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EP0076780A1 - Verfahren zur Reduzierung des Verbrauchs eines Schrittmotors und Vorrichtung zur Durchführung dieses Verfahrens - Google Patents

Verfahren zur Reduzierung des Verbrauchs eines Schrittmotors und Vorrichtung zur Durchführung dieses Verfahrens Download PDF

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Publication number
EP0076780A1
EP0076780A1 EP82810396A EP82810396A EP0076780A1 EP 0076780 A1 EP0076780 A1 EP 0076780A1 EP 82810396 A EP82810396 A EP 82810396A EP 82810396 A EP82810396 A EP 82810396A EP 0076780 A1 EP0076780 A1 EP 0076780A1
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EP
European Patent Office
Prior art keywords
voltage
winding
difference
value
instant
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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.)
Granted
Application number
EP82810396A
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English (en)
French (fr)
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EP0076780B1 (de
Inventor
Luciano Antognini
Hans-Jürgen Rémus
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Asulab AG
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Asulab AG
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Publication of EP0076780A1 publication Critical patent/EP0076780A1/de
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Expired legal-status Critical Current

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    • G—PHYSICS
    • G04—HOROLOGY
    • G04C—ELECTROMECHANICAL CLOCKS OR WATCHES
    • G04C3/00—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means
    • G04C3/14—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means incorporating a stepping motor
    • G04C3/143—Means to reduce power consumption by reducing pulse width or amplitude and related problems, e.g. detection of unwanted or missing step

