value is not supplied.
- a transmission element with the mathematical relationship 1 / Ks is connected downstream of the acceleration comparator or superimposer D B. It outputs a current setpoint (generated from the acceleration / control difference received) to a subsequent setpoint / actual value comparator D I.
- the current comparator D I the current setpoint is compared with an actual current value (with a negative sign); the current control difference is fed to a downstream current controller with PI behavior. From its output, the current control value is converted into a control torque with respect to the drive motor or motors concerned by means of a further transmission element K T.
- FIG 2 is the arrangement of the coordinate systems for both the machine functional components as well as for the assigned sensor or encoder systems shown schematically.
- Functional components mostly rotary body 1, and the sensors rotary encoder 2.
- the angle ⁇ being determined and for the later operation is to be saved.
- the angle ⁇ indicates how much the rotating body 1 is to be moved out of its basic position until the angle encoder 2 receives a signal for the achievement of its absolute zero.
- the corresponding data will be Appropriately in the assigned drive unit with an electric motor and digital Drive controller saved.
- the reference point approach is for all printing unit and folding unit drives perform. It is the first time that the drive system has been commissioned for the whole machine to take place. After each exchange of the sensor or Encoder system, components of the encoder system or changes in the The reference point approach must be repeated in the machine coordinate system.
- a first sequence step 31 the rotating body 1, for example a rubber cylinder, is mechanically locked.
- the operating mode of the drive unit for the reference point approach is parameterized by a superordinate master control.
- this sets the current target operating mode.
- step 34 for example, a digital signal processor of the drive controller in the drive unit reads the current position of the rotating body 1 and invalidates a load-related modulo position.
- step 35 the parameter Order status "is set, with the drive unit reporting to the master control that its requirement has been met.
- the locking of the rotating body 1 is removed.
- the higher-level master control signals the release of the drive to the drive unit in the following step 38 the parameter Order status ".
- the higher-level master control of the drive unit has specified a setpoint speed with the value zero.
- the actual setpoint speed for the reference point setpoint is determined independently by the parameterization of a traversing block specific to this. The same applies to the setpoint acceleration. Because of the use of traversing blocks is based on today's European patent applications Electric drive system with a distributed, virtual master axis "(legal code B005 / 018 P DE) and Referencing procedure for a machine or system "(attorney's code B005 / 019 P DE) by the same applicant, filed on the same filing date.
- the traversing block is now automatically converted into traversing movements for the rotating body by the digital signal processor of the drive unit
- the traversing movements serve to trigger the encoder zero pulse in order to determine the angle ⁇ according to Figure 2. If this is successfully done within two revolutions, the
- the next calibration sequence step 392 is the internal calculation and storage of the position of the encoder zero pulse by the digital signal processor of the drive unit, followed by an acknowledgment of the order to the higher-level control system in sequence step 393, whereby the parameter Order status "is set again.
- the higher-level master control then transmits the command in sequence step 394 Lock the drive unit ".
- the drive motor is set to a desired one Move the target position by, for example, a further basic movement Motion is superimposed according to a specific travel parameter.
- a such positioning can e.g. be used for the plate change.
- a specific set of travel parameters from the control center or control system Parameterization channels 3 (see FIG. 1) parameterized accordingly.
- From the master control a target speed with zero can be specified via master parameters.
- The can actually set speed and acceleration of the positioning process define themselves through the assigned traversing block.
- the parameterization of the Target speed and target acceleration for the relevant traversing block determined during commissioning and in the drive system or in the controller R des affected drive motor stored. The implementation of the positioning will appropriately commissioned by the master control system.
- step 41 the current target operating mode is set by the master control. Then the drive (drive controller R and drive motor) is released from the master control - cf. Sequence step 42.
- the control system reads the current, load-related actual position in the degree unit.
- the absolute target position is parameterized by the master control (if necessary via parameterization channels 3 - see FIG. 1) in the degree unit.
- the desired target position is introduced, which depends on the actual position of the drive.
- branching step 45 it is examined whether a permissible value range for the actual position related to the load is not exceeded. If exceeded, the drive positions would not be related to the machine coordinate system.
- the drive must therefore carry out a basic position run (cf. European patent application today Referencing procedure ... "by the same applicant - attorney's code B005 / 019 E EP).
- the basic position travel is carried out independently at the level of the setpoint generator S or controller R, in accordance with sequence step 46.
- sequence step 47 the drive then moves to the setpoint position, followed by the sequence step 48 the message Job completed "to the master control.
