EP0536540A1 - Data processing device for automatic textile machines - Google Patents

Abstract

A device for the exchange of data between several, rail-bound movable automats (A1, A2, A3) for operating several multi-position textile machines and a control center (Z), the supply of electrical drive energy to the automats via a rail-bound, several contact conductors (L1, L2, L3 , PE) containing conductor system (2) and sliding contacts that can be moved with the automats. The rail-bound conductor system (2) contains three additional contact conductors (S1, S2, GND), which are used exclusively for data transmission and form a ring line to which the transmitter / receiver devices of the control center (Z) and the transmitter / receiver devices (ÜS1, ÜS2, ÜS3 ) of the machines (A1, A2, A3) are each connected via additional sliding contacts. The data are emitted by the transmission devices in the form of pulses with a predetermined pulse duration and a predetermined distance, and each data pulse is simultaneously fed to two contact conductors (S1, S2) with opposite polarity. The receiving devices are designed so that only incoming pulses are evaluated, which are received simultaneously via both contact conductors (S1, S2) and have a predetermined minimum signal power. <IMAGE>

Description

The invention relates to a device for exchanging data between a plurality of rail-bound movable machines for operating a plurality of multi-position textile machines and a control center, the electrical drive energy being supplied to the machines via a rail-bound conductor system containing a plurality of contact conductors and sliding contacts movable with the machines.

It is known to perform operations on several multi-position textile machines, for example arranged side by side to be carried out by automatic handling machines that can be moved on a running rail system, the path of which runs along the long sides of the multi-position textile machines and can be self-contained, so that the automatic handling machines can each drive to the machines on which operations are pending. Especially when several such machines can be moved on a route, it is necessary to exchange data between the machines and, for example, a fixed central station, in order to ensure that the right machine is in the right place at the right time and the operations required there can perform. It is also important in this context that the machines do not interfere with each other during their journeys and the operations and that overall an optimal sequence of the operation functions can be achieved. A trouble-free data exchange is particularly important for this.

A transport and handling system for multi-position textile machines of the type described above is described, for example, in European laid-open specification EP 0 384 978 A2.

In this known system, the handling machines run on a running rail system which runs in a meandering manner between multi-position textile machines arranged parallel to one another. The handling machines are suspended from running rails which are designed as double T-beams. The supply of the electric drive energy too the machines take place via a ladder system that is arranged on the web of the double-T beam and has several contact conductors. Sliding contacts are arranged on the machine, which are seated on the sliding conductors and via which the drive energy is supplied to the drive devices arranged on the machine.

It is known to carry out a data exchange via the contact conductors of the conductor system supplying the electrical drive energy in the case of automatons which can be moved by rail. in such transmission systems, the data must be transmitted by means of a carrier frequency which is fed to the conductor system for energy transmission. Such devices are relatively complex and do not guarantee interference-free data exchange because of the potential for interference and the contact difficulties and sparking between the contact conductors and the contact contacts.

The connection of the machines to a control center via trailing cables or the like cannot be carried out because of the complexity of the running rail system and because of the possible larger number of machines.

It is also conceivable to carry out the data exchange between the machines and the control center wirelessly via a carrier frequency radio system.
However, such systems are also complex and do not work trouble-free; In particular, interference from other wirelessly controlled devices can enter the system via the radio path be coupled in, which can lead to serious errors in data exchange.

The invention has for its object to provide a device of the type described in the preamble of claim 1 in such a way that it is suitable for the formation of a carrier-free information system and enables a largely interference-free data exchange with limited technical outlay. This object is achieved according to the invention with the features from the characterizing part of patent claim 1. Advantageous further developments of the device according to the invention are described in the subclaims. The basic idea of the invention is to carry out the data exchange via its own rail-bound conductor system with additional contact conductors, on which data can be transmitted in the form of pulses without a carrier frequency.
This conductor system is intended to form a ring line or so-called party line, via which any number of movable machines can be connected to the control center.

The control center can be arranged in a fixed manner, but it can equally well be designed as a rail-bound movable station.

