SE7512028L - Sett att programmera en manipulator samt programmerbar manipulator for settets genomforande - Google Patents
Sett att programmera en manipulator samt programmerbar manipulator for settets genomforandeInfo
- Publication number
- SE7512028L SE7512028L SE7512028A SE7512028A SE7512028L SE 7512028 L SE7512028 L SE 7512028L SE 7512028 A SE7512028 A SE 7512028A SE 7512028 A SE7512028 A SE 7512028A SE 7512028 L SE7512028 L SE 7512028L
- Authority
- SE
- Sweden
- Prior art keywords
- manipulator
- workpiece
- conveyor
- successively
- arm
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
-
- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34236—Multiplex for servos, actuators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34388—Detect correct moment, position, advanced, delayed, then next command
-
- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35238—Gray-code
-
- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35373—Data storage, buffer
-
- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35545—Serial to parallel conversion
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39472—Braced manipulator, for fine positioning hand is resting on table
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41156—Injection of vibration anti-stick, against static friction, dither, stiction
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41309—Hydraulic or pneumatic drive
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41474—Servo loop with absolute digital position sensor
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42186—Master slave, motion proportional to axis
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42268—Safety, excess in error
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45083—Manipulators, robot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45135—Welding
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Quality & Reliability (AREA)
- Manufacturing & Machinery (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
- Resistance Welding (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16301471A | 1971-07-15 | 1971-07-15 |
Publications (2)
Publication Number | Publication Date |
---|---|
SE7512028L true SE7512028L (sv) | 1975-10-28 |
SE429905B SE429905B (sv) | 1983-10-03 |
Family
ID=22588081
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE7209293A SE413585B (sv) | 1971-07-15 | 1972-07-14 | Programmerad manipulator kombinerad med en transportor |
SE7512028A SE429905B (sv) | 1971-07-15 | 1975-10-28 | Sett att programmera en manipulator |
SE7710679A SE427909B (sv) | 1971-07-15 | 1977-09-23 | Programmerad manipulator |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE7209293A SE413585B (sv) | 1971-07-15 | 1972-07-14 | Programmerad manipulator kombinerad med en transportor |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE7710679A SE427909B (sv) | 1971-07-15 | 1977-09-23 | Programmerad manipulator |
Country Status (8)
Country | Link |
---|---|
US (1) | US3744032A (sv) |
JP (1) | JPS5521362B1 (sv) |
CA (1) | CA972450A (sv) |
DE (1) | DE2234759C3 (sv) |
FR (1) | FR2145708B1 (sv) |
GB (1) | GB1405651A (sv) |
IT (1) | IT961436B (sv) |
SE (3) | SE413585B (sv) |
Families Citing this family (44)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1465293A (en) * | 1973-06-15 | 1977-02-23 | Hitachi Ltd | Automatic working machine |
US3888361A (en) * | 1974-05-15 | 1975-06-10 | Unimation Inc | Programmed manipulator arrangement for continuously moving conveyor |
US3958740A (en) * | 1974-07-08 | 1976-05-25 | Dixon Automation, Inc. | Automatic component assembly machine and method relating thereto |
US4011437A (en) * | 1975-09-12 | 1977-03-08 | Cincinnati Milacron, Inc. | Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece |
USRE30016E (en) * | 1975-09-12 | 1979-05-29 | Cincinnati Milacron Inc. | Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece |
US4086522A (en) * | 1976-09-08 | 1978-04-25 | Unimation, Inc. | Computer assisted teaching arrangement for conveyor line operation |
US4162387A (en) * | 1977-03-14 | 1979-07-24 | Ettore De Candia | Car body welding assembly system |