- the drive is then blocked according to sequence step 49.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Inking, Control Or Cleaning Of Printing Machines (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Presses (AREA)
- Rotary Presses (AREA)
- Character Spaces And Line Spaces In Printers (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zum Betrieb einer Druckmaschine mit einer Mehrzahl im Funktions- und/oder Kopplungsverbund zusammenwirkender Druckmaschinenteile, die von einem oder mehreren Antriebsmotoren bewegt werden, wobei zur Kopplung, Koordination und/oder Synchronisation der Bewegungen aus einem oder mehreren, den Druckmaschinenteilen gemeinsam zugeordneten Leitparametern Lage-, Geschwindigkeits- und/oder Beschleunigungs-Sollwerte für den oder je einen Antriebsmotor generiert werden, worauf hin der oder die Antriebsmotoren zur Bewegung des oder der Druckmaschinenteile zwecks Ausführung einer oder mehrerer drucktechnischer Funktionen angesteuert werden. Ferner betrifft die Erfindung eine zur Durchführung dieses Verfahrens geeignete steuerungs- oder regelungstechnische Anordnung, die ein rechnergeführtes Antriebssystem besitzt, welches zur Ansteuerung der mehreren Antriebsmotoren je eine Kontrolleinheit sowie wenigstens eine diesen gemeinsam übergeordnete Leitsteuerung aufweist, welche den Kontrolleinheiten zur Übermittlung der Leitparameter zugeordnet ist.The invention relates to a method for operating a printing press with a Most interacting in the functional and / or coupling network Printing machine parts that are moved by one or more drive motors, being used for coupling, coordination and / or synchronization of the movements one or more, commonly assigned to the printing press parts Guiding parameters position, speed and / or acceleration setpoints for the or a drive motor can be generated, whereupon the drive motor or motors to move the press part (s) in order to execute a or several printing functions can be controlled. Furthermore, the Invention a control or suitable for performing this method control arrangement, which has a computer-controlled drive system, which to control the multiple drive motors, one control unit each has at least one master control superordinate to this, which controls the Control units for the transmission of the control parameters is assigned.
Druckmaschinen-Betriebsverfahren und regelungstechnische Anordnungen etwa dieser Art sind beispielsweise aus der deutschen Zeitschriff Deutscher Drucker" Nr. 18/8. Mai 1997, w30, w32, w34 bekannt. Ferner wird in DE 195 27 199 A1 bei einer Flexodruckmaschine vorgeschlagen, daß im Leitsystem eine Leitachse abgebildet oder generiert wird, von der Winkellage-Sollwerte und/oder Winkellage-Versatzwerte für die Rasterwalze und/oder den Formatzylinder der Farbwerke und/oder für die Gegendruck- und/oder Zentralzylinder abgeleitet werden. Die diesen zugeordneten Elektromotoren sind entsprechend den Soll- oder Versatzwerten anzusteuern. Insbesondere wird der Vorschlag gemacht, die Leitachse abhängig von den Ausgangssignalen des dem Zentral- und/oder Gegendruckzylinder zugeordneten Winkellagegebers abzubilden und nur die Farbwerke oder etwaige weitere Gegendruckzylinder mit Winkellage-Sollwerten oder -Versatzwerten im Rahmen der Umfangsregisterverstellung elektromotorisch zu beeinflussen. Dazu alternativ wird auch vorgeschlagen, daß die Leitachse unabhängig von Rasterwalze, Format-, Gegendruck- oder Zentralzylinder generiert bzw. synthetisiert wird, und die von dieser Leitachse abgeleiteten Winkellage-, Soll- und - Versatzwerte einer, mehreren oder allen Rotationskomponenten parallel elektromotorisch eingeprägt werden.Printing press operating procedures and control engineering arrangements of this type are, for example, from the German Zeitschiff German printer "No. 18/8 May 1997, w30, w32, w34. Furthermore, in DE 195 27 199 A1 it is proposed in a flexographic printing machine that a guiding axis is imaged or generated in the control system, from the angular position setpoints and / or Angular position offset values for the anilox roller and / or the format cylinder of the inking units and / or for the counterpressure and / or central cylinders are derived. The electric motors assigned to these are to be controlled according to the setpoint or offset values. In particular, the suggestion is made that the leading axis depends on to map the output signals of the angular position sensor assigned to the central and / or impression cylinder and to influence only the inking units or any other impression cylinders with nominal position or offset values within the scope of the circumferential register adjustment as an electric motor - Generate back pressure or central cylinder t or is synthesized, and the angular position, setpoint and offset values of one, more or all of the rotation components derived from this master axis are impressed in parallel by an electric motor.
Bei bisherigen Zeitungsdruckmaschinen ist es bekannt, zur Verstellung der Farb/Umfangsregister und/oder Schnittregister neben den Hauptantrieben angeordnete Hilfsantriebe einzusetzen. Dies erhöht allerdings den Aufwand an Funktionskomponenten und Maschinenteilen, die herzustellen, zu montieren, in Betrieb zu setzen und zu warten sind. Zudem müssen diese Hilfsantriebe eigens gesteuert oder geregelt werden, was den Aufwand für Software wegen der dafür erforderlichen Komplexität erhöht.In previous newspaper printing presses, it is known to adjust the Color / circumference registers and / or cut registers arranged next to the main drives To use auxiliary drives. However, this increases the effort Functional components and machine parts that manufacture, assemble, in operation to be set and maintained. In addition, these auxiliary drives must be controlled separately or be regulated, what the effort for software because of the necessary Complexity increased.
Der Erfindung liegt die Aufgabe zugrunde, eine Betriebsweise und -methodik für eine Druckmaschine zu schaffen, bei der auch Hilfsfunktionen, die bisher durch separat vorgesehene Hilfsantriebe realisiert wurden, durch Hauptantriebe vollzogen werden können. Die Betriebsweise soll mit einer in sich übersichtlich und modular gegliederten Software und mit einem Minimum an baulichem Aufwand durchführbar sein.The invention has for its object an operation and methodology for a To create printing press, which also has auxiliary functions previously provided by separately provided auxiliary drives were realized, are carried out by main drives can. The mode of operation should be structured in a clear and modular manner Software and can be carried out with a minimum of structural effort.