Difficulties to be overcome in the solution according to the invention consisted in the fact that the number of contact conductors that can be installed on a conventional travel rail is limited by design, so that not any number of channels are available for data transmission. On the other hand, the transmission links can be longer Machine systems can be several hundred meters long. Furthermore, the contact conductors arranged parallel to one another for data transmission, which are arranged parallel to the contact conductors transmitting the drive energy, are subject to capacitive and inductive interference from the conductor system transmitted the drive energy, for example by brush fires or by current changes on the contact conductors for energy transfer.

Furthermore, dust and contamination of the surfaces of the contact conductors cannot be avoided during operation, so that even with the contact conductors transmitting the data, changing contact resistances between the contact conductor and contact contact must be expected.

These difficulties are overcome by the invention. The supply of the data pulses simultaneously to two contact conductors with opposite polarity enables a so-called push-pull transmission. As explained in more detail below using an exemplary embodiment, it is possible to design the receiving devices in such a way that in this case only incoming pulses are evaluated which are received simultaneously via both contact conductors. In this way, interference pulses are largely sorted out. The requirement for a predetermined minimum signal power that must be received reduces the influence of the contact resistances due to dust and dirt on the contact conductor surfaces and the brush fire. At the same time S / N ratio to the interference from the conductor system for energy transmission has been significantly improved. In contrast, known data transmission devices generally only transmit voltage signals or only current signals.

For additional suppression of interference, it can further be provided that only incoming pulses are evaluated, the pulse duration of which lies within a predetermined time interval range.

It is particularly advantageous if three additional contact conductors are provided for data transmission, the third contact conductor being used to transmit a reference potential, which can be, for example, the earth potential.

As described below with the aid of an exemplary embodiment, the practical configuration of the device according to the invention gives the possibility of combining all functional groups in each of the machines in a transmission control device which control and carry out the data transmission. This transmission control device can be equipped with its own computer intelligence and thus relieves the usual function control devices arranged on the machines, which are provided with memories and programmable, and which control the actual work and driving programs of the machines. The transmission control devices can be connected to the function control devices via standardized interfaces.
Furthermore, the transmission control devices can each have their own input units via which Commands can be entered on site using an input keyboard and data can be queried and displayed, for example, on a display.

The data can be transmitted by means of the data pulses in a manner known per se using a binary code, each data message being able to contain an address part and an information part. The address part can not only determine the special machine that is to receive the information, but it can also be connected to a priority control, which is particularly important if several machines with different functions are to be assigned different priorities.

If, in special cases, errors occur during data transmission, a simple plausibility check and, if necessary, a telegram repetition can easily be carried out.

So that each of the machines can send clear position reports to the control center, it is advantageous if the device according to the invention additionally has a system of reference points which are arranged along the route and on which reference elements are arranged which interact with sensor elements arranged on the machine. As explained in more detail below, it is possible to arrange the reference elements at the reference points in such a way that a unique code is created, so that the automaton can use the sensor elements to recognize exactly at which reference point it is, or which reference point it happened while driving through. This also ensures that in a case in which no messages can be transmitted, for example when the data line is busy, the internal control in the machine can continue to work independently and does not transfer the position to which it is approached.

Finally, the device according to the invention also opens up the possibility of dividing the route into individual sections analogously to a block system and to provide an additional safety device which ensures that two machines cannot be located within the same section of the route.
Priorities can also be provided, according to which an automatic machine does not drive into a route section in which an automatic machine with higher priority is located, or moves out of a route section as soon as an automatic machine with higher priority enters this route section. The system can be implemented in that the rail-bound conductor system has a further contact conductor which is divided into predetermined, isolated sections of length and each automat has an additional safety device connected to the transmission control device, which has contact with the length sections of the further contact conductor via a sliding contact. The safety device has devices for delivering a voltage signal to the sliding contact and / or devices for detecting a voltage signal at the sliding contact. In this way, for example, the machine with the higher one Priority issue a voltage signal that is recognized by the machine with the lower priority and triggers corresponding control functions.

An exemplary embodiment of a device for exchanging data according to the invention is explained in more detail below with reference to the accompanying drawings.

