JP6568039B2 - 複数軸を有する工作機械におけるモータ制御装置 - Google Patents
複数軸を有する工作機械におけるモータ制御装置 Download PDFInfo
- Publication number
- JP6568039B2 JP6568039B2 JP2016201755A JP2016201755A JP6568039B2 JP 6568039 B2 JP6568039 B2 JP 6568039B2 JP 2016201755 A JP2016201755 A JP 2016201755A JP 2016201755 A JP2016201755 A JP 2016201755A JP 6568039 B2 JP6568039 B2 JP 6568039B2
- Authority
- JP
- Japan
- Prior art keywords
- motor
- motor control
- unit
- abnormality detection
- tool
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005856 abnormality Effects 0.000 claims description 98
- 238000001514 detection method Methods 0.000 claims description 86
- 238000004891 communication Methods 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 description 32
- 230000008878 coupling Effects 0.000 description 16
- 238000010168 coupling process Methods 0.000 description 16
- 238000005859 coupling reaction Methods 0.000 description 16
- 230000007246 mechanism Effects 0.000 description 12
- 230000007257 malfunction Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 235000019800 disodium phosphate Nutrition 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 2
- 244000208734 Pisonia aculeata Species 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
- B23Q5/10—Driving main working members rotary shafts, e.g. working-spindles driven essentially by electrical means
-
- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0078—Safety devices protecting the operator, e.g. against accident or noise
- B23Q11/0085—Safety devices protecting the operator, e.g. against accident or noise by determining whether the machine tool is in a dangerous configuration
-
- 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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
- B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
-
- 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
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
-
- 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
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
-
- 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
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/54—Arrangements or details not restricted to group B23Q5/02 or group B23Q5/22 respectively, e.g. control handles
- B23Q5/58—Safety devices
-
- 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
- G05B19/406—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 monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- 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
- G05B19/406—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 monitoring or safety
- G05B19/4063—Monitoring general control system
-
- 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
- G05B19/416—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 control of velocity, acceleration or deceleration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details of stopping control
- H02P3/025—Details of stopping control holding the rotor in a fixed position after deceleration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
-
- 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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
-
- 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
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Numerical Control (AREA)
- Control Of Multiple Motors (AREA)
Description
2A サーボモータ
2B、2C ダイレクトドライブモータ
3 ワーク
4 工具
5 連結機構
11、11A、11B、11C モータ制御部
12 異常検出部
13 安全動作制御部
14 通信部
15 数値制御部
21 負荷推定部
22 異常判定部
23 信号出力部
30A 工具軸
30B、30C ワーク軸
1000 工作機械
Claims (4)
- 複数の軸を用いて工具によるワークの加工を行う工作機械におけるモータ制御装置であって、
各前記軸の駆動用にそれぞれ設けられた各モータをそれぞれ制御する複数のモータ制御部と、
前記複数のモータ制御部のうちの少なくとも1つに設けられる異常検出部であって、前記異常検出部が設けられたモータ制御部によって制御されるモータで駆動される軸について異常を検出した場合、異常検出信号を出力する異常検出部と、
前記異常検出部が設けられた前記モータ制御部とは異なるモータ制御部に設けられ、前記異常検出信号を受信した場合、工具がワークと接触しなくなるよう、工具が設けられた軸の駆動用のモータを制御する安全動作制御部と、
各前記モータ制御部間で通信を行う通信部であって、前記異常検出部から出力された前記異常検出信号を前記安全動作制御部へ送信する通信部と、
を備え、
前記異常検出部は、ダイレクトドライブモータもしくはリニアモータを制御する前記モータ制御部に設けられることを特徴とするモータ制御装置。 - 前記モータ制御部は、加工プログラムに基づき前記工作機械の軸を駆動するための指令を生成する数値制御部とは独立して設けられる、請求項1に記載のモータ制御装置。
- 前記異常検出部は、前記複数のモータ制御部の各々に設けられ、
前記安全動作制御部は、複数設けられた前記異常検出部のいずれかのうちから最も早く出力された前記異常検出信号に基づいて、工具がワークと接触しなくなるよう前記工具が設けられた軸の駆動用のモータを制御する、請求項1または2に記載のモータ制御装置。 - 前記異常検出部は、
前記異常検出部が設けられたモータ制御部によって制御されるモータが受ける負荷を推定する負荷推定部と、
前記負荷推定部によって推定された負荷が所定の閾値を超えた場合、前記異常検出部が設けられたモータ制御部によって制御されるモータで駆動される軸について異常が発生したと判定する異常判定部と、
前記異常判定部により異常が発生したと判定された場合、異常検出信号を出力する信号出力部と、
を有する、請求項1〜3のいずれか一項に記載のモータ制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016201755A JP6568039B2 (ja) | 2016-10-13 | 2016-10-13 | 複数軸を有する工作機械におけるモータ制御装置 |
DE102017123186.2A DE102017123186B4 (de) | 2016-10-13 | 2017-10-06 | Motorsteuervorrichtung für eine Werkzeugmaschine mit mehreren Achsen |
US15/728,926 US10189131B2 (en) | 2016-10-13 | 2017-10-10 | Motor control device for machine tool having plurality of axes |