Zur Lösung wird bei einem Betriebsverfahren mit den eingangs genannten Merkmalen erfindungsgemäß vorgeschlagen, daß zur Ausführung der einen oder mehreren drucktechnischen Funktionen oder Hilfsfunktionen für mindestens einen dafür zuständigen Antriebsmotor ein Teil der Sollwerte unter Verwendung von einem oder mehreren Verfahrparametern, die der oder den betreffenden drucktechnischen (Hilfs-) Funktionen entsprechen, generiert werden, und alle aus den Leit- und Verfahrparametern gewonnenen Sollwerte untereinander zur Ansteuerung des Antriebsmotors überlagert werden. Die Überlagerung der Verfahrparameter erfolgt in bezug auf die Leitparameter und auch untereinander. Mit der erfindungsgemäß eingesetzten Superposition aller Parameter ist eine einfache Methodik erschlossen, neben den Druckmaschinen-Hauptfunktionen gleichzeitig weitere (Hilfs-) Funktionen ablaufen zu lassen. Die Antriebsmotoren für die Druckmaschinenteile, womit die Funktionen zu realisieren sind, werden durch das erfindungsgemäße Überlagerungsprinzip in ihrer Anwendungsvielfalt und auch ihrer Ausnutzung erheblich erweitert. The solution is for an operating method with the features mentioned at the beginning proposed according to the invention that to carry out the one or more printing functions or auxiliary functions for at least one of them responsible drive motor using a part of the setpoints or several travel parameters that the relevant printing (auxiliary) Functions correspond, are generated, and all from the control and Setpoint values obtained from each other to control the Drive motor are superimposed. The traversing parameters are superimposed in in relation to the guiding parameters and also with each other. With the invention used superposition of all parameters a simple methodology is developed, in addition to the main press functions, other (auxiliary) functions to expire. The drive motors for the printing press parts, with which the Functions are to be realized by the inventive The principle of superimposition is considerable in its application variety and also in its utilization expanded.
Zweckmäßig beziehen sich die Leitparameter auf die Geschwindigkeit und/oder
Beschleunigung, die allgemein für die Druckmaschine oder für deren Funktionsverband
mit den betreffenden Druckmaschinenteilen vorgegeben ist. Die Leitparameter können
eine Vorgabe für eine sogenannte
Nach einer weiteren Ausbildung der Erfindung sind Verfahrsatzparameter Weg, Geschwindigkeit und/oder Beschleunigung, wobei die Vorgabe mit Bezug auf die Leitparameter mit absoluten und/oder relativen Registerwerten erfolgt. Mit einem solchen Parametersatz läßt sich eine Vielfalt von drucktechnischen Funktionen für den betroffenen Antriebsmotor nebst zugeordnetem Maschinenteil realisieren.According to a further embodiment of the invention, traversing block parameters are Speed and / or acceleration, the default being related to the Guiding parameters with absolute and / or relative register values. With a Such a parameter set can be used for a variety of printing functions Implement the affected drive motor together with the assigned machine part.
Eine besonders vorteilhafte Verwendung der überlagerten Verfahrparameter besteht in der Beeinflussung des drucktechnischen Registersystems. Die Verfahrparameter können insbesondere zur Einstellung drucktechnischer Register wie Farb/Umfangs- und/oder Schnittregister der Druckmaschine, eines Funktions- und/oder Kopplungsverband davon oder des betreffenden Druckmaschinenteiles für sich genommen eingesefzt werde. Mit Ihnen kann auch für registergerechte Kopplung, Koordination und/oder Synchronisation der Bewegungen des betroffenen Antriebsmotors gesorgt werden.A particularly advantageous use of the superimposed travel parameters is in influencing the printing register system. The travel parameters can be used, in particular, to set printing registers such as color / circumference and / or Cutting register of the printing press, a function and / or Coupling association thereof or the relevant press part for itself taken used. With you can also for register-correct coupling, Coordination and / or synchronization of the movements of the affected Drive motor are taken care of.
Gemäß noch konkreterer Ausgestaltung lassen sich Verfahrparametersätze dazu
verwenden, zusätzliche Winkeländerungen des jeweiligen Antriebsmotors nebst daran
zur Drehung angekuppelten Maschinenteilen zu realisieren. Ist die Druckmaschine oder
ein Funktionsverband davon nachdem an sich bekannten Prinzip der
Einzelantriebstechnik (vgl. DE 41 38 479 A1, DE 43 22 744 A1, DE 195 27 199 A1, DE
195 29 430 A1, DE 196 33 745 A1, heutige, europäische Patentanmeldung
Ein positiver Lagesollwert bewirkt eine Verstellung in Laufrichtung des zu druckenden Papiers. Ein separater Satz an Verfahrparametern kann für die Funktion des Umfangsregisters, ein weiterer separater Satz an Verfahrparametern für die Funktion des Schnittregisters vorgesehen sein. Für jeden Verfahrsatz haben sich folgende antriebsspezifische Parameter als günstig erwiesen: Steuerwort, Modus, Status, Wegoffset, Absolutweg, Relativweg, absoluter Istweg, Sollgeschwindigkeit, Geschwindigkeitsfaktor, minimal resultierende Geschwindigkeit, Sollbeschleunigung.A positive position setpoint causes an adjustment in the direction of the print Paper. A separate set of travel parameters can be used for the function of the Circumferential register, another separate set of travel parameters for the function of the cutting register. The following have for each traversing block Drive-specific parameters proven to be favorable: control word, mode, status, Travel offset, absolute travel, relative travel, absolute actual travel, target speed, Speed factor, minimum resulting speed, target acceleration.
Mit Vorteil erfolgt die Parametrierung der Umfangs- und Schnittregister bzw. der dazu bestimmten Sätze mit Verfahrparametern ausschließlich über den Leitstand. Die Voreinstellung der Einzelantriebe zur Papierbahn läßt sich vom Leitstand sicherstellen. Die korrekte Voreinstellung der Antriebe ist Voraussetzung für das passergenaue Synchronisieren.It is advantageous to parameterize the circumferential and cutting registers or the associated ones certain sets with travel parameters exclusively via the control center. The Presetting of the individual drives for the paper web can be ensured from the control center. The correct presetting of the drives is a prerequisite for accurate registration Synchronize.
Nach einer besonderen Ausbildung der Erfindung werden voneinander getrennte Verfahrparametersätze (beispielsweise vier bis sechs Verfahrparametersätze) für folgende Zwecke eingesetzt:
- Einstellung oder Ausführung von Farb- und Schnittregistern,
- Kalibrieren, insbesondere Referenzpunktfahrt (siehe Beispiel unten sowie
heutige europäische Patentanmeldung
- Positionieren auf ein festes oder auf ein bewegtes Ziel (siehe Beispiel unten)
- Suchbewegungen zum Einrasten mechanischer Kupplungen, wobei bis zum Ineinanderrasten von Zähnen einer Kupplung entsprechende Bewegungen überlagert werden bzw. ein entsprechendes Verfahren stattfindet
- fliegender Auftragswechsel, insbesondere,
- sonstige interne Zwecke
- Setting or execution of color and cut registers,
- Calibrate, especially reference point travel (see example below as well as today's European patent application
- Position on a fixed or a moving target (see example below)
- Search movements for engaging mechanical clutches, corresponding movements being superimposed until a clutch engages teeth, or a corresponding method is taking place
- flying job change, in particular,
- other internal purposes
Im Rahmen der allgemeinen erfinderischen Idee wird zur Lösung der eingangs genannten Erfindungsaufgabe auch eine steuerung- oder regelungstechnische Anordnung zur Durchführung des angesprochenen Verfahrens vorgeschlagen, bei der zwischen der Leitsteuerung und mindestens einer der Kontrolleinheiten ein Sollwertgenerator angeordnet ist, der ein Leitmodul für die Leitparameter, ein oder mehrere Verfahrsatzmodule mit dem oder den darin bereitgestellten Verfahrparametern und ein diesen Modulen gemeinsam nachgeschaltetes Überlagerungsglied aufweist, dessen Ausgang der Kontrolleinheit zugeordnet ist, wobei die genannten Module zur Umsetzung ihrer jeweiligen Parameter in Lage-, Geschwindigkeits- und/oder Beschleunigungssollwerte und zu deren Zuführung in das Überlagerungsglied ausgebildet sind. Dieses bildet gleichsam ein Synthese-Medium, in dem Vorgaben für Haupt- und Hilfsfunktionen der Druckmaschine zu Sollwerten und/oder Stellbefehlen für die nachgeordneten Antriebseinheiten verarbeitet werden. Die aus dem Überlagerungsglied resultierenden Sollwerte beinhalten komprimiert alle Informationen für in die nachgeordneten Antriebs-Kontrolleinheiten einzugebenden Sollwerte.As part of the general inventive idea to solve the problem mentioned invention task also a control or regulation technology Arrangement proposed for performing the method mentioned, in which between the master control and at least one of the control units Setpoint generator is arranged, which is a control module for the control parameters, a or several traversing block modules with the traversing parameters provided and has an overlay element connected downstream of these modules, whose output is assigned to the control unit, the modules mentioned for Implementation of their respective parameters in position, speed and / or Acceleration setpoints and for feeding them into the overlay element are trained. It forms a synthesis medium, as it were, in which specifications for Main and auxiliary functions of the press for setpoints and / or control commands for the downstream drive units are processed. The one from the Superimposed result values contain compressed all information for setpoints to be entered in the downstream drive control units.
Die Anwendungsflexibilität wird erhöht, wenn nach einer Ausbildung der erfindungsgemäßen Anordnung dem Überlagerungsglied und der Kontrolleinheit ein Multiplikationsglied zwischengeschaltet ist, das mehrere Eingänge aufweist, und zwar für den oder die aus dem Überlagerungsglied ausgegebenen Zwischen-Sollwerte sowie für einen oder mehrere Faktoren, beispielsweise einen für eine Getriebe- Über- oder Untersetzung bestimmten Getriebefaktor.The application flexibility is increased if after training the arrangement according to the invention the overlay member and the control unit Multiplier is interposed, which has multiple inputs, namely for the intermediate setpoint value or values output from the superimposition element and for one or more factors, for example one for a transmission over or Reduction certain gear factor.