• Fig. 1 in einer schematisierten perspektivischen Darstellung, eine Anlage aus mehreren Vielstellen-Textilmaschinen mit einem Schienensystem, auf dem mehrere Handhabungsautomaten bewegbar sind;
• Fig. 2 in einer vergrößerten perspektivischen Darstellung nach der Schnittlinie II-II in Fig. 1 eine Teilansicht eines an einer Trag- und Führungsschiene im Bereich eines Referenzpunktes aufgehängten Automaten;
• Fig. 3 und 4 in Seitenansicht zwei Ausführungsformen der Sensorelemente und Referenzeelemente des Automaten nach Fig. 2;
• Fig. 5 in einem Schnitt nach der Linie V-V in Fig. 1 die Trag- und Führungsschiene in vergrößerter perspektivischer Darstellung;
• Fig. 6 in einem Blockschaltbild die Einrichtung zum Austausch von Daten an der Anlage nach den Figuren 1-5;
• Fig. 7 in einem Blockschaltbild die Sende-Empfangseinrichtung an einem der Automaten für die Einrichtung nach Fig. 6;
• Fig. 8 in einem Spannungs/Zeit-Diagramm Signalformen an einzelnen Punkten der Schaltung nach Figur 7;
• Fig. 9 in einem stark schematisierten Schaltbild eine zusätzliche Sicherheitseinrichtung zur Einrichtung nach Fig. 6.

The drawings show:

• Figure 1 is a schematic perspective view, a system of several multi-position textile machines with a rail system on which several handling machines can be moved.
• FIG. 2 shows an enlarged perspective illustration according to section line II-II in FIG. 1, a partial view of an automatic machine suspended from a support and guide rail in the region of a reference point;
• 3 and 4 in side view two embodiments of the sensor elements and reference elements of the machine according to FIG. 2;
• Fig. 5 in a section along the line VV in Figure 1, the support and guide rail in an enlarged perspective view.
• 6 shows a block diagram of the device for exchanging data on the system according to FIGS. 1-5;
• Fig. 7 in a block diagram the transceiver at one of the machines for the device according to FIG. 6;
• 8 shows waveforms at individual points in the circuit according to FIG. 7 in a voltage / time diagram;
• 9 shows an additional safety device for the device according to FIG. 6 in a highly schematic circuit diagram.

1 shows a system of a multi-position machine consisting of three machines Z1, Z2 and Z3, which can consist, for example, of double-wire twisting machines. A guide rail system X is guided through this system, the path of which runs in a meandering manner through the machine system along all longitudinal sides of the machines and on which three handling machines A1, A2, A3 are guided in the selected exemplary embodiment. In this case, for example, the automatic handling machines A1 and A2 can change the bobbins on the machines Z1, Z2, Z3, while the automatic handling machine A3 can take over cleaning and maintenance functions, for example. The more precise design of these machines is known per se and is not explained in more detail below. One embodiment of such an automatic handling machine is described, for example, in the already mentioned European patent application EP 0 384 978 A2.

Reference points are provided along the running rail system X, which are designated in FIG. 1 by Y1, Y2, Y3 to Y30. These reference points are recognized in a manner described in more detail below by the automats A1, A2 and A3 for determining the position, and corresponding messages are sent to a fixed center, specifically via the device for exchanging data between the automats and the center, described in more detail below. This device can also be used to give the machines commands if they are to go into a section between two reference points on the route or are to leave such a section or are to go to a specific reference point in order to await further information there.

2-4 shows the more precise design of the reference points and the outer device parts for recognizing the reference points. It is assumed in FIG. 2 that, unlike that shown in FIG. 1, the machine A2 may be located at the reference point Y1 of the running rail system X.

The Automst A2 has at its upper end a hook-like head piece 3.1, with which it is suspended from a support and guide rail 1. The support and guide rail 1 is a double T-beam with an upper chord 1.1, a lower chord 1.2 and a web 1.3. The drive roller (not shown) of a drive unit 4 engages on the upper side of the upper belt 1.1. Guide rollers 5.1, 5.2, 5.3 and 5.4 act on the side surfaces of the upper chord 1.1 and the lower chord 1.2. Arranged on the side of the web 1.3 facing the head piece 3.1 of the machine 2 is a conductor system 2 consisting of contact conductors, which is explained in more detail below is and which is connected in a manner not specifically shown via sliding contacts with the drive and control devices and with the device for exchanging data of the machine A2.