US4256947A (en) * | 1977-06-06 | 1981-03-17 | Ettore De Candia | Car body welding assembly system |
US4150326A (en) * | 1977-09-19 | 1979-04-17 | Unimation, Inc. | Trajectory correlation and error detection method and apparatus |
US4170751A (en) * | 1978-02-02 | 1979-10-09 | General Motors Corporation | Electronic control for a mechanized spray painting system |
US4447697A (en) * | 1978-03-28 | 1984-05-08 | Unimation, Inc. | Weld gun repositioning system for programmable manipulator |
DE3014429A1 (de) * | 1980-04-15 | 1981-10-22 | Nixdorf Computer Ag, 4790 Paderborn | Bolzenschweissvorrichtung |
JPS57113107A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
JPS57113117A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
JPS58119474A (ja) * | 1982-01-09 | 1983-07-15 | Honda Motor Co Ltd | 自動車車体の増打溶接装置 |
US4581893A (en) * | 1982-04-19 | 1986-04-15 | Unimation, Inc. | Manipulator apparatus with energy efficient control |
CA1204192A (en) * | 1982-04-30 | 1986-05-06 | Norman H. Vogt | Method and apparatus for processing similar workpieces of varying shape, points of contour and dimension |
JPS58206389A (ja) * | 1982-05-28 | 1983-12-01 | 日産自動車株式会社 | ロボツトの制御装置 |
GB2124407A (en) * | 1982-06-03 | 1984-02-15 | Zed Instr Ltd | Control of hydraulic booms |
SE452719B (sv) * | 1982-06-29 | 1987-12-14 | Asea Ab | Industrirobot |
JPS61111863A (ja) * | 1984-11-05 | 1986-05-29 | Nissan Motor Co Ltd | ロボットによる組立装置 |
JPS62185711U (sv) * | 1986-05-15 | 1987-11-26 | ||
JPS63207580A (ja) * | 1987-02-20 | 1988-08-26 | フアナツク株式会社 | ロボツト用教示操作盤 |
DE3874248D1 (de) * | 1987-07-10 | 1992-10-08 | Gregory C Hirschmann | Lineareinheit fuer eine montage-einrichtung der handhabungstechnik. |
JPH0811379B2 (ja) * | 1988-06-20 | 1996-02-07 | 日産自動車株式会社 | 教示装置 |
JP2512099B2 (ja) * | 1988-08-24 | 1996-07-03 | 松下電器産業株式会社 | ロボットの動作教示方法および制御装置 |
FR2674780B1 (fr) * | 1991-04-08 | 1995-06-23 | Aro | Installation de commande d'un outillage comportant une pince commandee par un systeme de positionnement automatique. |
AU2087295A (en) * | 1995-03-15 | 1996-10-02 | Tovarishestvo S Ogranichennoi "Otvetstvennostju "Lapik" | Industrial module and a device for measuring movements relative to the said module |
EP0838049B1 (en) * | 1995-07-07 | 2001-09-19 | Ats Automation Tooling Systems Inc. | Multiplexing of pneumatic tooling |
US6027005A (en) * | 1997-02-12 | 2000-02-22 | Gentner; David G. | Method and apparatus for automatically welding frames |
JP3951079B2 (ja) * | 1998-09-14 | 2007-08-01 | 株式会社安川電機 | オフラインティーチング方法、オフラインティーチング装置および記録媒体 |
FR2806951B1 (fr) * | 2000-03-31 | 2002-06-14 | Aro | Dispositif de motorisation electrique pour pince d'outillage |
DE20216636U1 (de) * | 2002-10-28 | 2004-03-11 | Kuka Schweissanlagen Gmbh | Bearbeitungsanlage |
US8054752B2 (en) * | 2005-12-22 | 2011-11-08 | Intuitive Surgical Operations, Inc. | Synchronous data communication |
US8800482B2 (en) * | 2005-12-29 | 2014-08-12 | Exatec Llc | Apparatus and method of dispensing conductive material with active Z-axis control |
CN101352099B (zh) * | 2005-12-30 | 2013-04-17 | 罗杰·赫希 | 电阻焊接机的夹点安全传感器 |
DE102006053580A1 (de) * | 2006-03-10 | 2007-09-13 | Carl Zeiss Meditec Ag | System zur Behandlung oder Diagnose am Auge |
DE102006022637A1 (de) * | 2006-05-12 | 2007-11-15 | Mühlbauer Ag | Verfahren und Vorrichtung zum Anfahren einer vorbestimmten Position eines sich in einer Verfahrrichtung bewegenden Trägerbandes |
KR20100098552A (ko) | 2007-12-31 | 2010-09-07 | 엑사테크 엘.엘.씨. | 3차원 물체를 인쇄하기 위한 장치 및 방법 |
JP4443615B2 (ja) * | 2008-02-27 | 2010-03-31 | トヨタ自動車株式会社 | パワーアシスト装置及びその制御方法 |
US9227322B2 (en) * | 2012-11-30 | 2016-01-05 | Fanuc Robotics America Corporation | Multi-arm robotic painting process synchronization |
JP6393134B2 (ja) * | 2014-09-24 | 2018-09-19 | 日精エー・エス・ビー機械株式会社 | プリフォーム搬送装置及びその方法並びにブロー成形装置 |
KR102359925B1 (ko) * | 2017-07-12 | 2022-02-07 | 현대자동차 주식회사 | 자동차 조립라인의 차체 트랙킹 장치 및 방법 |
FR3090456B1 (fr) * | 2018-12-19 | 2020-11-27 | Sidel Participations | Ligne de production de récipients controlée par un dispositif de détermination de position |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2988237A (en) * | 1954-12-10 | 1961-06-13 | Jr George C Devol | Programmed article transfer |