CN201710947879.4A CN107942770B (zh) | 2016-10-13 | 2017-10-12 | 电动机控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016201755A JP6568039B2 (ja) | 2016-10-13 | 2016-10-13 | 複数軸を有する工作機械におけるモータ制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018063585A JP2018063585A (ja) | 2018-04-19 |
JP6568039B2 true JP6568039B2 (ja) | 2019-08-28 |
Family
ID=61764925
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016201755A Active JP6568039B2 (ja) | 2016-10-13 | 2016-10-13 | 複数軸を有する工作機械におけるモータ制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10189131B2 (ja) |
JP (1) | JP6568039B2 (ja) |
CN (1) | CN107942770B (ja) |
DE (1) | DE102017123186B4 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6803261B2 (ja) * | 2017-02-24 | 2020-12-23 | オークマ株式会社 | 工作機械における動作制御方法 |
JP2022166340A (ja) * | 2019-10-01 | 2022-11-02 | パナソニックIpマネジメント株式会社 | モータ制御装置及びモータ制御システム |
CN111897289B (zh) * | 2020-08-05 | 2022-02-18 | 上海柏楚电子科技股份有限公司 | 电机驱动机构的力矩信息处理方法、装置、设备与介质 |
EP4124918A1 (de) * | 2021-07-30 | 2023-02-01 | Siemens Aktiengesellschaft | Verfahren zum betreiben einer werkzeug- und/oder produktionsmaschine |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05138500A (ja) * | 1991-11-15 | 1993-06-01 | Yokogawa Electric Corp | ドリル加工装置 |
JPH08314516A (ja) * | 1995-05-22 | 1996-11-29 | Fanuc Ltd | Cncの軸制御方式 |
JP3791573B2 (ja) | 1998-04-22 | 2006-06-28 | 株式会社ジェイテクト | 同期駆動装置 |
JP2003169497A (ja) * | 2001-12-03 | 2003-06-13 | Mitsubishi Heavy Ind Ltd | サーボドライブシステム、射出成型機、サーボモータ制御方法及び射出成型機の動作方法 |
JP4565312B2 (ja) * | 2003-12-11 | 2010-10-20 | 株式会社安川電機 | サーボ制御装置と非常停止方法 |
JP4098748B2 (ja) * | 2004-05-07 | 2008-06-11 | ファナック株式会社 | 緊急停止指令を出力する機能を有する数値制御装置 |
JP2006154998A (ja) * | 2004-11-26 | 2006-06-15 | Fanuc Ltd | 制御装置 |
JP5395720B2 (ja) | 2010-03-29 | 2014-01-22 | オークマ株式会社 | 停電時制御装置 |
JP5129362B2 (ja) * | 2011-03-31 | 2013-01-30 | ファナック株式会社 | 主軸駆動用モータの制御装置 |
WO2012176268A1 (ja) * | 2011-06-20 | 2012-12-27 | 三菱電機株式会社 | モータ制御装置 |
JP5612058B2 (ja) | 2012-11-09 | 2014-10-22 | ファナック株式会社 | 送り軸モータおよび主軸モータを有する工作機械の制御装置 |
JP5722400B2 (ja) * | 2013-08-22 | 2015-05-20 | ファナック株式会社 | 主軸を有する工作機械の制御装置 |
JP5815780B2 (ja) * | 2014-03-19 | 2015-11-17 | ファナック株式会社 | 異常負荷発生時加工面を保護できるモータ制御装置 |
-
2016
- 2016-10-13 JP JP2016201755A patent/JP6568039B2/ja active Active
-
2017
- 2017-10-06 DE DE102017123186.2A patent/DE102017123186B4/de active Active
- 2017-10-10 US US15/728,926 patent/US10189131B2/en active Active
- 2017-10-12 CN CN201710947879.4A patent/CN107942770B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US10189131B2 (en) | 2019-01-29 |
DE102017123186A1 (de) | 2018-04-19 |
CN107942770B (zh) | 2023-01-13 |
US20180104780A1 (en) | 2018-04-19 |
CN107942770A (zh) | 2018-04-20 |
JP2018063585A (ja) | 2018-04-19 |
DE102017123186B4 (de) | 2021-09-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6568039B2 (ja) | 複数軸を有する工作機械におけるモータ制御装置 | |
US8436570B2 (en) | Motor driving system, motor controller, and safety function expander | |
US8884571B2 (en) | Motor control apparatus which limits torque command according to input current or power | |
CN102205512B (zh) | 用于机床的控制装置 | |
EP3388906B1 (en) | Motor control system, motor controller, and method for setting safety function | |
US9377774B2 (en) | Controller for machine tool including main shafts | |
CN110174873B (zh) | 伺服控制装置 | |
US9248539B2 (en) | Motor control device for implementing power failure protection of machine tool | |
CN107562014B (zh) | 机床的控制装置 | |
CN112147507B (zh) | 一种基于闭环控制的电机抱闸状态检测方法及*** | |
US8502489B2 (en) | Motor control device | |
JP2014010546A (ja) | ブレーキ異常診断方法およびブレーキ異常診断装置 | |
JP7104613B2 (ja) | 工作機械の制御装置 | |
EP3809583B1 (en) | Cut-off circuit diagnostic device | |
US20170341240A1 (en) | Controller of transfer device | |
JP2014207735A (ja) | 停電対策を講じることができるモータ制御装置 | |
US20130193900A1 (en) | Motor drive control device for limiting output of motor | |
JP2004220384A (ja) | 自動機械の制御装置 | |
US10340835B2 (en) | Chip evacuation device driven by synchronous motor | |
US20190386594A1 (en) | Motor control apparatus driving one main axis switchingly by two motors | |
US11518033B2 (en) | Method and apparatus for safely limiting the motion of a motor | |
TW202418745A (zh) | 工具機 | |
Zahálka et al. | Assurance of functional safety in relation to ecodesign of machine tools | |
JP2010110080A (ja) | モータ制御装置 | |
JP2018169664A (ja) | 数値制御装置と制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20171018 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20181204 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20181130 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190201 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20190702 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190801 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6568039 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |