EP0624832B1 - Elektronische Steuereinrichtung für eine modulartig aufgebaute Ventilstation - Google Patents

Elektronische Steuereinrichtung für eine modulartig aufgebaute Ventilstation Download PDF

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Publication number
EP0624832B1
EP0624832B1 EP94101441A EP94101441A EP0624832B1 EP 0624832 B1 EP0624832 B1 EP 0624832B1 EP 94101441 A EP94101441 A EP 94101441A EP 94101441 A EP94101441 A EP 94101441A EP 0624832 B1 EP0624832 B1 EP 0624832B1
Authority
EP
European Patent Office
Prior art keywords
address
control unit
modules
module
unit according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP94101441A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0624832A3 (de
EP0624832A2 (de
Inventor
Kurt Stoll
Thomas Lederer
Dieter Ruckwied
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Publication of EP0624832A2 publication Critical patent/EP0624832A2/de
Publication of EP0624832A3 publication Critical patent/EP0624832A3/de
Application granted granted Critical
Publication of EP0624832B1 publication Critical patent/EP0624832B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0846—Electrical details
    • F15B13/0853—Electric circuit boards
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0807—Manifolds
    • F15B13/0814—Monoblock manifolds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0846—Electrical details
    • F15B13/0867—Data bus systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0875—Channels for electrical components, e.g. for cables or sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0878—Assembly of modular units
    • F15B13/0885—Assembly of modular units using valves combined with other components
    • F15B13/0889—Valves combined with electrical components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/085—Servomotor systems incorporating electrically operated control means using a data bus, e.g. "CANBUS"
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15C—FLUID-CIRCUIT ELEMENTS PREDOMINANTLY USED FOR COMPUTING OR CONTROL PURPOSES
    • F15C1/00—Circuit elements having no moving parts
    • F15C1/02—Details, e.g. special constructional devices for circuits with fluid elements, such as resistances, capacitive circuit elements; devices preventing reaction coupling in composite elements ; Switch boards; Programme devices

