EP0930158A1 - Referencing method for a machine or installation - Google Patents

Abstract

The method is carried out, so that with the drawing in (v1) of the object or the objects and/or the accelerations (t3) of the function components (1) on their working speeds (v2), a relation or a reference and/or a synchronization are produced between the driven function components of the machine or the plant. One or more sensors are provided.

Description

The invention relates to a referencing method for a machine or system for Processing of elongated, web and / or strand-like objects, particularly suitable for implementation in a printing machine for printing on paper webs. Here the objects are drawn into the machine or system before they are processed, which for the object processing a plurality of movable functional components exhibit. These are according to an internal machine or System coordinate system through drive units that can be synchronized with each other movable, and the drive units are controlled by sensors for actual values of the position, Relative position, speed and / or acceleration of the functional components and / or the drive units themselves according to internally generated setpoints and / or master setpoints from a superordinate master control computer-supported regulated.

As is known per se, referencing is used to create a reference especially the position between the moving parts of a complex machine, for example, between the printing cylinders, folding units, etc., in addition to their Drive units of a printing press. According to the state of the art Referencing carried out during the installation and commissioning of the machine, before the object to be processed, for example newsprint to be printed, in the (printing) machine is drawn in. Since the one to be carried out afterwards In any case, pulling in only at reduced machine operating speed there is a considerable need for a referencing method, by means of which during commissioning and when starting and starting a complex Machine for processing elongated, strand-like objects the necessary Time can be significantly reduced.

Königswelle") angetrieben werden. Nichts ist aber dazu angegeben, in einer Druckmaschine mit einer Vielzahl von Druckzylindern und einzeln zugeordneten Antrieben die Referenz und Synchronisation zwischen Druckzylindern und Einzelantrieben beim Anfahren herzustellen.EP 0 664 214 A1 discloses a measurement run with two drive revolutions of printing cylinders. The purpose of this is to determine the deviation in the circumferential register of printing form sleeves that are attached to the printing cylinders. In a subsequent correction run, the sleeves are lifted off the printing cylinders by means of compressed air and the latter are rotated by the measured angular deviation. Then the sleeves can attach themselves to the printing cylinders in the correct circumferential position. For further details, reference is made to column 2, line 46 to column 3, line 11 and column 4, lines 24-52 and column 6, lines 12-17 in the publication mentioned. Ultimately, a referencing method between the printing cylinder and the printing form sleeves clamped thereon is thus disclosed in a printing press, in which several printing units are operated by a single, common drive via a common drive shaft (

Königswelle ") are driven. However, nothing is specified to establish the reference and synchronization between printing cylinders and individual drives when starting in a printing press with a plurality of printing cylinders and individually assigned drives.

To avoid the disadvantages arising from the prior art, a referencing method with the features mentioned in the introduction proposed that with the retraction of the object or objects and / or with the Accelerate the functional components to their permanent working speeds only the reference or reference and / or the synchronization between the driven functional components of the machine or system. This allows the processes of referencing the moving machine parts one another and the retraction of the web or strand-like objects in parallel or run at the same time, which saves time for the start-up phase of the machine results.

a) Bei Inbetriebnahme der Maschine oder Anlage und/oder nach Austausch oder Wartung eines oder mehrerer Sensoren oder deren Teile und/oder nach Änderung des Maschinenkoordinatensystems werden vor dem erstmaligen Objekt-Einziehen eine, mehrere oder alle der Funktionskomponenten mittels einer, mehrerer oder aller Antriebseinheiten solange verfahren, bis der oder die Sensoren auf Grundstellungen der ihnen zugeordneten Funktionseinheiten kalibriert sind (sogenannte Referenzpunktfahrt" einmal bei Inbetriebnahme oder Sensor- bzw. Gebertausch);

b) mit Beginn des Einziehens des oder der Objekte werden alle oder wenigstens einige der Funktionskomponenten in ihre Grundstellungen gefahren, wobei Lageinformationen bezüglich der Funktionskomponenten auf das Maschinenkoordinatensystem abgeglichen werden (Grundstellungsfahrt);

c) nach der oder den Grundstellungsfahrten werden noch während des Einziehens des oder der Objekte und/oder mit dem Beschleunigen der Funktionskomponenten auf ihre Dauer-Arbeitsgeschwindigkeiten die Bewegungen der Antriebseinheiten und der zugehörigen Funktionskomponenten miteinander synchronisiert (Synchronisieren beim Einziehen und Hochlaufen).