On the side of the web 1.3 facing away from the head piece 3.1, a mounting rail 1.4 is arranged, which has the shape of a slotted C-profile. This mounting rail 1.4 is used on the one hand in a known and not shown manner for receiving brackets, via which the double-T beam 1 is attached to a support structure. Furthermore, the mounting rail 1.4 is used to hold a device that embodies the reference points on the route X. This device has a flat mounting element 7 which can be screwed onto the mounting rail 1.4 via flanges 7.6 and 7.7 and screw connections 8.1 and 6.2. This tightening can be done, for example, by means of self-clamping hammer head screws known per se. The holding element 7 is perpendicular to the web 1.3 and its underside is oriented essentially horizontally.
On this underside there are bar or strip-like reference elements 7.1 to 7.5 made of ferromagnetic material, for example steel or iron. A sensor device 6 is arranged on the upper side 3.2 of the machine A2 opposite the underside of the holding element 7, which in the selected exemplary embodiment has five sensor elements 6.1 to 6.5, which are designed as inductive proximity sensors and emit a signal in a manner known per se as soon as they are one of the Reference elements 7.1 to 7.5 are directly opposite. The sensor device 6 is connected to the automatic transmission control device described below.

The coding of the reference points Y1 to Y30 by means of these sensor and reference elements can take place in such a way that each sensor element 6.1 to 6.5 is assigned a digit of a binary number, and a "1" always appears in the code when the sensor element is opposite a reference element and a "0" appears if there is no reference element opposite the sensor element.
Due to the different number and arrangement of reference elements 7.1 to 7.5 on the holding elements 7 of the different reference points Y1 to Y30, all reference points can be clearly identified in a five-digit binary code. To detect a position, at least one sensor element of signal "1" must be emitted.

3 shows a holding element, for example, in which only the reference elements 7.1, 7.3 and 7.5 are present, which are opposite the sensor elements 6.1, 6.3 and 6.5, while the sensor elements 6.2 and 6.4 are not opposite any reference elements. The identifier "10101" would be assigned to this reference point in the binary code.
Analogously, a reference point is shown in FIG. 4, at which only reference elements 7.2 '7.4' and 7.5 'are present, which are opposite sensor elements 6.2, 6.4 and 6.5 in accordance with an identifier "01011".

FIG. 5 shows the more precise configuration of that arranged on the double-T support 1 on the web 1.3 Conductor system 2. In a holder made of insulating material there are a total of eight longitudinal contact conductors which can be designed as copper slide rails. In FIG. 5, they have the designations L1, L2, L3, PE, GND, S1, S2 and B1.

These contact conductors are identified in the block diagram shown in FIG. 6 of the device for exchanging data between the automats A1 A2 and A3 and a control center Z with the same reference symbols. The electrical drive energy in the form of a three-phase current of, for example, 42 V is supplied via the contact conductors L1, L2, L3 together with a neutral conductor PE in a manner known per se, which is not explained in more detail below. The contact conductors S1, S2 and GND serve exclusively for data transmission, the contact conductor GND representing a reference potential, that is to say in general earth potential, while the contact conductors S1 and S2 serve for push-pull signal transmission, which is explained in more detail below. The contact conductor B1, which consists of individual length sections which are insulated from one another, belongs to an additional safety device which is explained in more detail below.

The control center Z is connected to the contact conductors GND, S1 and S2 via fixed wiring, while the automats A1, A2 and A3 via contact contacts SK 1.0, SK 1.1, SK 1.2 or SK 2.0, SK 2.1, SK 2.2 and SK 3.0, Sk 3.1 and Sk 3.2 are connected to these contact conductors.
There is a transmission control device both in the control center Z and in the machines A1, A2, A3 arranged, which is generally designated with ÜS0, ÜS1, ÜS2 and ÜS3. Each transmission control device contains a level converter PW0, PW1, PW2 and PW3, which is explained in more detail below. A computer PC and a programmable memory-containing function control device SPS 0 are connected to the level converter PW0 of the central station Z. The level converters PW1 to PW3 are connected to other logic function groups LG1, LG2 and LG3 of the transmission control device, which are also connected to input units EG1, EG2 and EG3 are, which can each be equipped with an input keyboard and a display and which allow direct intervention in the computer system contained in the logical function groups LG1 to LG3.