Definitions

  • the invention relates to an electronic control device for a modular valve station with the features of Preamble of claim 1.
  • Control devices of this type are already used by the applicant for a long time under the name "valve islands” or “installation islands” distributed, essentially a one or Multi-part plate-like fluid distributor with multi-way valves is equipped.
  • such can be modular assembled valve station also input / output modules for receiving sensor signals or for controlling other external facilities.
  • the central control unit controls the various modules via a bus line system.
  • Such an electronic control device or valve station is known for example from DE-GM 92 11 109.
  • DE-A-38 19 761 is an electronic control device known with the features of the preamble of claim 1, at only a serial fieldbus is provided, while a internal parallel bus for controlling individual modules is missing.
  • This device is programmable Address decoder provided, but there is a manual one-time Addressing with an external addressing unit in a non-volatile memory. The address then remains programmed and no longer changes in normal operation. If additional units are added and other units are dropped, the addresses must be re-programmed.
  • each module (I / O module) has a unique and unique identifier, which is stored in a non-volatile memory. This identifier is requested when new addresses are set up and depending on it is in an automatic Assign an address to the process. However, this is done once when the system is started for the first time or when new modules are added will. The operator must put the system in address assignment mode switch. This device is complex Comparison with the permanently stored identifiers required, so that multiple passes are required until all addresses are forgiven.
  • the device according to the invention allows a highly flexible, automatic Address assignment without any manual settings would be required.
  • the automatic address assignment remains even with a subsequent expansion of the valve station to make additional modules effective, and the electronic Control unit automatically assigns additional addresses.
  • the individual address decoders are given addresses one after the other, or existing addresses are overwritten with new addresses.
  • the addresses to be stored are advantageous supplied to the address decoders via an address bus.
  • the programming is therefore done without using data lines, because the data are transferred via the address lines.
  • the address decoders point to the storage of the assigned addresses in particular read / write memory. In this can each current from the central control unit valid address can be read.
  • the configuration phase is expediently an initialization phase educated. Thereby are means for inquiry and identification of the respective module during the access phase provided, corresponding individual module identifier data can be transmitted to the control unit via a data bus. This takes place before the address assignment a system configuration recognition which is also carried out automatically.
  • the transmitted module identification data are in the control unit with the corresponding module assigned address.
  • means for automatic are advantageous Switch to a work phase after implementation the configuration phase.
  • the configuration phase itself is through a write access to a reserved address triggered.
  • each valve can have an address decoder assigned, but it is also possible that several valves are assigned to an address decoder that with an address mask and a corresponding number of Addresses is applied.
  • the central control unit can advantageously also be designed as a fieldbus station and in a network work with other fieldbus stations or independently.
  • a practical, easy to assemble and expandable mechanical Arrangement is that a variable number attachable from modules to the central control unit is, preferably in one consisting of at least one row Row arrangement. This allows any other Modules are added to such a row, where automatically in the next configuration or initialization phase an address is assigned.
  • Valve station is a central electronic control unit 10 in from the aforementioned prior art known trained as a fieldbus station and a usually two-wire fieldbus 11 connected.
  • Several such control units 10 or valve stations can be connected to this fieldbus 11, which by a dashed continuation of the field bus 11 is indicated is.
  • a central computer connected to the fieldbus 11 can 12 the individual control units 10 as Control master station, or this central computer 12th only transfers the control program to the control unit 10, and the valve station can then be self-sufficient Taxes.
  • Another Possibility is that with several, over the Fieldbus 11 connected valve islands a control unit 10 works as a master unit, the other control units are subordinate.
  • valve modules 17, 18 connected in a row arrangement, which each carry four valves 19-22 and 23-26.
  • a such valve module consists in known and not shown in detail from a fluid distributor for a pneumatic or hydraulic medium inside has running feed and ventilation channels.
  • the four valves 19-22 and 23-26 respectively communicate with the channels of the fluid distributor via branch channels. Allow connection means provided on the valves the connection of fluid lines leading to work equipment that can be operated by pressure medium are also not shown.
  • Each valve 19-26 has an electrically operated valve drive.
  • the control unit 10 has a central program control Establish a microprocessor 27, which has a Bus line system 28 with programmable address decoders 29-33 is connected in modules 14-18. At the entrance and / or Output modules 14-16 control these address decoders 29-31 the passage of input and output signals Input and output connections 34-36. With the valve modules 17, 18 control these address decoders 32, 33 each Valves 19-26.
  • Fluid distributors can be provided on the valve modules assembled together, which are just the valves, which include valve controls and address decoders.
  • Another option is to have a larger number assign valves to a single address decoder, or but also, for example, each valve has its own address decoder assign. In the former case, for example a single address decoder controls all valves.
  • valve terminal can of course also work completely work independently, that is, the control unit 10 trained as an independent control unit and not with a field bus or the like connected.
  • the Valve station internal bus line system 28 consists of an eight data lines BD 0 - BD 7 containing Data bus 37, a fifteen address lines A0 - A14 containing Address bus 38, control lines 39, 40 (RDNOUT and WRNOUT) and a so-called daisy chain connection 41 (DCI / DCO). All of these lines are with the address decoder 32 connected.