Definitions

  • the present invention relates to a method for reducing the consumption of a stepping motor by automatically adapting the duration of each driving pulse supplied to this motor to the load which the latter must drive.
  • the invention also relates to a device for controlling a stepping motor of a timepiece, this device implementing the aforementioned method.
  • French Patent No. 2,200,675 proposes to measure the load which the motor must drive, by permanently measuring the current flowing in the winding of the motor during the application to this winding of a driving pulse and in interrupting said driving pulse when this current passes through a minimum.
  • the object of the present invention is to provide a reliable and safe method suitable for all types of engine and making it possible to adapt the length of the driving impulse at the load which the motor must drive.
  • the method according to the invention consists in carrying out during each driving pulse several elementary interruption periods during which the power source is disconnected from the winding, and in determining the mechanical load driven by the motor by measuring during the periods of interruption a quantity representative of the variation of the induced voltage of movement, that is to say of the voltage induced in the winding of the motor by the movement of the rotor.
  • the voltage U. induced in the winding of the motor by the rotation of the rotor is a function of the speed of this rotor, and its evolution as a function of time depends on the load which the motor must drive. It is therefore possible to determine this load by measuring the evolution of the movement induced voltage since the start of the driving pulse.
  • this induced voltage U i increases, reaches a maximum and then decreases differently depending on whether the load on the motor is low or large. In the first case, this induced voltage increases and decreases at times closer to the start of the motor impulse than in the second case.
  • Figure 1 shows the equivalent diagram of a stepping motor.
  • the motor winding is represented by a winding 1 of inductivity L and zero resistance, and by a resistance 2 of value R equal to the resistance of the motor winding.
  • a rotor 1a symbolized by its bipolar permanent magnet, is magnetically coupled to the winding 1,2 by a stator not shown.
  • the induced movement voltage that is to say that which is induced in the winding of the motor by the rotation of the rotor, is symbolized in FIG. 1 by the voltage source 3. The value of this induced voltage is designated published..
  • the power source of the motor is represented by a source 4 of zero internal resistance and of electromotive force V and by a resistance 5 of value R * equal to the internal resistance of the real source used to power the motor.
  • the motor control circuit is symbolized by a first switch 6 serving to onnect and disconnect the source 4, 5 of the winding 1, 2 of the notor, and by a second switch 7 used to put this winding in short circuit or to remove this short circuit.
  • equation (2) can be written: or :
  • This equation (3) shows that the voltage U i induced in the winding of the motor by the rotation of the rotor can be determined at each interruption period, that is to say at each period during which the source d power supply is disconnected from the winding and the latter is short-circuited, by measuring the values I a and I b of the current at the start and at the end of each of the interruption periods, the quantities R, Tl and ⁇ being known.
  • This difference is then compared to the value ⁇ , and a signal is produced when this comparison shows that ( ⁇ ⁇ I a - I b ) ⁇ ⁇ .
  • This signal indicates that the voltage U i has become equal to or greater than the threshold voltage U is , and therefore that the instant t 1 has been reached or exceeded.
  • the various currents Ia, I b and i are measured by the value of the voltages U a , U b and u which they produce respectively by passing through a measurement resistor connected in series with motor winding during periods of interruption of the driving impulse. It is obvious that the various calculations described above are then carried out on the voltages which represent these currents and which are proportional to them.
  • the factor ⁇ is then replaced by a factor where R is the value of the measurement resistance.
  • Equation (3) above becomes under these conditions:
  • the timepiece shown by way of example in FIG. 2 comprises a circuit 8 generating a time standard signal H, having a frequency equal, for example, to 16,384 Hz.
  • the circuit 8 is formed by a quartz oscillator and a first divider by two stage, and its output is connected to the input of a divider circuit 9 developing, from the time standard signal H various periodic signals including in particular a signal I of frequency equal to 1/2 Hz, a signal J of frequency equal to 1 Hz and a signal K of frequency equal to 64 Hz.
  • the timepiece of FIG. 2 further comprises a pulse-forming circuit 15, the output of which delivers a signal, designated by Z, formed of a series of pulses which pass to state "1" each time that the signal J itself passes to the state "1", that is to say every second (see FIG. 2a).