US3291971A (en) * | 1963-02-25 | 1966-12-13 | Unimation Inc | Control system |
CH422951A (fr) * | 1964-07-01 | 1966-10-31 | Genevoise Instr Physique | Dispositif électronique de commande des déplacements d'un organe mobile |
US3543910A (en) * | 1968-07-30 | 1970-12-01 | George C Devol | Work-head automatic motions controls |
US3654613A (en) * | 1970-02-11 | 1972-04-04 | Unimation Inc | Programmed manipulator apparatus with artificial end-of-program facilities |
US3654616A (en) * | 1970-06-29 | 1972-04-04 | Unimation Inc | Program selection arrangement for manipulator apparatus |
-
1971
- 1971-07-15 US US00163014A patent/US3744032A/en not_active Expired - Lifetime
-
1972
- 1972-07-13 FR FR7225565A patent/FR2145708B1/fr not_active Expired
- 1972-07-14 IT IT51564/72A patent/IT961436B/it active
- 1972-07-14 SE SE7209293A patent/SE413585B/sv unknown
- 1972-07-14 CA CA147,203A patent/CA972450A/en not_active Expired
- 1972-07-14 DE DE2234759A patent/DE2234759C3/de not_active Expired
- 1972-07-14 GB GB3318472A patent/GB1405651A/en not_active Expired
- 1972-07-15 JP JP7118272A patent/JPS5521362B1/ja active Pending
-
1975
- 1975-10-28 SE SE7512028A patent/SE429905B/sv not_active IP Right Cessation
-
1977
- 1977-09-23 SE SE7710679A patent/SE427909B/sv not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
CA972450A (en) | 1975-08-05 |
SE413585B (sv) | 1980-06-09 |
US3744032A (en) | 1973-07-03 |
JPS5521362B1 (sv) | 1980-06-09 |
DE2234759A1 (de) | 1973-02-01 |
DE2234759B2 (de) | 1979-06-28 |
GB1405651A (en) | 1975-09-10 |
SE427909B (sv) | 1983-05-24 |
SE7710679L (sv) | 1977-09-23 |
IT961436B (it) | 1973-12-10 |
SE429905B (sv) | 1983-10-03 |
DE2234759C3 (de) | 1980-02-21 |
FR2145708B1 (sv) | 1976-08-06 |
FR2145708A1 (sv) | 1973-02-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
SE7512028L (sv) | Sett att programmera en manipulator samt programmerbar manipulator for settets genomforande | |
SE7710013L (sv) | Programmerbar manipulator | |
SE8007641L (sv) | Anordning for framstellning och handhavande av arbetsstycken | |
SE7710493L (sv) | Anordning for tillverkning av forpackningsbehallare | |
SE8305517D0 (sv) | Programmerbar manipulator | |
SE8205641L (sv) | Anordning for att automatiskt styra en robotarm | |
ATA417075A (de) | Verschleissteile, insbesondere fur schieberverschlusse an metallschmelze enthaltenden behaltern | |
AT267662B (de) | Anordnung zur Positionssteuerung eines beweglichen Teils einer Werkzeugmaschine od.dgl. | |
GB1228235A (sv) | ||
CH447984A (de) | Verfahren zum Herstellen eines Scheinwerfers und nach dem Verfahren hergestellter Scheinwerfer | |
GB1250086A (sv) | ||
IT1020448B (it) | Dispositivo di controllo di posi zione per organi rotanti passo passo | |
AT324850B (de) | Vorrichtung zum steuern unterschiedlicher bewegungsvorgänge eines beweglichen teiles, insbesondere eines schiebedaches von fahrzeugen | |
IT1013406B (it) | Metodo di lavorazione per fabbrica re guanti lavorati a maglia | |
ES395143A1 (es) | Una maquina automatica para manipular tapas en botellas de gas comprimido o licuado. | |
AT340830B (de) | Vorrichtung zum versetzen von gegenstanden mit einem greifer | |
GB777826A (en) | Improvements in spraying apparatus | |
ES325816A1 (es) | Mejoras en las plantas de soplado para la fabricacion de acero. | |
AT319060B (de) | Vorrichtung zum Steuern unterschiedlicher Bewegungsvorgänge von verschiebbaren Teilen von Fahrzeugkarosserien | |
GB1066169A (en) | Improvements in or relating to conveying machines | |
CA985770A (en) | Stationary base programmed manipulator arrangement for continuously moving workpiece | |
ES395787A1 (es) | Procedimiento y dispositivo para apilar piezas de trabajo. | |
SU564057A1 (ru) | Устройство дл шаговой подачи изделий | |
FR2287307A1 (fr) | Machine transfert | |
CH521482A (de) | Fahrbare Maschine zum Seitwärtsverschieben eines Gleises |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
NUG | Patent has lapsed |
Ref document number: 7512028-7 Effective date: 19880620 Format of ref document f/p: F |