The transmission control devices ÜS1 to ÜS3 are in turn connected to function control devices SPS1, SPS2, and SPS3 of the machine via standardized interfaces.

This division of the control devices into a transmission control device and a function control device of the automatons has the great advantage that they are also
Function control devices of the machines which can be used in other data transmission systems are completely relieved of all functions relating to data transmission. Only control commands to the machines and feedback from the machines are exchanged via the standardized interfaces between the transmission control devices and the function control devices.

As can be seen in FIG. 6, the signals of the sensor device 6, which is arranged on each of the machines A1 to A3, are also fed to the logic function groups LGI to LG3 via inputs P1, P2 and P3 and processed there. The function control devices SPS1 to SPS3 only receive commands from the logical function groups LG1 to LG3 to which position Y1 to Y30 the automat should move. When the position is reached, it is compared with a position table stored in the function control device, so that the automaton automatically recognizes the activities to be carried out at this position. He only needs to report to the head office that he has reached the specified position.

7, the data transmission will now be explained in more detail, the circuit parts of the machine A1 serving as an example.

The transmission control device ÜS1 has two transmit / receive channels connected to the sliding contacts SK 1.1 and SK 1.2. The earth contacts of the switching elements are connected to the sliding contact SK 1.0 in a manner not particularly marked.

In both channels, the level converter PW1 initially contains a limiter stage BS1 and BS2, which is connected to the sliding contact and is constructed in a known manner and suppresses gross interference in the signals fed to the sliding conductors S1 and S2. Following the limiter stages each channel is divided into a transmission channel SE1, SE2 and a reception channel E1, E2, each of which has switches US 1.1, US 2.1 and US 1.2, US 2.2 at both ends, each of which has a "changeover control" SEU in terms of "reception" E can be switched to "Send" SE. Normally, the switches on all three machines are in the "Receive" position and are only switched to "Send" when a message is to be sent.

Each receiving channel E1, E2 contains a load resistor RL1, R12 towards the end of GND and, downstream from this, a glitch suppression circuit SU1, SU2, a filter circuit F1, F2 and a circuit 01, 02 for electrical isolation from the
remaining parts of the control device, that is, the logical function groups LG1 and the memories. These circuits for electrical isolation and signal level conversion are designed with optoelectronic couplers.

Each transmission channel SE1, SE2 contains a circuit 03, 04 for electrical isolation from the logical function groups and for signal level conversion, and a signal amplifier SV1, SV2. A signal inverter stage SI is additionally arranged in the one transmission channel SE2. The two receiving channels E1 and E2 are connected to the inputs of a comparator V via the switches US 2.1, US 2.2, an inverter I being connected upstream of the one input.
The control output GE of the comparator V only releases the data reception input DE of the input stage ELG1 to the logic function groups if one of the two inputs inputs at the same time Signal pulse of the same polarity is present, which corresponds to a signal pulse arriving via the signal line in push-pull with opposite polarity.

The input stage ELG1 of the logical function groups LG1 also has an input BUS for "bus interrogation" which is directly connected to a reception channel E2 and is used to determine whether the transmission line contains signals to be received. If this is not the case, the data direction register and the control unit SE can be used to switch to "send" in the given case. The transmission data emitted by the SD output "transmission data" of the input unit ELG1 are transmitted to the lines S1 and S2 via the two transmission channels SE1, SE2, and are forwarded via the transmission channel SE2 with reversed polarity.

The processing of outgoing and incoming data and their storage and storage within the logical function groups LG1 is computer-controlled in a manner known per se and is not explained in more detail below. As already mentioned, the additional input unit EG1, which is not particularly shown in FIG. 7, enables direct on-site access to the data of the memories of the logical function groups LG1, and commands can be entered directly.