  • the pulses of the signal Z return to the state "0" in response to a signal N delivered by a calculation circuit 26 which will be described later. The instant when this signal N appears therefore determines the duration of the pulses of the signal Z.
  • the pulse forming circuit 15 also delivers an auxiliary signal designated by 0 formed by pulses which pass to state "1" at the same time as the Z pulses but which have a fixed duration of, for example, 7.8 milliseconds .
  • a drive circuit 12 delivers a driving pulse to the winding lla of the motor 11.
  • the voltage measured at the terminals of this winding lIa is designated by U m at the Figure 2a.
  • the energy supplied to the winding 11a during each driving pulse is delivered by a power source 10.
  • the polarity of the driving pulses is determined by the logic state of the signal I, which alternately takes the state “0” and the state "1" for 1 second.
  • the drive circuit 12 is further arranged so that the driving pulses are chopped in response to a signal M formed of pulses having a high frequency.
  • the drive circuit 12 interrupts the connection between the power source 10 and the winding 11a, and puts the latter in short-circuit.
  • the circuit 12 delivers on an output 12a a voltage proportional to the current flowing in the winding 11a. This voltage is used by a measurement circuit 16, an example of which will be described later, to determine the instant t 1 when the voltage U. induced in the winding lla by the rotation of the rotor reaches the reference value Uis.
  • this measurement circuit 16 delivers at its output 16 a signal P, which is in turn used by the calculation circuit 26 to supply the signal N at time t 2 .
  • This calculation circuit 26, is arranged so that the instant t 2 is separated from the start of the driving pulse by a time equal to ( ⁇ ⁇ T d + ⁇ ), where ⁇ and ⁇ are the experimentally determined constants mentioned above. This time is therefore equal to the optimal duration of the motor pulse. As the signal N returns the signal Z to the state "0", this signal Z, and therefore the driving pulse, have a duration equal to this optimal duration.
  • the signal M is supplied by a circuit 13, an example of which will be described later.
  • the duration of each pulse of this signal M and the duration of the time between these pulses are determined by the content of a memory 14.
  • FIG. 3 represents the diagram of an example of a first embodiment of the circuit 16 for measuring the induced voltage U i of the device represented in FIG. 2.
  • This circuit 16 comprises an input 16a which receives the voltage from circuit 12 proportional to the current flowing in the winding lla, a capacitor 18, one armature of which is connected to ground 19 and the other armature 18a of which is connected to the input 16a by a transmission gate 20 as well as to the non-input -inverting an operational amplifier 21 whose output is connected directly to its inverting input.
  • the control electrode of door 20 is connected to the output Q of a flip-flop of type T 22 whose clock input T receives the signal M via input 16c and whose input of reset R receives signal H via input 16d.
  • a calculation circuit 23 comprises a voltage divider formed by two resistors 231 and 232 connected in series between the output of the amplifier 21 and the ground, and a differential amplifier 233 whose non-inverting input is connected to the connection point resistors 231 and 232.
  • the circuit 23 further comprises two resistors 234 and 235 connected in series between the output of the amplifier 233 and a voltage generator 24. The inverting input of the amplifier 233 is connected to the connection point resistors 234 and 235.
  • the output of amplifier 233 is connected to the non-inverting input of another differential amplifier 25, the inverting input of which is connected to terminal 16a via a transmission gate 20a.
  • the control electrode of this door 20a is connected to the output Q of a flip-flop 22a of type T whose clock input T receives the signal M via an inverter 22b and whose input R receives the signal H.
  • the output of the amplifier 25 constitutes the output 16e of the measurement circuit 16.
  • the resistors 234 and 235, as well as the voltage supplied by the generator 24 are chosen so that the output of the amplifier 233 delivers a voltage equal to ( ⁇ ⁇ U a - ⁇ '), where as above.
  • the signal M goes to the state "0", and the output Q of the flip-flop 22a goes to the state "1" for about 30 microseconds.
  • the voltage U b proportional to current I b which flows in the winding lla at this instant is therefore applied to the inverting input of the amplifier 25 which compares it to the voltage ( ⁇ ⁇ U a - ⁇ ') present at the output of the amplifier 233 As long as this voltage U b is greater than this voltage ( ⁇ ⁇ U a - ⁇ '), the output of the amplifier 25 remains in the state "0".
  • the output of the amplifier 25 delivers the signal P while passing to the state "1", which indicates that the induced voltage U. in the winding by the rotation of the rotor has exceeded the threshold voltage U is .