Bei der Inbetriebnahme von Druckmaschinen oder Anlagenteilen davon ist es wünschenswert, im Antriebssystem Vor-Parametrierungen vorzunehmen. Im laufenden Betrieb besteht weiter die Anforderung, Haupt- und Hilfsfunktionen der Druckmaschine dynamisch zu verändern oder Hilfsfunktionen erst auszulösen. Dem wird mit einer Ausbildung der erfindungsgemäßen Anordnung Rechnung getragen, nach der mindestens einer der Verfahrsatzmodule eingangsseitig mit einem oder mehreren extern zugänglichen Parametrierungskanälen versehen ist. Diese können mit der Leitsteuerung oder einem oder mehreren Leitständern in Verbindung stehen. It is when commissioning printing presses or plant parts thereof desirable to carry out pre-parameterization in the drive system. In the current Operation continues to be the requirement, main and auxiliary functions of the printing press change dynamically or trigger auxiliary functions first. That will be with one Training of the arrangement according to the invention taken into account at least one of the traversing block modules on the input side with one or more externally accessible parameterization channels is provided. This can be done with the Master control or one or more control stands in connection.
Weitere Einzelheiten, Merkmale, Vorteile und Wirkungen auf der Basis der Erfindung ergeben sich aus der nachfolgenden Beschreibung bevorzugter Ausführungsbeispiele sowie aus den Zeichnungen. Diese zeigen jeweils in schematisch-prinzipieller Darstellung:
- Fig. 1
- die Strukturblöcke der erfindungsgemäßen Anordnung zur Ausführung des erfindinngsgemäßen Verfahrens,
- Fig. 2
- eine schematische Veranschaulichung der Anordnung der Maschinen- und Sensor-Koordinatensysteme,
- Fig. 3
- ein Flußdiagramm zur Referenzpunktfahrt aufgrund eines erfindungsgemäßen Verfahrparameter-Satzes, und
- Fig. 4
- ein Flußdiagramm zum Positionieren aufgrund eines anderen erfindungsgemäßen Verfahrparametersatzes.
- Fig. 1
- the structural blocks of the arrangement according to the invention for carrying out the method according to the invention,
- Fig. 2
- a schematic illustration of the arrangement of the machine and sensor coordinate systems,
- Fig. 3
- a flow chart for reference point travel based on a set of travel parameters according to the invention, and
- Fig. 4
- a flow chart for positioning based on another set of travel parameters according to the invention.
Gemäß Figur 1 läßt sich die regelungstechnische Anordnung untergliedern in eine
Modulebene M, eine Verarbeitungsebene P und eine Regler-Ebene R. Die Ebenen sind
hierarchisch in der genannten Reihenfolge von oben nach unten gegliedert. Die beiden
Ebenen
Die Parameter
Die drei zyklischen Sollwerte YL, Y1-Y5 je Modul L, V1 - V5 werden in der Verarbeitungsebene P einem Überlagerungsglied Σ beispielsweise in Form einer Summierstelle zugeführt. Darin wird eine Superposition der zyklischen Sollwerte YL, Y1-Y5 aus den Modulen L, V1 - V5 durchgeführt mit dem Ergebnis, daß für Lage, Geschwindigkeit und/oder Beschleunigung des betreffenden Antriebsmotors mit angetriebenem Maschinenteil(en) je ein Zwischensollwert ausgegeben wird. Diese drei Zwischensollwerte ZL, ZG, ZB werden ebenfalls gemeinsam weiterverarbeitet, nämlich in einem Multiplizierglied X. Dieses weist neben den drei Zwischensollwert-Eingängen ZL, ZG, ZB noch einen weiteren Eingang für einen externen Faktor F auf. Dieser kann beispielsweise ein Getriebefaktor für ein Über- oder Untersetzungsverhältnis sein. Die Ebene des Sollwertgebers S wird mit Erzeugung der Endsollwerte EL, EG, EB verlassen, die einzelnen Soll-Istwertvergleichern DL, DG, DB auf der Antriebs-Reglerebene R zugeführt werden. Diesen Vergleichern wird gleichzeitig jeweils ein Istwert für die Lage, Geschwindigkeit und Beschleunigung jeweils mit negativem Vorzeichen eingegeben. Die Regeldifferenz, die sich aus dem Lage-Soll-/Istwertvergleich DL ergibt, wird einem Lageregler mit P-Verhalten zugeführt, der in Kombination mit einem Dimensionsfaktor einen Geschwindigkeitssollwert ausgibt, der neben dem End-Geschwindigkeitssollwert EG dem Soll-/Istwertvergleicher DG für Geschwindigkeit zugeführt wird. Zudem wird mit negativem Vorzeichen noch der Istwert für die Geschwindigkeit des betreffenden Antriebsmotors bzw. des angetriebenen Maschinenteiles eingegeben. Dem Soll-/Istwertvergleicher DG für die Geschwindigkeit ist ein Geschwindigkeitsregler mit PI-Verhalten nachgeschaltet, der ebenfalls einen Dimensionsfaktor zur Umrechnung der Geschwindigkeits-Regeldifferenz in eine Beschleunigung enthält. Die sich aus dem Geschwindigkeitsregler ergebende Beschleunigung wird mit dem Endsollwert EB für Beschleunigung aus dem Sollwertgeber S in dem zugeschalteten Vergleicher DB überlagert. Bei diesem Beschleunigungs-Vergleicher findet eine Zuführung eines Istwerts nicht statt. Dem Beschleunigungs-Vergleicher bzw. Überlagerer DB ist ein Übertragungsglied mit der mathematischen Beziehung 1/Ks nachgeschaltet. Es gibt an einen nachfolgenden Soll-/Istwertvergleicher