EP0934826B1 - Method of starting a printing machine with a plurality of functions and device for technically controlling - Google Patents

Abstract

At least one competent drive motor, uses one or more method parameters (V1-V5), e.g. machine speed or acceleration (L). One part of the desired value (EL,EG,EB) using one or more method parameters (V1-V5), are generated correspond to the relevant printing engineering functions. Also all the desired values, obtained from the control and method parameters (L,V1-V5), are superimposed one on the other (Sigma) to control the drive motor.

Description

The invention relates to a method for operating a printing press with a Most interacting in the functional and / or coupling network Printing machine parts that are moved by one or more drive motors, being used for coupling, coordination and / or synchronization of the movements one or more, commonly assigned to the printing press parts Guiding parameters for position, speed and / or acceleration setpoints for the or a drive motor can be generated, whereupon the drive motor or motors to move the press part (s) in order to execute a or several printing functions can be controlled. Furthermore, the Invention a control or suitable for performing this method control arrangement, which has a computer-controlled drive system, which to control the multiple drive motors, one control unit each has at least one master control superordinate to this, which controls the Control units for the transmission of the control parameters is assigned.

EP-A-0 709 184 A1 describes a method for avoiding register differences known. This is done at different printing speeds occurring register differences determined, necessary register corrections calculated and this during printing depending on the current Value of the printing speed then brought to the setting. For setting is a control in operative connection with a remote register adjustment device, which the circumferential register corrections on the individual plate cylinders in the Brings the printing units to life (see column 3, lines 21-25).

Press operating procedures and control engineering arrangements are, for example, from the German magazine "Deutscher Drucker" No. 18/8. May 1997, w30, w32, w34 known. Furthermore, in DE 195 27 199 A1 one Flexographic printing machine proposed that a control axis is mapped in the control system or is generated from the angular position setpoints and / or angular position offset values for the Anilox roller and / or the format cylinder of the inking units and / or for the counter pressure and / or central cylinder are derived. The electric motors assigned to them are to be controlled according to the target or offset values. In particular, the Proposed the leading axis depending on the output signals of the To map central and / or counter pressure cylinder associated angular position encoder and only the inking units or any other impression cylinders with setpoint angles or offset values as part of the circumferential register adjustment by an electric motor influence. Alternatively, it is also proposed that the leading axis be independent generated by anilox roller, format, counter-pressure or central cylinder or is synthesized, and the angular position, setpoint and offset values derived from this leading axis one, several or all rotation components in parallel be impressed by an electric motor. The first part / preamble of the claim 1 reflects that from DE-A-195 27 199 A1 removable facts.

The invention has for its object in a printing press Auxiliary functions to be performed by main drives one way to demonstrate the main and auxiliary functions within the framework of a control loop for the electrical drive system of the printing press with each other in the context of a in clearly structured and modular software and with a minimum to realize in terms of construction effort.

To solve the problem is on the one hand specified in claim 1 Operating method and on the other hand to the in the independent claim 11 specified, control and regulation technical arrangement referenced. Appropriate, advantageous configurations result from the dependent ones Claims.

According to the invention it is proposed that to carry out the one or more printing functions or auxiliary functions for at least one of them responsible drive motor using a part of the setpoints or several travel parameters that the relevant printing (auxiliary) Functions correspond, are generated, and all from the control and Setpoint values obtained from each other to control the Drive motor are collected. The travel parameters are summed in in relation to the guiding parameters and also with each other. With this according to the invention used superposition of all parameters a simple methodology is developed, in addition to the main press functions, other (auxiliary) functions to expire. The drive motors for the printing press parts, with which the Functions are to be realized by the inventive The principle of superimposition is considerable in its application variety and also in its utilization expanded.

The guiding parameters expediently relate to the speed and / or Acceleration, generally for the printing press or for its functional association is specified with the relevant press parts. The guiding parameters can form a specification for a so-called "virtual master axis" or implemented in it become. The "virtual leading axis" forms the reference for the synchronization of a A plurality of drive motors with printing machine parts moving therefrom, especially rotating bodies such as rollers or cylinders.

According to the invention, traversing block parameters are the way Speed and / or acceleration, the default being related to the Guiding parameters with absolute and / or relative register values. With a Such a parameter set can be used for a variety of printing functions Implement the affected drive motor together with the assigned machine part.