  • This passage of the output of the amplifier 25 to the state "1" marks the instant t l .
  • FIG. 3a represents the diagram of a second embodiment of the circuit 16 for measuring the induced voltage U .
  • the elements 18, 20, 20a, 21, 22, 22a, 22b, 24, 231 and 232 of this circuit are identical to the elements designated by the same references in FIG. 3 and function in the same way.
  • the signal ⁇ ⁇ U a present at the connection point of resistors 231 and 232 is applied to the non-inverting input of an amplifier 233 '.
  • Two resistors 234 'and 235' are connected in series between the gate 20a and the output of the amplifier 233 '.
  • the connection point of these two resistors is connected to the inverting input of the amplifier 233 '.
  • the output of the amplifier 233 ' is connected to the non-inverting input of an amplifier 25' whose inverting input is connected to the output of the voltage generator 24.
  • the output of the amplifier 25 ' constitutes in this case the output 16th of the measurement circuit 16.
  • the resistors 234 'and 235' are chosen so that the output of the amplifier 233 'delivers a voltage equal to ( ⁇ ⁇ U a -U b ).
  • the gate 20a, the flip-flop 22a and the inverter 22b can be deleted from the diagrams of FIGS. 3 and 3a, the input 16a of the circuit 16 then being connected directly to the inverting input of the amplifier 25, respectively to the resistor 235 '.
  • the calculations and comparisons are therefore made continuously on the voltage u produced in the measurement resistor by the current i which flows in the winding lla after the start of the interruption period.
  • the signal P is then delivered as soon as the voltage u becomes lower than the voltage ( ⁇ ⁇ U a - ⁇ '), respectively as soon as the voltage ( ⁇ ⁇ U a -u) becomes higher than the voltage ⁇ '.
  • FIG. 4 represents an exemplary embodiment of the computer circuit 26 of FIG. 2.
  • the circuit 26 comprises a reversible preselection counter 27 having preselection terminals P1, P2, P3 and P4 connected respectively to the output terminals, M2, M3 and M4 of a read-only memory 28.
  • the counter 27 includes a preselection control input PE receiving the signal 0 via an inverter 29.
  • the clock input CL of the counter 27 is connected to the output of a NAND gate 30 having two inputs each connected to the output of a NAND gate 31, respectively 32.
  • the circuit 26 further comprises a circuit divider 33 providing two signals Q1 and Q2 of respective frequencies fl and f2, in response to signal H.
  • Signal Q1 is applied to one of the inputs of gate 31 while signal Q2 is applied to one of the inputs of gate 32.
  • a second input of gate 31 is connected to the output Q of a flip-flop of type T 34 whose clock input T is connected to the input terminal 26a of circuit 26.
  • a second input of the gate 32 is connected to the output Q of the flip-flop 34.
  • the counting direction control input U / D of the counter 27 is connected to the Q output of the flip-flop 34.
  • the counter 27 also includes a coincidence output C, the state of which changes to "1" for a short time when the content of the counter reaches the value zero.
  • This output C is connected to the clock input T of a flip-flop of type T 35 whose output Q constitutes the output 26b of the circuit 26, and whose reset input R is connected to the output Q d 'a type T flip-flop 101.
  • the latter flip-flop receives the signal 0 on its clock input T and the signal H on its reset input R.
  • the output C of the counter 27 is also connected to the reset input at zero R of flip-flop 34.
  • FIG. 4a illustrates the operation of the circuit 26 shown in FIG. 4.
  • the signal 0 is in the state "0", and the input PE of the counter 27 is in the state "1".
  • This counter 27 is therefore blocked in the state where its content corresponds to the content of the memory 28, which is designated by No.
  • the signal 0 goes to "1", putting in state "0” the input PE of the counter 27 which is thus released and begins to count in the normal direction the pulses coming from the door 30, from this state No.
  • This counting is carried out at the frequency fl.
  • the Q output of flip-flop 35 is reset to state "0" at the start of each driving pulse by the state "1" which appears at output Q of flip-flop 101 in response to signal 0.
  • This state "1" is deleted after approximately 30 microseconds, when signal H changes to state "1".
  • FIG. 4a shows that the time T which elapses between the start t o of the driving pulse and the appearance, at time t 2 of the signal N at the output 26b of the circuit 26 is linked to the time T d which flows between the instants t o and t l by the relation: in which fl and f2 are the frequencies of the signals supplied by the outputs Q1 and Q2 of the divider 33 and No is the number contained in memory 28, and therefore the number contained by counter 27 at time t a .
  • FIG. 5 represents an example of a diagram of the circuits 12 and 15 of FIG. 2.
  • the circuit 15 is formed in this example of two flip-flops of type T whose clock inputs T both receive the signal J delivered by the divider of frequency 9 of FIG. 2 at a frequency of 1 Hz.