DI einen Strom-Sollwert (erzeugt aus der eingegangenen Beschleunigungs-Regeldifferenz) aus. In dem Strom-Vergleicher DI wird der Stromsollwert mit einem Strom-Istwert (mit negativem Vorzeichen) verglichen; die Strom-Regeldifferenz wird einem nachgeschalteten Stromregler mit PI-Verhalten zugeführt. Aus dessen Ausgang wird der Strom-Stellwert mittels eines weiteren Übertragungsgliedes KT in ein Stellmoment bezüglich des oder der betroffenen Antriebsmotoren umgewandelt.The three cyclical setpoints Y L , Y 1 -Y 5 per module L, V1 - V5 are fed to an overlay element Σ in processing level P, for example in the form of a summing point. A cyclic setpoint Y L , Y 1 -Y 5 from the modules L, V1 - V5 is superimposed with the result that an intermediate setpoint is output for the position, speed and / or acceleration of the relevant drive motor with driven machine part (s) becomes. These three intermediate setpoints Z L , Z G , Z B are also processed together, namely in a multiplier X. In addition to the three intermediate setpoint inputs Z L , Z G , Z B, this has a further input for an external factor F. This can be, for example, a gear factor for a step-up or step-down ratio. The level of the setpoint generator S is left when the final setpoints E L , E G , E B are generated, and the individual setpoint / actual value comparators D L , D G , D B are supplied on the drive controller level R. At the same time, these comparators are given an actual value for the position, speed and acceleration, each with a negative sign. The control difference, which results from the position / actual value comparison D L , is fed to a position controller with P behavior, which, in combination with a dimension factor, outputs a speed setpoint which, in addition to the final speed setpoint E G, the setpoint / actual value comparator D G is fed for speed. In addition, the actual value for the speed of the relevant drive motor or the driven machine part is entered with a negative sign. The setpoint / actual value comparator D G for the speed is followed by a speed controller with PI behavior, which also contains a dimension factor for converting the speed control difference into an acceleration. The acceleration resulting from the speed controller is overlaid with the final setpoint E B for acceleration from the setpoint generator S in the connected comparator D B. With this acceleration comparator, an actual value is not supplied. A transmission element with the mathematical relationship 1 / Ks is connected downstream of the acceleration comparator or superimposer D B. It outputs a current setpoint (generated from the acceleration / control difference received) to a subsequent setpoint / actual value comparator D I. In the current comparator D I , the current setpoint is compared with an actual current value (with a negative sign); the current control difference is fed to a downstream current controller with PI behavior. From its output, the current control value is converted into a control torque with respect to the drive motor or motors concerned by means of a further transmission element K T.
In Figur 2 ist die Anordnung der Koordinatensysteme sowohl für die Maschinen-Funktionskomponenten
als auch für die zugeordneten Sensor- bzw. Gebersysteme
schematisch dargestellt. Im behandelten Beispiel einer Druckmaschine sind die
Funktionskomponenten meist Drehkörper 1, und die Sensoren Drehgeber 2. Für einen
Synchronbetrieb müssen letztere auf die Funktionskomponenten kalibriert werden.
Hierzu dient eine Referenzpunktfahrt, wobei der Winkel α zu ermitteln und für den
späteren Betrieb abzuspeichern ist. Der Winkel α gibt an, um wieviel der Drehkörper 1
aus seiner Grundstellung herauszuverfahren ist, bis der Winkelgeber 2 ein Signal für
das Erreichen seines absoluten Nullpunkts abgibt. Die entsprechenden Daten werden
zweckmäßig in der zugeordneten Antriebseinheit mit Elektromotor und digitalem
Antriebsregler abgespeichert.In Figure 2 is the arrangement of the coordinate systems for both the machine functional components
as well as for the assigned sensor or encoder systems
shown schematically. In the example of a printing press we are dealing with
Functional components mostly rotary body 1, and the sensors
Die Referenzpunktfahrt ist bei allen Druckeinheiten- und Falzeinheitenantrieben durchzuführen. Sie hat erstmalig bei der Erstinbetriebnahme des Antriebssystems für die Gesamtmaschine stattzufinden. Nach jedem Austausch des Sensor- bzw. Gebersystems, von Komponenten des Gebersystemes oder Änderungen im Maschinenkoordinatensystem muß die Referenzpunktfahrt wiederholt werden.The reference point approach is for all printing unit and folding unit drives perform. It is the first time that the drive system has been commissioned for the whole machine to take place. After each exchange of the sensor or Encoder system, components of the encoder system or changes in the The reference point approach must be repeated in the machine coordinate system.