The signals arriving via the contact conductors S1 and S2 have a pulse shape and are coded according to one of the usual coding methods, which in itself is known and is no longer explained.
They can be affected by interference. If interference signals only arrive on one of the two contact conductors, they are recognized as such by the comparator V and eliminated. Interferences which act in the same way on the two contact conductors S1 and S2 cause a distortion of the incoming data pulses, which have been eliminated by the switching elements already described in both receiving channels.

This is explained in more detail below with reference to FIG. 8.

8 shows in a voltage / time diagram in the first line STÖ the example course of a disturbance extending over several signal pulses. The second and third lines of the diagram show two signal trains eBS1 and eBS2, which represent the influencing of the data pulses before the inputs of the two limiter stages BS1 and BS2. The fourth and fifth lines of the diagram show signal trains aBS1 and aBS2, which represent the form of the signal trains emitted at the outputs of the two limiter stages BS1 and BS2. It can be seen that the coarser parts of this disturbance are already partially balanced.

The sixth and seventh lines of the diagram show signal trains aF1 and aF2, which represent the state of the signal at the output of the filter circuits F1 and F2. By the time constant of the filter further interference components have been suppressed and the Siagnalflanken made flatter.

Finally, lines eight and nine of the diagram show signal trains a01 and a02 as they occur at the outputs of circuits 01 and 02 for electrical isolation and level conversion. As can be seen, both pulse trains are now received essentially without interference.
This is due to the fact that these circuits are designed in such a way that they only respond when the minimum signal power values specified by the load resistors RL1, RL2 have been reached, ie a minimum voltage must exist and a minimum current must flow.

This applies to each of the transmission control devices ÜS1, ÜS2 and ÜS3, which are connected via the lines S1 - S2 - GND to the center Z in the manner of a ring line or party line. Of course, more than three movable stations can also be connected to the central station Z. In general, signal voltages of 20-50 V are used, and the required minimum signal currents are approximately between 0.1 - 0.5 A, so that the signal powers are in the range between 2 and 25 W. Typical values are, for example, between and 10 and 20 W. In known transmission devices, on the other hand, the transmitted signal powers are in the range of a few mW. An excessive increase in the required signal power does not appear to make sense, since it leads to weak profitability and, for example, necessitates increased expenditure for heat dissipation.
Very rarely occurring particularly large disturbances can also be remedied by repeating telegrams.

The pulses arriving at the data reception input DE of the input stage ELG1 (FIG. 7) can additionally be checked in the logical function groups LG1 to LG3 to determine whether they have a predetermined pulse duration that corresponds to the pulse duration of the pulses shown in FIG. 8 in a01 and a02. This enables a further check for possible interference pulses.

In principle, the level converter PW0 of the central station Z (FIG. 6) is constructed in exactly the same way as the level converters PW1 to PW3 of the machines which have been described above.

A similar comparison of the incoming data impulses is carried out in the computer PC of the center Z as, for example, in the comparator V of the logical function groups LG1, which were described above. In this way, the signals arriving at the central station Z are also received in push-pull and interference-free manner.

An additional safety device is described below with the aid of FIG. 9, with which it is prevented that two machines come so close that they interfere in their function or cause hazards.

In FIG. 9, of the conductor system shown in FIG. 6, only the contact conductor GND carrying the reference potential and that already
shown additional contact conductor B1,

Claims (13)

