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DE-102017203828-B4 - MACHINE AND METHOD FOR SYNCHRONOUS CONTROL OF MACHINE DRIVE DEVICES

DE102017203828B4DE 102017203828 B4DE102017203828 B4DE 102017203828B4DE-102017203828-B4

Abstract

Machine (1) with at least two drive units (14, 15, 24, 25), of which a first drive unit (14; 24) has a first position controller (141; 241) and a second drive unit (15; 25) has a second position controller (151; 251), for driving at least one element (17, 18, 19, 27, 28) into motion, wherein the first position controller (141; 241) is configured to control a position of the at least one element (17, 18, 19) with respect to a drive axis of the first drive unit (14; 24), and wherein the second position controller (151; 251) is configured to control a position of the at least one element (27, 28) with respect to a drive axis of the second drive unit (15; 25), and at least two control devices (11, 21), which have a first and a second control device (11, 21) and of which at least the second control device (21) is configured to control at least one of the at least two drive devices (14, 15, 24, 25) in such a way that the at least two drive devices (14, 15; 24, 25), by means of control with the aid of their position controller (141, 151; 241, 251), drive at least two elements (17, 18, 19; 27, 28) into a motion that is at least temporarily synchronous, wherein the at least two control devices (11, 21) each have a first interface (111; 211) designed to receive data according to a first communication protocol, wherein at least the second control unit (21) is connected to a time master (30) via its first interface (111), wherein the data according to the first communication protocol include time information from the time master (30) for time synchronization of the at least two control units (11, 21), wherein the at least two control units (11, 21) each have a second interface (112; 212) which is designed for communication with at least one of the two drive units (14, 15; 24, 25) according to a second communication protocol, wherein the at least two control devices (11, 21) are configured to have their system time (31) via the first interface (111; 211) to synchronize based on the time information of the data, wherein the first interface (111) of the first control unit (11) is configured to generate a first cyclic clock signal (112A; 212A) from the system time (31), and the first interface (211) of the second control unit (21) is configured to generate a second cyclic clock signal (212A) from the system time (31), such that the first clock signal (112A) in the first control unit (11) is started at the same system time time as the second clock signal (212A) in the second control unit (21), and wherein the at least two control devices (11, 21) are each configured to transmit the cyclic clock signal (112A; 212A) generated from the system time (31) by their first interface (111; 211) to their second interface (112; 212) in order to drive the at least two elements (17, 18, 19, 27, 28) into a movement that is at least temporarily synchronous by controlling at least one of the at least two drive devices (14, 15, 24, 25).

Inventors

  • Hans-Jürgen Preu
  • Christian Kaufmann
  • Christophe Bizimana
  • Julian Hartmann
  • Jürgen Lorasch
  • Mathias Huebner

Assignees

  • ROBERT BOSCH GMBH

Dates

Publication Date
20260513
Application Date
20170308

Claims (10)