Der Bezug zur angetriebenen Mechanik und das Gebersystem des Antriebes bestimmen den Ablauf der Referenzpunkffahrt. Diese wird zweckmäßig von einer übergeordneten Leitsteuerung beauftragt. Der notwendige Ablaufplan ist in Figur 3 dargestellt.The relation to the driven mechanics and the encoder system of the drive determine the course of the reference point trip. This is appropriately from one superordinate control system. The necessary schedule is shown in Figure 3 shown.
In einem ersten Ablaufschritt 31 wird der Drehkörper 1, beispielsweise ein
Gummizylinder, mechanisch arretiert. Im nächsten Ablaufschritt 32 erfolgt ein
Parametrieren der Betriebsart der Antriebseinheit für die Referenzpunktfahrt durch eine
übergeordnete Leitsteuerung. Diese setzt im nächsten Ablaufschritt 33 die aktuelle
Sollbetriebsart. Im Ablaufschritt 34 liest beispielsweise ein digitaler Signalprozessor des
Antriebsreglers in der Antriebseinheit die aktuelle Position des Drehkörpers 1 und setzt
eine lastbezogene Moduloposition ungültig. Im folgenden Ablaufschritt 35 wird der
Parameter
Beim Positionieren gemäß Figur 4 wird der Antriebsmotor auf eine gewünschte Sollposition verfahren, indem beispielsweise seiner Grundbewegung eine weitere Bewegung entsprechend einem spezifischen Verfahrparameter überlagert wird. Ein derartiges Positionieren kann z.B. für den Plattenwechsel verwendet werden. Hierfür wird ein spezifischer Verfahrparametersatz vom Leitstand oder Leitsteuerung aus über Parametrierkanäle 3 (vgl. Figur 1) entsprechend parametriert. Von der Leitsteuerung kann über Leitparameter eine Sollgeschwindigkeit mit Null vorgegeben werden. Die eigentlich Sollgeschwindigkeit und Sollbeschleunigung des Positioniervorganges läßt sich durch den zugeordneten Verfahrsatz vorgeben. Die Parameterierung der Sollgeschwindigkeit und Sollbeschleunigung für den zuständigen Verfahrsatz wird während der Inbetriebnahme ermittelt und im Antriebssystem oder im Regler R des betroffenen Antriebsmotors abgespeichert. Die Durchführung des Positionierens wird zweckmäßig von der übergeordneten Leitsteuerung beauftragt.When positioning according to Figure 4, the drive motor is set to a desired one Move the target position by, for example, a further basic movement Motion is superimposed according to a specific travel parameter. A such positioning can e.g. be used for the plate change. Therefor a specific set of travel parameters from the control center or control system Parameterization channels 3 (see FIG. 1) parameterized accordingly. From the master control a target speed with zero can be specified via master parameters. The can actually set speed and acceleration of the positioning process define themselves through the assigned traversing block. The parameterization of the Target speed and target acceleration for the relevant traversing block determined during commissioning and in the drive system or in the controller R des affected drive motor stored. The implementation of the positioning will appropriately commissioned by the master control system.
Der notwendige Ablaufplan ist in Figur 4 dargestellt. Das Positionieren startet
zweckmäßig von einem stillstehenden Antrieb aus. Im Ablaufschritt 41 wird die aktuelle
Sollbetriebsart durch die übergeordnete Leitsteuerung gesetzt. Dann erfolgt eine
Freigabe des Antriebs (Antriebsregler R und Antriebsmotor) von der Leitsteuerung aus
- vgl. Ablaufschritt 42. Im nächsten Ablaufschritt 43 liest die Leitsteuerung die aktuelle,
auf die Last bezogene Istposition in der Einheit Grad. Sodann erfolgt im weiteren
Ablaufschritt 44 eine Parametrierung der absoluten Sollposition durch die Leitsteuerung
(gegebenenfalls über Parametrierkanäle 3 - vgl. Fig. 1)in der Einheit Grad. Dabei wird
die gewünschte Sollposition eingebracht, die abhängig ist von der Istposition des
Antriebs. Im Verzweigungsschritt 45 wird gleichsam untersucht, ob ein zulässiger
Wertbereich für die auf die Last bezogene Istposition nicht überschritten wird. Bei
Überschreitung wären die Antriebspositionen nicht auf das
Maschinenkoordinatensystem bezogen. Der Antrieb muß deshalb eine
Grundstellungsfahrt durchführen (vgl. hierzu europäische, heutige Patentanmeldung
Claims (19)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19801756 | 1998-01-20 | ||
DE19801756 | 1998-01-20 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0934826A1 true EP0934826A1 (en) | 1999-08-11 |
EP0934826B1 EP0934826B1 (en) | 2001-05-16 |
Family
ID=7854997
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP99100863A Expired - Lifetime EP0934826B1 (en) | 1998-01-20 | 1999-01-19 | Method of starting a printing machine with a plurality of functions and device for technically controlling |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0934826B1 (en) |
AT (1) | ATE201165T1 (en) |
DE (1) | DE59900090D1 (en) |
ES (1) | ES2156452T3 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10243454A1 (en) * | 2002-09-19 | 2004-04-01 | Koenig & Bauer Ag | driving device |