Device for the exchange of data between several, rail-bound, movable automats for operating several multi-position textile machines and a control center, the electrical drive energy being supplied to the automats via a rail-bound conductor system containing several contact conductors and sliding contacts movable with the automats, characterized in that the rail-bound conductor system (2) has at least two and at most three additional contact conductors (S 1, S2, SGND), which are used exclusively for data transmission and form a ring line to which the transmitter / receiver devices (ÜS0) of the control center (Z) and the transmitter / Receiving devices (ÜS1, ÜS2, ÜS3) of the machines (A1, A2, A3) are each connected via additional sliding contacts, and the data are emitted by the transmitting devices in the form of pulses with a predetermined pulse duration and a predetermined distance, and each data pulse simultaneously two of the additional Additional loop conductor (S1, S2) is supplied with opposite polarity and the receiving devices are designed so that only incoming pulses are evaluated, which are received simultaneously via both of the two additional loop conductors (S1, S2), and have a predetermined minimum signal power. Device according to claim 1, characterized in that the receiving devices are designed such that only incoming pulses are evaluated, the pulse duration of which lies within a predetermined time interval range. Device according to claim 1 or 2, characterized in that in the case of three additional contact conductors, the third contact conductor (GND) is for transmitting a reference potential. Device according to one of claims 1 to 3, characterized in that each transmitting / receiving device has a transmission control device (ÜS1 to ÜS3) which contains logical function groups (LG1 to LG3) and memory elements which are connected to the additional ones via a level converter (PW1 to PW3) Slip contacts (SK 1.0 to SK3.2) are connected, and each level converter has two transmit channels (SE1, SE2) and two receive channels (E1, E2), which can alternatively be activated by means of controllable changeover switches (US1.1 to UF2.2) Slip contacts can be connected and each receiving channel (E1, E2) has a load resistor (RL1, RL2), an interference suppression circuit (SU1, SU2) and a filter circuit (F1, F2) and a circuit (01, 02) for electrical isolation from the logical function groups and for signal level conversion, and each transmission channel (SE1, SE2) contains a circuit (03, 04) for electrical isolation from the logical function groups and the signal Level conversion and a signal amplifier (SV1, SV2) contains, wherein a signal inverter stage (SI) is arranged in one of the transmission channels (SE2), and the two Receiving channels (E1, E2) are connected to a comparator (V), which only enables a data reception input of the logical function groups (LG1) if two pulses arriving via the two receiving channels are registered simultaneously and with reversed polarity. Device according to claim 4, characterized in that the additional sliding contacts and the input-outputs of the level converters (PW1 to PW3) limiter stages (BS1, BS2) are switched on. Device according to claim 4 or 5, characterized in that the circles (01, 02, 03, 04) contain optoelectronic couplers for electrical isolation and signal level conversion. Device according to one of claims 4 to 6, characterized in that the transmission control devices (ÜS1 to ÜS3) are designed and connected via interfaces to function control devices (SPS1 to SPS3) of the machines (A1 to A3) in such a way that only control commands are received via the interfaces the machines and feedback from the machines are exchanged. Device according to one of claims 4 to 7, characterized in that the transmission control devices (ÜS1 to ÜS3) each contain a computer. Device according to claim 8, characterized in that the transmission control devices (ÜS1 to ÜS3) are each connected to their own input unit (EG1 to EG3). Device according to one of claims 4 to 9, characterized in that each transmission control device (ÜS1 to ÜS3) is connected to sensor elements (6.1 to 6.5) arranged on the machine (A1 to A3), for determining the position of the machine on the route by the interaction of the sensor elements ( 6.1. To 6.5) with reference elements (7.1 to 7.5) fixedly arranged at reference points (Y1 to Y30) of the route (X). Device according to claim 10, characterized in that each automat (A1 to A3) has the same, predetermined number of sensor elements (6.1 to 6.5) in a predetermined arrangement, and at the reference points (Y1 to Y30) a number of reference elements (7.1 to 7.5) is arranged, which is less than or equal to the number of sensor elements (6.1 to 6.5), and their arrangement is such that when the sensor elements pass a reference point, there is a clear assignment of the reference elements (7.1. To 7.5) to the sensor elements ( 6.1 to 6.5) results. Device according to claims 10 or 11, characterized in that a rail (1) with a double-T profile is used as the support and guide rail for the machines (A1 to A3), on the upper flange (1.1) of which the drive rollers are one with the machine connected drive unit (4) while on one side of the web (1.3) the rail-bound conductor system (2) and on the other side of the web (1.3) a mounting rail (1.4) for the releasable mounting of mounting brackets (7) for the reference elements (7.1 to 7.5) is arranged. Device according to one of claims 1 to 12, characterized in that the rail-bound conductor system (2) has a further sliding conductor (B1) which is divided into predetermined mutually insulated length sections, and each automat (A1 to A3) has an additional safety device, which has a sliding contact (SK 1.3, SK 2.3) with the longitudinal sections of the further sliding conductor (B1), this safety device devices for delivering a voltage signal to the sliding contact (SK 1.3) and / or devices for detecting a voltage signal at the sliding contact (SK2 .3) has.

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