A particularly advantageous use of the superimposed travel parameters is in influencing the printing register system. The travel parameters can be used in particular to set printing registers such as color / circumference and / or cutting register of the printing press, a function and / or Coupling association thereof or the relevant press part for itself taken used. With you can also for register-correct coupling, Coordination and / or synchronization of the movements of the affected Drive motor are taken care of.

According to an even more specific embodiment, movement parameter sets can be added use, additional angle changes of the respective drive motor in addition to it to implement machine parts coupled for rotation. Is the press or a functional association thereof according to the principle of the Individual drive technology (cf. DE 41 38 479 A1, DE 43 22 744 A1, DE 195 27 199 A1, DE 195 29 430 A1, DE 196 33 745 A1, EP-A-0 930 552) structured, the additional ones take place Angle changes of the respective individual drive compared to the so-called "virtual leading axis". Because this is where all setpoint and actual position values are related.

A positive position setpoint causes an adjustment in the direction of the print Paper. A separate set of travel parameters can be used for the function of the Circumferential register, another separate set of travel parameters for the function of the cutting register. The following have for each traversing block Drive-specific parameters proven to be favorable: control word, mode, status, Travel offset, absolute travel, relative travel, absolute actual travel, target speed, Speed factor, minimum resulting speed, target acceleration.

It is advantageous to parameterize the circumferential and cutting registers or the associated ones certain sets with travel parameters exclusively via the control center. The Presetting of the individual drives for the paper web can be ensured from the control center. The correct presetting of the drives is a prerequisite for accurate registration Synchronize.

• Einstellung oder Ausführung von Farb- und Schnittregistern,
• Kalibrieren, insbesondere Referenzpunktfahrt (siehe Beispiel unten sowie EP-A-0 930 158)
• Positionieren auf ein festes oder auf ein bewegtes Ziel (siehe Beispiel unten)
• Suchbewegungen zum Einrasten mechanischer Kupplungen, wobei bis zum Ineinanderrasten von Zähnen einer Kupplung entsprechende Bewegungen überlagert werden bzw. ein entsprechendes Verfahren stattfindet
• fliegender Auftragswechsel, insbesondere, "fliegender" Plattenwechsel, "fliegend" wechselnde Seitenumfänge, fliegend" wechselnde Schwarz- oder Schmuckfarben usw.
• sonstige interne Zwecke

According to a special embodiment of the invention, mutually separate traversing parameter sets (for example four to six traversing parameter sets) are used for the following purposes:

• Setting or execution of color and cut registers,
• Calibrate, especially reference point approach (see example below and EP-A-0 930 158)
• Position on a fixed or a moving target (see example below)
• Search movements for engaging mechanical clutches, corresponding movements being superimposed until a clutch engages teeth, or a corresponding method is taking place
• flying job change, in particular, "flying" plate change, "flying" changing page sizes, flying "changing black or spot colors, etc.
• other internal purposes

As part of the general inventive idea to solve the problem mentioned invention task also a control or regulation technology Arrangement proposed for performing the method mentioned, in which between the master control and at least one of the control units Setpoint generator is arranged, which is a control module for the control parameters, a or several traversing block modules with the traversing parameters provided and has a summing point connected downstream of these modules, whose output is assigned to the control unit, the modules mentioned for Implementation of their respective parameters in position, speed and / or Acceleration setpoints and for feeding them to the summing point are trained. It forms a synthesis medium, as it were, in which specifications for Main and auxiliary functions of the press for setpoints and / or control commands for the downstream drive units are processed. The one from the Resulting setpoints contain compressed all information for setpoints to be entered in the downstream drive control units.

The application flexibility is increased, who after training the arrangement according to the invention of the summing point and the control unit Intermediate multiplier that has multiple inputs, namely for the intermediate setpoint values or those output from the summing point and for one or more factors, for example one for a transmission over or Reduction certain gear factor.

It is when commissioning printing presses or plant parts thereof desirable to carry out pre-parameterization in the drive system. In the current Operation continues to be the requirement, main and auxiliary functions of the printing press change dynamically or trigger auxiliary functions first. That will be with one Training of the arrangement according to the invention taken into account at least one of the traversing block modules on the input side with one or more externally accessible parameterization channels is provided. This can be done with the Master control or one or more control stands in connection.

Fig. 1

die Strukturblöcke der erfindungsgemäßen Anordnung zur Ausführung des erfindungsgemäßen Verfahrens,

Fig. 2

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

Fig. 3

ein Flußdiagramm zur Referenzpunktfahrt aufgrund eines erfindungsgemäßen Verfahrparameter-Satzes, und

Fig. 4

ein Flußdiagramm zum Positionieren aufgrund eines anderen erfindungsgemäßen Verfahrparametersatzes.

Further details, features, advantages and effects on the basis of the invention result from the following description of preferred exemplary embodiments and from the drawings. These each show a schematic, basic representation:

Fig. 1

the structural blocks of the arrangement according to the invention for executing the method according to the invention,

Fig. 2

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

Fig. 3

a flow chart for reference point travel based on a set of travel parameters according to the invention, and

Fig. 4

a flow chart for positioning based on another set of travel parameters according to the invention.

According to FIG. 1, the control arrangement can be subdivided into a module level M, a processing level P and a controller level R. The levels are structured hierarchically in the order mentioned from top to bottom. The two levels "Module M" and "Processing" P "together form a setpoint generator S. In module level M is a control module for recording parameters for printing press speed and printing press acceleration as well as a plurality of traversing block modules V1 - V5 for receiving traversing parameters with respect to absolute and / or relative position, speed and / or acceleration All modules convert the recorded control or travel parameters into cyclically generated setpoints Y _L , Y ₁ -Y ₅ for position, speed and acceleration.

The parameters "press speed" and "press acceleration" represent specifications for a so-called virtual leading axis, for which then in Setpoint generator or master value module corresponding position, speed and Acceleration setpoints are generated.

The three cyclical setpoints Y _L , Y ₁ -Y ₅ per module L, V1 - V5 are fed to a summing point in processing level P. The cyclic setpoints Y _L , Y ₁ -Y ₅ from the modules L, V1 - V5 are summed up with the result that an intermediate setpoint value is output for the position, speed and / or acceleration of the drive motor concerned with the driven machine part (s) becomes. These three intermediate setpoints Z _L , Z _G , Z _B are also processed together, namely in a multiplier X. In addition to the three intermediate setpoint inputs Z _L , Z _G , Z _{B, this} also has a further input for an external factor F. This can be, for example, a gear factor for a step-up or step-down ratio. The level of the setpoint generator S is left when the final setpoints E _L , E _G , E _{B are} generated, and the individual setpoint / actual value comparators D _L , D _G , D _B are supplied on the drive controller level R. An actual value for the position, speed and acceleration is entered at the same time with a negative sign for these comparators. The control difference, which results from the position / setpoint / actual value comparison D _L , is fed to a position controller with P behavior, which in combination with a dimension factor outputs a speed setpoint which, in addition to the final speed setpoint E _G, the setpoint / actual value comparator D _{G is} fed for speed. In addition, the actual value for the speed of the relevant drive motor or the driven machine part is entered with a negative sign. The target / actual value comparator D _G for the speed, a speed controller with PI behavior downstream, which also includes a dimension factor for converting the speed regulating difference in acceleration The resultant of the speed regulator acceleration is the one with the final target value E _B for acceleration from Setpoint generator S superimposed in the connected comparator D _B. With this acceleration comparator, an actual value is not supplied. A transmission element with the mathematical relationship 1 / Ks is connected downstream of the acceleration comparator or superimposer D _B. It outputs a current setpoint (generated from the received acceleration control difference) to a subsequent setpoint / actual value comparator D _l . In the current comparator D ₁ , the current setpoint is compared with an actual current value (with a negative sign); the current control difference is fed to a downstream current controller with PI behavior. From its output, the current control value is converted into a control torque with respect to the drive motor (s) concerned by means of a further transmission element K _T.

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 approach is used for this purpose, the angle a being determined and for the later operation is to be saved. The angle a indicates by 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 the first time that the drive system has been commissioned for the whole machine to take place. After each exchange of the sensor or Encoder system, components of the encoder system or changes in the The reference point approach must be repeated in the machine coordinate system.

The relation to the driven mechanics and the encoder system of the drive determine the course of the reference point trip. This is appropriately from one superordinate control system. The necessary schedule is shown in Figure 3 shown.

In a first sequence step 31, the rotating body 1 is, for example, a Rubber cylinder, mechanically locked. A occurs in the next sequence step 32 Parameterize the operating mode of the drive unit for the reference point approach by a master control. In the next step 33, this sets the current one Target operating mode. In step 34, for example, a digital signal processor reads the Drive controller in the drive unit sets the current position of the rotating body 1 and a load-related modulo position is invalid. In the following step 35, the "Order status" parameter set, whereby the drive unit reports to the control system that their requirement is met. In the following step 36, the locking of the Rotating body 1 removed. Thereupon, in step 37, the parent Master control signals the release of the drive to the drive unit. This sets thereupon in the following sequence step 38 the parameter "order status" is returned. For The master control of the Drive unit specified a target speed with the value zero. The Actual setpoint speed for reference point travel is determined by the drive unit independently determined by parameterization of a specific traversing block. The same applies to the target acceleration. Because of the use of Traversing blocks are based on today's European patent applications "Electrical Drive system with distributed, virtual master axis "(EP-A-0 930 552) and "Referencing method for a machine or system" EP-A-0 930 158 the same applicant, filed on the same filing date. in the The next sequence step 39 is the traversing block from the digital signal processor Drive unit automatically converted into traversing movements for the rotating body. in the Practical application examples of the printing press are up to two Turns expedient. According to branch flow step 391, the serve Traversing movements to trigger the encoder zero pulse by the angle a according to Figure 2 to determine. If this happens successfully within two revolutions, internal calculations and are carried out in the next calibration sequence step 392 Storage of the position of the encoder zero pulse by the digital Signal processor of the drive unit. This is followed by a in step 393 Acknowledgment of the order to the master control system, whereby the parameter "Order status" is set again. Then the parent transmits Master control with sequence step 394 the command "lock the drive unit".

When positioning according to Figure 4, the drive motor is set to a desired one Move the target position by, for example, a further basic movement Motion is superimposed according to a specific travel parameter. On such positioning can e.g. be used for the plate change. Therefor a specific set of travel parameters from the control center or control system Parameterization channels 3 (see FIG. 1) parameterized accordingly. From the master control a target speed with zero can be specified via master parameters. The can actually set speed and acceleration of the positioning process define themselves through the assigned traversing block. The parameterization of the Target speed and target acceleration for the relevant traversing block determined during commissioning and in the drive system or in the controller R des affected drive motor stored. The implementation of the positioning will appropriately commissioned by the master control system.

The necessary schedule is shown in Figure 4. The positioning starts expedient from a stationary drive. In step 41, the current The target operating mode is set by the master control system. Then there is one Enable the drive (drive controller R and drive motor) from the master control - see. Sequence step 42. In the next sequence step 43, the control system reads the current, actual position related to the load in degrees. Then follows Sequence step 44 parameterization of the absolute target position by the master control (if necessary via parameterization channels 3 - cf. FIG. 1) in the degree unit. Doing so introduced the desired target position, which is dependent on the actual position of the Drive. In branching step 45, it is examined whether a permissible one Value range for the actual position related to the load is not exceeded. At The drive positions would not be exceeded on that Machine coordinate system related. The drive must therefore Carry out the home position run (see EP-A-0 930 158).

The basic position run is independent on the level of the setpoint generator S or Controller R carried out, corresponding to sequence step 46. Moves according to sequence step 47 the drive then moves to the target position, after which the message according to step 48 "Order completed" to the master control can take place. After that takes place according to Step 49 locking the drive.

Claims (15)

1. A method of operating a printing machine with a plurality of printing machine parts (1) which cooperate in an operational and/or coupling interconnection and which are moved by one or more drive motors, wherein for the coupling, coordination and/or synchronisation of the movements from one or more reference parameters (L) mutually associated with the printing machine parts (1) position, speed and/or acceleration desired values (EL,EG,EB) are generated for the or each drive motor, whereupon the drive motor or motors for moving the printing machine parts (1) are controlled for the purpose of carrying out one or more operations in respect of printing technology, and to carry out the operation in respect of printing technology for at least one drive motor relevant thereto, one or more traversing parameters (V1-V5) are used in addition to the reference parameter or parameters (L), which relate to the relative and/or absolute positions, speed and/or acceleration, which in carrying out the operation in respect of printing technology are necessary for the relevant drive motor and/or the associated machine part (1), characterised in that the reference and traversing parameters are converted into cyclic desired values (YL,Y1-Y5) which are then summed together (Σ) for controlling the drive motor, and one or more intermediate desired values (ZL,ZG,ZB) or final desired values (EL,EG,EB), which result from the summation (E), are combined within the framework of one or more control circuits with actual values of the drive motor and/or of the associated printed machine parts (1) for their position, speed and/or acceleration and are processed to form a control value, in particular a control torque, for the relevant drive motor.
2. A method according to Claim 1, characterised in that the lead parameter or parameters relate to the speed and/or acceleration which is generally predetermined for the printing machine or for its operational interconnection with the relevant printing machine parts (1).
3. A method according to any one of the preceding Claims, characterised in that one or more intermediate desired values (ZL,ZG,ZB), which result from the summation, are multiplied by one factor, in particular a transmission factor.
4. A method according to any one of the preceding Claims, characterised in that one or more traversing parameters (V1-V5) are used to adjust printing-technology registers, in particular colour/dimension registers and/or cutting registers, of the printing machine, of an operational and/or coupling interconnection thereof and/or of the respective printing machine part (1) and/or for the register-true coupling, coordination and/or synchronisation of the movements of the respective drive motor.
5. A method according to Claim 4, characterised in that the operations in respect of printing technology of the colour/dimension register or of the cutting register are performed by additional positional, in particular angular variations, of the respective drive motor with the associated machine part or parts (1) with respect to the desired values resulting from the reference parameters, in particular a reference axis virtually predetermined for the printing machine or its operational interconnection.
6. A method according to Claim 4 or 5, characterised in that the predetermination of traversing parameters (V1-V5) is effected with reference to the reference parameters (L) by means of absolute and/or relative register values.
7. A method according to any one of the preceding Claims, characterised in that during operation of the printing machine and/or after replacing or maintaining one or more sensors (2) of the printing machine and/or after changing a machine-coordinate system (Figure 2) of the printing machine before inserting for the first time an article to the printed, several or all of the machine parts are moved by means of one, several or all of the drive motors until the sensor or sensors (2) are calibrated to basic settings of the operational units (1) associated therewith, wherein one or more traversing parameters (V1-V5) are used to predetermine the desired speed of the calibration travel.
8. A method according to any one of the preceding Claims, characterised in that one or more traversing parameters (V1-V5) are used to generate desired values for the drive motor which is affected by the printing-technology operation of positioning (Figure 4) on a fixed or moving target, in particular when changing a plate.
9. A method according to any one of the preceding Claims, characterised in that the traversing parameter or parameters (V1-V5) serve to generate desired values by means of which the respective drive motor is controlled to carry out the printing-technology operation of search movement for the engagement of mechanical couplings.
10. A method according to any one of the preceding Claims, characterised by one or more sets (V1-V5) of in particular successive traversing parameters: control word, mode, status, travel offset, absolute travel, relative travel, absolute actual travel, desired speed, speed factor, minimum resultant speed and/or desired acceleration.
11. An open-loop or closed-loop control arrangement for carrying out the method according to any one of the preceding Claims, having a computer-based drive system which for the control of one or more drive motors has a respective monitoring unit (R) and at least one primary control which is common to said drive motor or motors and which is associated with the monitoring units (R) for transmitting the reference parameters, characterised in that a desired-value generator (S) is arranged between the primary control and at least one of the monitoring units (R), which generator has a control module (L) for receiving the reference parameters, one or more traversing set modules (V1-V5) with the reference parameter or parameters prepared therein and a downstream summing location (E) which is common to these modules and the output of which is associated with the monitoring unit (R), wherein the modules (V1-V5) are designed to convert their respective parameters into cyclic position, speed and/or acceleration desired values (YL,YG,YB) and to feed them into the summing location (Σ).
12. An arrangement according to Claim 11, characterised in that a multiplication element (X) with inputs for the intermediate desired value or values (ZL,ZG,ZB) resulting from the summing location (Σ) and an external factor, in particular a transmission factor, is interposed between the summing location (Σ) and the monitoring unit (R).
13. An arrangement according to Claim 11 or 12, characterised in that the input or inputs (EL,EG,EB) of the monitoring unit (R), the input (YL,Y1-Y5) and the output (ZL,ZG,ZB) of the summing location (Σ) and, optionally, of the multiplication element (X) are subdivided according to desired values for position, speed and/or acceleration.
14. An arrangement according to any one of Claims 11 to 13, characterised in that at least one of the traversing set modules (V1-V5) is provided on the input side with one or more externally accessible parameter-related channels (3).
15. An arrangement according to Claim 14, characterised in that the paramet-related channel or channels (3) are in communication with the primary control and/or a control centre.

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