  1. Machine (1) with at least two drive units (14, 15, 24, 25), of which a first drive unit (14; 24) has a first position controller (141; 241) and a second drive unit (15; 25) has a second position controller (151; 251), for driving at least one element (17, 18, 19, 27, 28) into motion, wherein the first position controller (141; 241) is configured to control a position of the at least one element (17, 18, 19) with respect to a drive axis of the first drive unit (14; 24), and wherein the second position controller (151; 251) is configured to control a position of the at least one element (27, 28) with respect to a drive axis of the second drive unit (15; 25), and at least two control units (11, 21) which a first and a second control unit (11, 21) and of which at least the second control unit (21) is configured to control at least one of the at least two drive units (14, 15, 24, 25) such that the at least two drive units (14, 15; 24, 25), by means of their position controller (141, 151; 241, 251), drive at least two elements (17, 18, 19; 27, 28) into a motion that is at least temporarily synchronous, wherein the at least two control units (11, 21) each have a first interface (111; 211) configured to receive data according to a first communication protocol, wherein at least the second control unit (21) with its first interface (111) is connected to a time master (30), wherein the data according to the first communication protocol includes time information from the time master (30) for time synchronization of the at least two control units (11, 21), wherein the at least two control units (11, 21) each have a second interface (112; 212) configured for communication with at least one of the two drive units (14, 15; 24, 25) according to a second communication protocol, wherein the at least two control units (11, 21) are configured to synchronize their system time (31) via the first interface (111; 211) based on the time information of the data, wherein the first interface (111) of the first control unit (11) is configured to generate a first cyclic clock signal (112A; 212A) from the system time (31), and the first interface (211) of the second control unit (21) is configured to generate a second cyclic clock signal (212A) from the system time (31) such that the first clock signal (112A) in the first control unit (11) is started at the same system time time as the second clock signal (212A) in the second control unit (21), and wherein the at least two control units (11, 21) are each configured to transfer the cyclic clock signal (112A; 212A) generated from the system time (31) by their first interface (111; 211) to their second interface (112; 212) in order to drive the at least two elements (17, 18, 19, 27, 28) into a motion that is at least temporarily synchronous by controlling at least one of the at least two drive units (14, 15, 24, 25).
  2. Machine (1) according to Claim 1 , where a start time of the cyclic clock signal (112A; 212A) is a start time in the future related to the system time (31).
  3. Machine (1) according to Claim 1 , wherein the first interface (111; 211) is designed to define the phase of the cyclic clock signal (112A; 212A) with a fixed start time in the past.
  4. Machine (1) according to Claim 3 , whereby the fixed starting time in the past is 01.01.1970 at 00:00.
  5. Machine (1) according to one of the preceding claims, whereby the time master (30) is one of the at least two control devices (11; 21), and/or whereby the time master (30) is a motion control device or a CNC control device (30).
  6. Machine (1) according to one of the preceding claims, wherein each of the at least two control units (11, 21) is configured to exchange user data with the at least one further control unit (11; 21) via the first interface (111; 211).
  7. Machine (1) according to Claim 6 , wherein the payload data are target values (115A; 115B) or actual values (113A; 213A), and/or wherein the payload data has a timestamp in system time format, where the timestamp, in the case of a target value (115A; 115B) as payload data, is the validity time of the target value (115A; 115B).
  8. Machine (1) according to one of the preceding claims, where the first interface (111; 211) is a TSN interface, and where the second interface (112; 212) is a Sercos interface.
  9. Machine (1) according to one of the preceding claims, whereby the machine (1) is a printing press having at least two printing towers (10, 20), whereby the at least two printing towers (10, 20) each have a control device (11, 21) which is designed to control roller drive devices (14, 15, 24, 25) of the associated printing tower (10, 20) such that all rollers move angularly synchronously as movable elements (17, 18, 19, 27, 28) of the printing press for the transport of a printing medium (5).
  10. Method for the synchronous control of drive devices of a machine (1) comprising at least two drive devices (14, 15, 24, 25) for driving at least one element (17, 18, 19, 27, 28) into motion, and at least two control devices (11, 21) each having a first interface (111; 211) and of which at least one control device (11; 21) is configured to control at least one of the at least two drive devices (14, 15, 24, 25) such that the at least two drive devices (14, 15; 24, 25) drive at least two elements (17, 18, 19; 27, 28) into at least temporarily synchronous motion, wherein at least one of the at least two control devices (11, 21) has a second interface (112; 212), and wherein the method comprises the steps: Receiving (S1), with the first interface (111; 211), which is designed to receive data according to a first communication protocol, of data with time information from a time master (30) for time synchronization of at least two of the control units (11, 21), and generating (S2), with the first interface (111) of the first control unit (11), a first cyclic clock signal (112A) from the system time (31) and transfer of the first cyclic clock signal (112A; 212A) to the second interface (112) of the first control unit (11), wherein the second interface (112; 212) of each of the at least two control units (11, 12) is configured for communication with the at least two drive units (14, 15; 24, 25) according to a second communication protocol, and generation, with the first interface (211) of the second control unit (21), of a second cyclic clock signal (212A) from the system time (31) and transfer of the cyclic clock signal (112A; 212A) to the second interface (112; 212) of the second control unit (21), so that the first clock signal (112A) in the first control unit (11) is at the same The system time is started at the same time as the second clock signal (212A) in the second control unit (21), wherein the at least two control units (11, 21) are designed to synchronize their system time (31) via the first interface (111; 211) on the basis of the time information of the data, in order to drive the at least two elements (17, 18, 19, 27, 28) into at least temporarily synchronous movement by controlling at least one of the at least two drive units (14, 15, 24, 25).