After a particular specification of the inventive concept, the overall function of referencing is divided into the following three successive phases or algorithms:

a) When starting up the machine or system and / or after replacing or servicing one or more sensors or their parts and / or after changing the machine coordinate system, one, more or all of the functional components are activated by means of one, more or all drive units before the object is first pulled in Proceed until the sensor or sensors are calibrated to the basic positions of the functional units assigned to them (so-called Reference point travel "once during commissioning or when exchanging sensors or encoders);

b) at the beginning of the retraction of the object or objects, all or at least some of the functional components are moved into their basic positions, position information relating to the functional components being compared to the machine coordinate system (basic position travel);

c) after the one or more basic position runs, the movements of the drive units and the associated functional components are synchronized with one another while the objects or objects are being pulled in and / or when the functional components are accelerating to their permanent working speeds (synchronization when pulling in and ramping up).

In the context of the invention, the synchronization is based on a Functional components and associated drive units common, virtual Leading axis performed, which is useful from one of the drive units Master controller master controller is specified. In this Context, an embodiment of the method according to the invention is advantageous after which the referencing is not in the higher-level control system, but as Function of the individual drive units implemented, i.e. over the entire Drive system is localized distributed. This makes referencing particularly easy flexible to specific boundary conditions of the respective functional or Adjust machine component.

After further invention training, however, at least Reference point approach according to phase a) above from the master control system triggered or triggered.

Fig. 1

jeweils auf die Zeit bezogene Funktionsdiagramme zum Referenzieren beim Einziehen,

Fig. 2

eine schematische Veranschaulichung der Anordnung der Maschinen- und Sensor-Koordinatensysteme

Fig. 3 u. 4

Flußdiagramme zur Referenzpunktfahrt bzw. Grundstellungsfahrt;

Fig. 5

eine schematische Stirnansicht auf zwei zusammenwirkende Gummizylinder einer Druckmaschine;

Fig. 6 u. 7

jeweils eine prinzipielle Anordnung von Antriebsmotor mit Sensor- bzw. Gebersystem gegenüber der anzutreibenden Last.

Further details, features, advantages and effects based on the invention result from the following description of a preferred embodiment of the invention using the example of a printing press and from the drawings. These show in

Fig. 1

function diagrams related to time for referencing when moving in,

Fig. 2

is a schematic illustration of the arrangement of the machine and sensor coordinate systems

Fig. 3 u. 4th

Flow charts for reference point travel or basic position travel;

Fig. 5

a schematic front view of two interacting blanket cylinders of a printing press;

Fig. 6 u. 7

in each case a basic arrangement of the drive motor with sensor or encoder system in relation to the load to be driven.

In FIG. 1, part a, the operating speed, for example of a printing press, is plotted as the ordinate over the time as the abscissa. Part b shows the course of the synchronization status of the individual functional components of the printing press over time. Part c shows over time the point at which the printing cylinders interact in a printing unit of the printing press ( Pressure on ").

According to Figure 1, part a, is within a first time period t1 Operating speed still zero, i.e. there is no pulling in of the strand-like Object, for example a paper web to be printed. The first period t1 can be used to calibrate the coordinate systems from sensors to moving Machine parts (cf. further to FIG. 2) are used, in particular for one Reference point approach at start-up (see process phase a above). Right away after the end of the first time period t1, the machine is switched to a Feed speed v1 increased. This will continue until the end of a second Period t2 maintained, which immediately after the first period t1 connects and can be, for example, about 30 seconds. During this period there are at least two revolutions of the load to be moved. In one yourself immediately followed by the third time period t3 (that of a printing press 10 seconds), the machine is started to run up Operating, especially printing machine speed v2 for production too to reach. The sum of the two time periods t2 and t3 gives that Synchronization period t4, at the end of which according to the invention The individual drive units are synchronized with each other (cf. Phase c) above. The basic position run according to phase b above is advisable in put the beginning of the second period t2 by installing and Commissioning of the machine is complete and this is normal operation is turned on, initially for retracting the objects, such as the to be printed on newsprint.

In Figure 2 is the arrangement of the coordinate systems for both the machine functional components as well as for the assigned sensor or encoder systems shown schematically. In the example of a printing press we are dealing with Functional components mostly rotary body 1, and the sensors rotary encoder 2. For one The latter must be calibrated to the functional components in synchronous operation. A reference point travel according to phase a above is used for this, the for the Home position travel according to phase b and for synchronization according to phase c necessary parameters, as shown in Figure 2, the angle α, and for the later operation is to be saved. The angle α indicates how much the rotating body 1 is to be moved out of its basic position until the angle encoder 2 receives a signal for the achievement of its absolute zero. The corresponding data will be Appropriately in the assigned drive unit with an electric motor and digital Drive controller saved.

The reference point approach is for all printing unit and folding unit drives perform. It is used once to calibrate the encoder system to the Machine coordinates executed. It was the first time that the Drive system for the entire machine. After each exchange of the Sensor or encoder system, components of the encoder system or changes The reference point run must be repeated in the machine coordinate system. It is it is not necessary to carry out a reference point run for rebate assembly drives.