DE102004048315A1 (en) * | 2004-10-05 | 2006-04-06 | Man Roland Druckmaschinen Ag | Printing unit of a printing machine and method for performing a printing plate change on a forme cylinder of a printing unit |
EP1719618A1 (en) * | 2005-05-07 | 2006-11-08 | Koenig & Bauer AG | Method for reproducibly determining the spatial angular position of at least a cylinder of a printing machine, device for carrying out the method and printing unit. |
DE102005042563A1 (en) * | 2005-09-08 | 2007-03-15 | Man Roland Druckmaschinen Ag | Printing machine e.g. sheet fed printing machine, has several printing groups and lacquer unit whereby optimized parameter sets of drive controller are set depending on speed of printing machine for appropriate regulation of driving motor |
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DE4322744A1 (en) * | 1993-07-08 | 1995-01-19 | Baumueller Nuernberg Gmbh | Electrical drive system for adjusting one or more rotatable and/or pivotable functional parts in devices and machines, drive arrangement with an angular position transmitter and printing machine |
EP0709184A1 (en) * | 1994-09-29 | 1996-05-01 | MAN Roland Druckmaschinen AG | Process for displaying compass differences |
DE19527199A1 (en) * | 1995-07-26 | 1997-01-30 | Baumueller Nuernberg Gmbh | Colour flexographic printing machine - has synchronisation control for electric motors of central counter-pressure cylinder and format cylinders and raster rollers of each colour stage |
WO1998016384A1 (en) * | 1996-10-12 | 1998-04-23 | Goss Graphic Systems Limited | Printing apparatus |
-
1999
- 1999-01-19 AT AT99100863T patent/ATE201165T1/en active
- 1999-01-19 EP EP99100863A patent/EP0934826B1/en not_active Expired - Lifetime
- 1999-01-19 ES ES99100863T patent/ES2156452T3/en not_active Expired - Lifetime
- 1999-01-19 DE DE59900090T patent/DE59900090D1/en not_active Expired - Lifetime
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DE4322744A1 (en) * | 1993-07-08 | 1995-01-19 | Baumueller Nuernberg Gmbh | Electrical drive system for adjusting one or more rotatable and/or pivotable functional parts in devices and machines, drive arrangement with an angular position transmitter and printing machine |
EP0709184A1 (en) * | 1994-09-29 | 1996-05-01 | MAN Roland Druckmaschinen AG | Process for displaying compass differences |
DE19527199A1 (en) * | 1995-07-26 | 1997-01-30 | Baumueller Nuernberg Gmbh | Colour flexographic printing machine - has synchronisation control for electric motors of central counter-pressure cylinder and format cylinders and raster rollers of each colour stage |
WO1998016384A1 (en) * | 1996-10-12 | 1998-04-23 | Goss Graphic Systems Limited | Printing apparatus |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10243454A1 (en) * | 2002-09-19 | 2004-04-01 | Koenig & Bauer Ag | driving device |
DE10243454B4 (en) * | 2002-09-19 | 2005-01-20 | Koenig & Bauer Ag | Drive device of a processing machine |
EP1563993A1 (en) * | 2002-09-19 | 2005-08-17 | Koenig & Bauer Aktiengesellschaft | Drive devices and method for driving a processing machine |
EP1563994A1 (en) * | 2002-09-19 | 2005-08-17 | Koenig & Bauer Aktiengesellschaft | Method for driving a processing machine |
US7448321B2 (en) | 2002-09-19 | 2008-11-11 | Koenig & Bauer Aktiengesellschaft | Drive devices and method for driving a processing machine |
DE10243454C5 (en) * | 2002-09-19 | 2009-10-08 | Koenig & Bauer Aktiengesellschaft | Drive device of a processing machine |
US7712415B2 (en) | 2002-09-19 | 2010-05-11 | Koenig & Bauer Aktiengesellschaft | Drive devices and method for driving a processing machine |
DE102004048315A1 (en) * | 2004-10-05 | 2006-04-06 | Man Roland Druckmaschinen Ag | Printing unit of a printing machine and method for performing a printing plate change on a forme cylinder of a printing unit |
US7497163B2 (en) | 2004-10-05 | 2009-03-03 | Man Roland Druckmaschinen Ag | Printing unit of a printing press and method for carrying out a printing-plate change on a forme cylinder of a printing unit |
EP1719618A1 (en) * | 2005-05-07 | 2006-11-08 | Koenig & Bauer AG | Method for reproducibly determining the spatial angular position of at least a cylinder of a printing machine, device for carrying out the method and printing unit. |
EP1759840A1 (en) * | 2005-05-07 | 2007-03-07 | Koenig & Bauer Aktiengesellschaft | Method for reproducibly determining the spatial angular position of at least a cylinder of a printing machine, device for carrying out the method and printing unit. |
DE102005042563A1 (en) * | 2005-09-08 | 2007-03-15 | Man Roland Druckmaschinen Ag | Printing machine e.g. sheet fed printing machine, has several printing groups and lacquer unit whereby optimized parameter sets of drive controller are set depending on speed of printing machine for appropriate regulation of driving motor |
Also Published As
Publication number | Publication date |
---|---|
DE59900090D1 (en) | 2001-06-21 |
EP0934826B1 (en) | 2001-05-16 |
ES2156452T3 (en) | 2001-06-16 |
ATE201165T1 (en) | 2001-06-15 |
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