  • the reset input R of flip-flop 38 receives the signal K, also supplied by the frequency divider 9, at a frequency of 64 Hz.
  • the output Q of this flip-flop 38 therefore goes to state "1" every second when the signal J goes to state "1", and goes back to state "0" about 7.8 milliseconds later, when signal K in turn goes to state "1".
  • This output Q of flip-flop 38 therefore supplies the signal 0.
  • the reset input R of flip-flop 39 receives the signal N from the calculation circuit 26 of FIG. 2.
  • the output Q of this flip-flop 39 therefore also goes to state “1” when the signal J goes to l 'state "1", and returns to state "0" when the circuit 26 delivers the signal N at the instant t 2 determined in the manner described above.
  • This output Q of the flip-flop 39 therefore supplies the signal Z which has a duration equal to the optimum duration of the driving pulse.
  • the circuit 12 of FIG. 2 comprises, in this example, a combinatorial circuit 43 formed of four AND gates 431 to 434, of two OR doors 435 and 436 and two reversers 437 and 438.
  • the winding lla of the motor is connected in a circuit formed by four transmission doors 44 to 47 conventionally connected between the + V terminal of the power source 10 and the mass.
  • Two other transmission doors 48 and 49 each connect one of the terminals of the winding 11a to a first terminal of a resistor 17, the second terminal of which is connected to ground.
  • the first terminal of this resistor 17 is also connected to the input 16a of the circuit 16 of FIG. 2.
  • This resistor 17 constitutes the measurement resistance mentioned previously.
  • FIG. 6 shows by way of example the diagram of an embodiment of the circuits 13 and 14 of the device of FIG. 2.
  • the circuit 13 comprises two reversible preset counters 131 and 132.
  • the U / D inputs for controlling the counting direction of these counters 131 and 132 are permanently in the "1" state. These counters 131 and 132 therefore operate as down counters.
  • Their preselection terminals, designated together by Pi are respectively connected to the outputs, designated together by Si, of two memories 141 and 142 which form the memory 14 of the circuit of FIG. 2. These memories 141 and 142 can be, for example, dead memories.
  • the clock inputs CL of the counters 131 and 132 are both connected to the output of the generator 8 (FIG. 2) which delivers the signal H.
  • the counters 131 and 132 each have a coincidence output C which delivers a short pulse each time their content becomes zero. These coincidence outputs C are connected to the inputs of an OR gate 133 whose output is connected to the clock input T of a flip-flop 134 of type T.
  • the output Q of this flip-flop 134 is connected to the input PE preselection control of the counter 131 and, via an inverter 135, to the PE preselection input of the counter 132.
  • This output Q of the flip-flop 134 is also connected to the output 13a of the circuit 13.
  • the input PE of the counter 131 is on the other hand in the state "0", and this counter 131 counts the pulses of the signal H.
  • its output C delivers a pulse which is transmitted by the gate 133 at the input T of the flip-flop 134.
  • the output Q of the latter, and the input PE of the counter 131 therefore pass to the state "1".
  • the content of this counter 131 therefore takes a state corresponding to the content of the memory 141, and this counter 131 hangs in this state, which is designated by N 141 in FIG. 6a.
  • the PE input of the counter 132 changes to the "0" state.
  • This counter 132 begins to count down the pulses of the signal H.
  • its output C delivers a pulse which is transmitted by the gate 133 to the input T of flip-flop 134.
  • the output Q of the latter returns to the state "0", and the process described above begins again.
  • the output Q of the flip-flop 134 which delivers the signal M, therefore switches alternately to the state "0" and to the state "1" for durations which depend on the frequency of the signal H and on the content of the memories 141, respectively 142.
  • the duration of the periods of interruption of the driving pulses which is equal to the duration during which the signal M is in the state "1"
  • the duration of the elementary pulses which separate these periods of interruption which is equal to the duration during which the signal M is in the state "0”
  • the manner in which these durations are determined is arbitrary. They can be fixed or vary, in a manner which will not be described here, as a function of parameters such as the voltage of the power source 10, or the mechanical load driven by the motor, or any other parameter.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Stepping Motors (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Valve Device For Special Equipments (AREA)
  • Vehicle Body Suspensions (AREA)
  • Electromechanical Clocks (AREA)
EP82810396A 1981-10-02 1982-09-23 Verfahren zur Reduzierung des Verbrauchs eines Schrittmotors und Vorrichtung zur Durchführung dieses Verfahrens Expired EP0076780B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH634081A CH646575GA3 (de) 1981-10-02 1981-10-02
CH6340/81 1981-10-02