The reference to the driven mechanics and the encoder system of the drive determine the sequence of the reference point approach. This is expediently commissioned by a master control system. The necessary schedule is shown in Figure 3. In a first sequence step 31, the rotating body 1, for example a rubber cylinder, is mechanically locked. In the next sequence step 32, the operating mode of the drive unit for the reference point approach is parameterized by a superordinate master control. In the next step 33, this sets the current target operating mode. In step 34, for example, a digital signal processor of the drive controller in the drive unit reads the current position of the rotating body 1 and invalidates a load-related modulo position. In the following sequence step 35, the parameter Order status "is set, with the drive unit reporting to the master control that its requirement has been met. In the following step 36, the locking of the rotating body 1 is removed. Then in step 37, the higher-level master control signals the release of the drive to the drive unit in the following step 38 the parameter Order status ". For positioning for the reference point approach, the master control of the drive unit has specified a setpoint speed with the value zero. The actual setpoint speed for the reference point setpoint is determined independently by the drive unit by parameterizing a specific traversing block. The same applies to the setpoint acceleration. Because of the use of traversing blocks is based on the two European patent applications Electric drive system with a distributed, virtual master axis "(legal code B005 / 018 E EP) and Operating method for a printing press with a plurality of functions and control technology arrangement "(attorney's code B005 / 020 E EP) from the same applicant, filed on the same filing date. In the next step 39, the traversing block is now independently moved by the digital signal processor of the drive unit in traversing movements In the practical application example of the printing press, up to two revolutions are expedient in this case Revolutions successfully passed, the next calibration sequence step 392 internally calculates and stores the position of the encoder zero pulse by the digital signal processor of the drive unit the parameter Order status "is set again. The higher-level master control then transmits the command in sequence step 394 Lock the drive unit ".

During the basic position run (see Figures 4 and 5), once after each Power On or a message of the actual value acquisition is carried out by the drive controller internal drive position information and values on the machine coordinate system related or adjusted. In the example of a printing press, the Home position run carried out on all printing unit and folding unit drives. It is switched on when the supply voltage of the drive controller is switched on Drive unit and if necessary after the detection and acknowledgment of a fault triggered and operated independently by the drive unit during retraction. The relation to the mechanics of the driven rotating bodies 1 and the rotation sensors or -Encoder 2 determine the sequence during the basic position run. According to Figure 4 there are first sequence step 41, the higher-level control system the relevant drive unit free, e.g. for setup operations. There are now traversing movements analogous to steps 39, 391 instead of until a zero pulse signal from the rotary encoder 2 in the branching sequence step 42 is detected. Then, in the following step 43, the calculation and Comparison of internal quantities, especially for setting absolute target and actual positions if necessary, using the angle determined during reference point travel α. Using algorithms running in the digital drive controller, position, especially angular information related to the machine coordinate system calculated. In addition to absolute position sizes, modulo positions are also within of the drive unit concerned set valid - cf. Process step 44.

After completing the home position run, the position parameters are within the Drive unit, in particular the target and actual position data and the Modulo position data on the machine coordinate system - in the example of the Printing machine in the direction of paper travel 4 - related, as shown in Figure 5: Between two rotating bodies 1, for example rubber blanket cylinders, becomes a strand-like object 3, for example paper to be printed, with a specific direction 4 pulled through. The rotating bodies 1 are drawn in a first position A, in which known clamping channels 5, embedded on the outer circumference of the Blanket cylinder, directly opposite each other. This follows from the Synchronization of the rotating body 1 or their drive units with each other. Is in Figure 5 for position A, the actual position value for the rotating body 1 with associated Assuming drive units at 45 °, then the reference is such that in the second Position B (dotted clamping channels 5) the position information for the relevant drive units is 135 °. The paper direction requires that the two rotating bodies 1 with opposite angular velocities ω circulate.

Prerequisite for the successful implementation of the synchronization according to phase c above is the completion of the reference point travel according to phase a above and the home position travel according to phase b above. The synchronization is carried out independently by the respective drive unit in the synchronous operation mode during retraction at the retraction speed v1 (cf. FIG. 1 part a). The drive is positioned at the target position of the virtual leading axis. The drive system carries out the synchronization independently. After the drive has been released, two rotations of the load or of the rotating body 1 in question are driven at the retraction speed (FIG. 1, part b). According to the exemplary embodiment, these specifications are made by the master control. After two revolutions, a higher speed can be specified by the master control. The process is carried out until all drives in the network are synchronized Pressure on "(cf. FIG. 1, part c) blocked by the master control. For synchronization, the respective drive unit determines the difference between the position setpoint and actual position value of the drive and the difference between the position setpoint of the respective drive and the position setpoint of a virtual master axis at the time of Because of the concept of the distributed virtual master axis, reference is made to the above-mentioned European patent application Electric drive system with distributed virtual master axis "(attorney's code B005 / 018 E EP). The principle of the virtual master axis is addressed, for example, in DE 195 27 199 A1. If the sum of the differences mentioned has been traversed by the respective drive unit, it reports this to the master controller Drive synchronous "(see FIG. 1, part b and c) 1, part c. The reference to the driven mechanics or to the rotating bodies 1 and the sensors determine the sequence of the synchronization.