  • the structure of such an address decoder corresponds in principle the known, non-programmable Address decodes with the exception that an additional internal one is used here Read / write memory (not shown) is provided is read into the addresses via the address bus 37 can be.
  • Comparator provided that the stored Address with the address on address bus 37 compares in work mode and if there is a match the addresses a control signal on an output line 42 gives.
  • This address decoder also contains 32 individual ones Module identification data, via corresponding lines 43 can be applied to the data bus 37. It can be act, for example, a permanently connected data word.
  • the output line 42 is one with a release input G.
  • Decoders 44 connected, for example for the commercial Component HC 239 can be used.
  • This decoder 44 is connected to the address bus 38 via two address lines 45 connected.
  • Control outputs of this decoder 44 control four D flip-flops 46-49, which have a switch function in control lines 50-53 exercise the data bus 37 with electrical Connect valve actuators of valves 19-22.
  • the Number of D flip-flops 46-49, control lines 50-53 and the address lines 45 of course depends on the Number of valves to be controlled.
  • the mode of operation of the entire self-configuring system is described below.
  • the microprocessor 27 now generates a read access and at least one write access.
  • the address decoder 32 has eight configuration outputs 43 with "open-drain" properties.
  • the microprocessor now reads the identifier of the address decoder 32 or the valve module 17 via the Lines 43 and the data bus 37 out.
  • the microprocessor arranges 27 an address in two write accesses of this identifier and an address mask and transfers it over the Address bus 38 to the internal memory of the address decoder 32.
  • the termination criterion for initialization is satisfied when all data lines are supplied with a 1 signal. Now done by reading access to a reserved address Switch to work mode. With write access everyone can access the reserved address at the same time Address decoder 29-33 switched back to initialization mode will.
  • all address decoders 29-33 work accordingly your previous programming during the initialization phase, that is, they can over the assigned to them Address range can be addressed.
  • the software Switch between initialization and work mode is done solely by the address (38), RDN- (39) and WRN lines (40), that is, they are not special for this Data or control lines required. Lies on address bus 38 an assigned address in before an address corresponding to the address decoder, so addresses this address decoder and generates with the Read signal (RDN) and / or write signal (WRN) logically linked Output signals.
  • the decoder 44 unlocked which depending on the over the Address lines 45 supplied address one of its four Outputs enabled and with the corresponding output signal one of the four D flip-flops 46-49 via the clock input appeals. As a result, this is via the data bus 37 applied signal to the output of the respective D flip-flop 46-49 transferred, and the corresponding valve 19-22 is controlled.
  • the circuit is an exemplary embodiment Output module shown, for example that of the output module 14.
  • the same and equivalent components are provided with the same reference numerals and not again described.
  • the output line 42 is with the clock input connected to a single D flip-flop 54, the Output through an output amplifier 55 to the output terminal 34 is connected, for example as a socket or plug coupling can be formed.
  • the mode of action also largely corresponds to that in FIG. 2 illustrated embodiment. If the address decoder 29 is addressed by the address assigned to it, so is applied to the data bus 37 via its output line 42 Control signal through the D flip-flop 54 to the output terminal 34 transferred to an associated external Control unit, for example an external one Hydraulic valve, an actuator, a motor or the like.
  • the circuit of the module shown in Fig. 3 can also used to control valves 19-26 of the valve station if they are individually provided with address decoders are.
  • FIG. 4 shows an input module as an exemplary embodiment shown, for example the input module 15. Also here are the same or equivalent components with the same Provide reference numerals and not described again.
  • This input module 15 is used to supply external Signals to the microprocessor 27, for example sensor signals, Limit switch signals or the like
  • the external signal passes via the input connection 35 into a buffer 56, for that, for example, the commercially available component HC 244 is reversible. If the address decoder 30 is addressed, so is the by means of a signal on the output line 42 Signal from buffer 56 to data bus 37 and up from there transmit the microprocessor 27.
  • the input signal is an analog signal, it must be still be an analog / digital converter upstream, wherein the digital data word formed via a buffer arrangement and several data lines can be transferred to the data bus 37 is. Then through the output line 42 multiple buffers or a buffer arrangement with several Lines controlled in parallel. Accordingly, of course also analog in the arrangement according to FIG. 3 Output signals through a digital / analog converter are formed, the input side several data lines of the data bus 37 are supplied.
  • Combined input / output modules can also be implemented, 3 as well as input lines according to FIG. 4 controls. This can be done over a correspondingly large address area of the address decoder.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Selective Calling Equipment (AREA)
  • Programmable Controllers (AREA)
  • Control By Computers (AREA)
EP94101441A 1993-04-20 1994-02-01 Elektronische Steuereinrichtung für eine modulartig aufgebaute Ventilstation Expired - Lifetime EP0624832B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4312757 1993-04-20
DE4312757A DE4312757A1 (de) 1993-04-20 1993-04-20 Elektronische Steuereinrichtung für eine modulartig aufgebaute Ventilstation

Publications (3)

Publication Number Publication Date
EP0624832A2 EP0624832A2 (de) 1994-11-17
EP0624832A3 EP0624832A3 (de) 1996-07-31
EP0624832B1 true EP0624832B1 (de) 1998-10-14

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EP94101441A Expired - Lifetime EP0624832B1 (de) 1993-04-20 1994-02-01 Elektronische Steuereinrichtung für eine modulartig aufgebaute Ventilstation

Country Status (6)

Country Link
US (1) US5519636A (hu)
EP (1) EP0624832B1 (hu)
KR (1) KR0174573B1 (hu)
DE (2) DE4312757A1 (hu)
ES (1) ES2122051T3 (hu)
HU (1) HU218536B (hu)

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HU218536B (hu) 2000-10-28
KR0174573B1 (ko) 1999-04-01
HU9401133D0 (en) 1994-07-28
DE4312757A1 (de) 1994-10-27
HUT69209A (en) 1995-08-28
EP0624832A3 (de) 1996-07-31
EP0624832A2 (de) 1994-11-17
US5519636A (en) 1996-05-21
DE59407070D1 (de) 1998-11-19
ES2122051T3 (es) 1998-12-16

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