Publications (2)

Publication Number Publication Date
EP0076780A1 true EP0076780A1 (de) 1983-04-13
EP0076780B1 EP0076780B1 (de) 1985-12-27

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ID=4308021

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EP82810396A Expired EP0076780B1 (de) 1981-10-02 1982-09-23 Verfahren zur Reduzierung des Verbrauchs eines Schrittmotors und Vorrichtung zur Durchführung dieses Verfahrens

Country Status (5)

Country Link
US (1) US4468602A (de)
EP (1) EP0076780B1 (de)
JP (1) JPS5869500A (de)
CH (1) CH646575GA3 (de)
DE (1) DE3268162D1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0253153A1 (de) * 1986-07-02 1988-01-20 Asulab S.A. Verfahren und Vorrichtung zur Kontrolle eines Schrittmotors
EP0462241A4 (en) * 1990-01-11 1993-05-05 Baxter International Inc. Peristaltic pump motor drive

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0729513Y2 (ja) * 1988-04-06 1995-07-05 セイコーエプソン株式会社 電子時計用回路
US5255247A (en) * 1988-04-06 1993-10-19 Seiko Epson Corporation Electronic timepiece including integrated circuitry
US5253229A (en) * 1988-04-06 1993-10-12 Seiko Epson Corporation Electronic timepiece including integrated circuitry
US5247235A (en) * 1988-06-01 1993-09-21 Detra Sa Method of supplying power to a single phase step motor
JPH0332396A (ja) * 1989-06-28 1991-02-12 Sharp Corp ステッピングモータ駆動装置

Citations (6)

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Publication number Priority date Publication date Assignee Title
GB2006995A (en) * 1977-09-26 1979-05-10 Citizen Watch Co Ltd Drive system for pulse motor
FR2413663A1 (fr) * 1977-12-28 1979-07-27 Ebauches Sa Piece d'horlogerie electronique avec systeme de detection de vie des piles
FR2458939A1 (fr) * 1979-06-11 1981-01-02 Seiko Instr & Electronics Montre electronique
DE2944872B1 (de) * 1979-11-07 1981-03-26 Gebrüder Junghans GmbH, 78713 Schramberg Anordnung zur Steuerung eines Schrittmotors fuer batteriebetriebene Geraete
GB2064898A (en) * 1979-12-06 1981-06-17 Ebauches Sa A drive arrangement for a stepping motor
EP0060806A1 (de) * 1981-03-18 1982-09-22 Asulab S.A. Verfahren zur Reduzierung der Leistungsaufnahme eines Schrittmotors und Vorrichtung zur Durchführung dieses Verfahrens

Family Cites Families (6)

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Publication number Priority date Publication date Assignee Title
JPS52154014A (en) * 1976-06-18 1977-12-21 Hitachi Ltd Driver circuit for pulse motor
CH635973B (fr) * 1977-01-19 Suwa Seikosha Kk Circuit de commande pour un transducteur electromecanique d'une montre, notamment d'une montre-bracelet electronique.
JPS5475519A (en) * 1977-11-30 1979-06-16 Seiko Instr & Electronics Ltd Operation detecting circuit of step motor
DE2758853C2 (de) * 1977-12-30 1979-08-16 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut Vorrichtung zum Messen der Abmessung, z.B. Breite eines Körpers
JPS5619473A (en) * 1979-07-27 1981-02-24 Citizen Watch Co Ltd Electronic timepiece
JPS5643575A (en) * 1979-09-18 1981-04-22 Seiko Instr & Electronics Ltd Electronic clock

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2006995A (en) * 1977-09-26 1979-05-10 Citizen Watch Co Ltd Drive system for pulse motor
FR2413663A1 (fr) * 1977-12-28 1979-07-27 Ebauches Sa Piece d'horlogerie electronique avec systeme de detection de vie des piles
FR2458939A1 (fr) * 1979-06-11 1981-01-02 Seiko Instr & Electronics Montre electronique
DE2944872B1 (de) * 1979-11-07 1981-03-26 Gebrüder Junghans GmbH, 78713 Schramberg Anordnung zur Steuerung eines Schrittmotors fuer batteriebetriebene Geraete
GB2064898A (en) * 1979-12-06 1981-06-17 Ebauches Sa A drive arrangement for a stepping motor
EP0060806A1 (de) * 1981-03-18 1982-09-22 Asulab S.A. Verfahren zur Reduzierung der Leistungsaufnahme eines Schrittmotors und Vorrichtung zur Durchführung dieses Verfahrens

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
IBM TECHNICAL DISCLOSURE BULLETIN, vol. 23, no. 4, septembre 1980, pages 1303-1304, New York (USA); *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0253153A1 (de) * 1986-07-02 1988-01-20 Asulab S.A. Verfahren und Vorrichtung zur Kontrolle eines Schrittmotors
EP0462241A4 (en) * 1990-01-11 1993-05-05 Baxter International Inc. Peristaltic pump motor drive

Also Published As

Publication number Publication date
EP0076780B1 (de) 1985-12-27
US4468602A (en) 1984-08-28
JPH0564038B2 (de) 1993-09-13
DE3268162D1 (en) 1986-02-06
CH646575GA3 (de) 1984-12-14
JPS5869500A (ja) 1983-04-25

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