Description

The present invention relates to a machine and a method for the synchronous control of drive devices of the machine. The machine can, in particular, be a printing press with several rollers for transporting a printing medium, such as paper. Machines with multiple drives are used in many areas of automated manufacturing or processing of objects, such as printing presses, weaving machines, lathes, etc. These machines are typically controlled by several control units, which in turn control multiple drive units. DE 10 2010 002 183 A1 shows a printing press in which an event considered a fault is given a timestamp that is related in its time reference to a time signal carried in a first communication network. DE 10 2007 031 709 A1 shows an electric drive which includes a synchronization generator to generate a synchronization signal. For example, in a printing press, it is crucial that the rollers transporting the printing medium move angularly synchronously to prevent damage or tearing of the medium, such as paper. This poses significant challenges for the coordination of all control systems. DE 37 30 625 A1 shows a positioning system for quality control functions in rotary printing presses. EP 2 221 178 A1 shows a method for synchronizing several movable functional parts of devices or machines, in particular printing presses, based on their position. DE 102 08 791 A1 This document describes a method for synchronizing a printing press drive system comprising multiple drives with drive motors, each with its own local drive control unit equipped with primary data processing units, and a central operating and control unit equipped with secondary data processing units. In this process, the data processing unit of one of the drive control units calculates the respective drive data based on the computational operations required by the other primary data processing units, compensating for system-related differences between the drives and/or the primary data processing units. Therefore, the object of the present invention is to provide a machine and a method for the synchronous control of drive devices of the machine, with which the aforementioned problems can be solved. In particular, a machine and a method for the synchronous control of drive devices of the machine are to be provided, with which, using any number of control devices which in turn control any number of drive devices, a synchronous movement of elements of the machine can be ensured simply, cost-effectively and reliably. This problem is solved by a machine according to claim 1. The machine has at least two drive units for driving at least one element each into motion, and at least two control units, at least one of which is configured to control at least one of the at least two drive units such that the at least two drive units drive at least two elements into at least temporarily synchronous motion. The at least two control units have a first interface configured to receive data according to a first communication protocol, the data containing time information from a time master for time synchronization of the at least two control units. The at least one of the at least two control units has a second interface configured to communicate with at least one of the two drive units according to a second communication protocol. The at least two control units are configured to synchronize their system time via the first interface based on the time information in the data. The first interface is configured to generate a cyclic clock signal from the system time, and the at least one of the at least two control units is configured to transmit the cyclic clock signal to the second interface in order to control at least one of the at least two drive units. to drive at least two elements into a motion that is at least temporarily synchronous, as specified in claim 1. The machine enables simple, cost-effective, and reliable synchronous movement of machine elements across different control systems. Furthermore, other machine elements can also be synchronized across control systems to execute a predetermined operation. The use of a first and second interface makes it possible for communication between the control units to be carried out using a communication protocol that differs from the communication protocol between The system distinguishes between the respective control unit and the drive units to be controlled by that control unit. This offers the advantage that the machine can be integrated very easily and cost-effectively into an existing communication network, while still achieving the necessary synchronization between the drive units. The existing communication network can, for example, be a real-time network, where real-time, as defined by standards such as DIN ISO/IEC 2382, refers to the operation of a computer system in which programs for processing incoming data are constantly ready for operation, such that the processing results are available within a prede