According to FIG. 6, the sensor system or the position transmitter is arranged on the load side. The electric motor can via a gear 6 with gear ratio i = 4 to the Load flanged. The transmission ratio between encoder and load is expediently i = 1. The position information of the load stands for the synchronization directly (without interposing the gearbox).

In the encoder system according to FIG. 7, the encoder or sensor is on all drives arranged on the motor side. The motor is designed as a direct drive and directly on the Load flanged. For synchronizing the drive units of the entire machine the position information of the load is directly available. For synchronization of the folding unit drives in particular, it is necessary to be unambiguous by one To achieve zero initiator. This zero initiator is taken into account when synchronizing.

Claims (12)

Referencing method for a machine or system for processing elongated, web-like and / or strand-like objects (3), in particular in a printing press for printing on paper webs, the objects (3) being drawn into the machine before being processed, and the machine or system has a plurality of movable functional components (1) for object processing, which can be moved in accordance with an internal machine or system coordinate system (Fig. 2) by means of drive units which can be synchronized with one another and via sensors (2) for actual values of the position, speed and / or acceleration of the functional components (1) and / or drive units are computer-controlled by a higher-level control system according to internally generated setpoints and / or master setpoints, characterized in that with the retraction (v1) of the object or objects and / or the acceleration (t3) of the functional components (1 ) on their working speeds (v2) train or a reference and / or synchronization between the driven functional components (1) of the machine or system. A method according to claim 1, characterized by the following steps: a) when starting up the machine or system and / or after replacing or maintaining one or more sensors (2) and / or after changing the machine coordinate system (Fig. 2), one, several or all of the functional components (1 ) move by means of one, several or all drive units until the sensor or sensors (2) are calibrated to the basic positions of the functional units (1) assigned to them; b) at the beginning of the retraction of the object or objects (3), at least some of the functional components (1) are moved into their basic positions, position information relating to the functional components (1) being compared to the machine coordinate system; c) after the one or more basic position runs, the movements of the drive units and the associated functional components (1) are still during the retraction (v1) of the object (s) (3) and / or with the acceleration of the functional components (1) to their working speeds (v2) synchronized with each other. Method according to claim 2, characterized in that during the sensor calibration run according to step a) the location or Position parameters (α) are determined, which according to the basic position Step b) and / or for the synchronization according to step c) are necessary. A method according to claim 2 or 3, characterized in that in the Sensor calibration run according to step a) the path or angle (α) is determined by which the respective functional component (1) is to be moved until a the respective drive unit or functional component (1) associated with the position or relationship Position sensor (2) with a signal for its Zero position responds (391). Method according to one of claims 2 to 4, characterized in that the Sensor calibration run according to step a) from the master control system is kicked off. Method according to one of claims 2 to 5, characterized in that with switching on the machine or system or the power supply of the Drive unit or after reporting a fault in the drive unit and / or Function component (1) triggered the basic position travel according to step b) becomes. Method according to one of claims 2 to 6, characterized in that at the basic position travel according to step b) the respective functional component (1) is moved until one of the drive unit or functional component (1) assigned position or position sensor (2) with its signal for responds to a zero or starting position (42). A method according to claim 7, characterized in that according to the Response (42) of the position or position sensor (2) values for the The target and / or actual position of the respective functional unit (1) are initialized (43.44). Method according to claims 4 and 8, characterized in that the values for the target and / or actual positions of the respective functional unit (1) under Initialization using the travel path or angle (α) (43,44). Method according to one of claims 2 to 9, characterized in that with or after the basic position run according to step b) a modulo position of the respective drive unit is initialized and / or set valid (44). Method according to one of claims 2 to 10, characterized in that for synchronization according to step c) the differences between the target position and Actual position value of the respective drive unit and between the position setpoint the respective drive unit and a master setpoint of the drive units superordinate master control determined and the respectively assigned Function component (1) is traversed until the differences become the value Assume zero. Method according to one of the preceding claims, characterized in that that the generation of the referencing of the functional components (1) relevant control signals and / or the processing of the target and actual values and / or the determination and / or storage of other position and / or Reference values within the drive units of the respective Functional components (1) takes place.

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