WO2002065223A2 - Steuerungs- und überwachungsanlage von maschinen und/oder anlagen mit aktionskomponenten unterschiedlicher aktionsgruppen - Google Patents
Steuerungs- und überwachungsanlage von maschinen und/oder anlagen mit aktionskomponenten unterschiedlicher aktionsgruppen Download PDFInfo
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- WO2002065223A2 WO2002065223A2 PCT/DE2002/000318 DE0200318W WO02065223A2 WO 2002065223 A2 WO2002065223 A2 WO 2002065223A2 DE 0200318 W DE0200318 W DE 0200318W WO 02065223 A2 WO02065223 A2 WO 02065223A2
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- action
- control
- monitoring system
- machine
- components
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Definitions
- Action components can be: actuators, e.g. Drives, sensors, acquisition and / or output elements, but also specific functions for preparation, control, monitoring, communication, planning, administration and optimization of processes.
- these different movements have to be coordinated with each other.
- individual actions of the machine / system can be individually controlled, ie regulated and monitored, via an interface assigned to a particular action. Depending on requirements, these interfaces are made individually accessible via the control and monitoring system, so that the relevant actions can be monitored or controlled.
- the interfaces of individual action groups are different, namely with regard to the programming language used, the transmission protocol and the transmission paths.
- the diversity of the interfaces is also reflected in separate and different components of the control and monitoring system, the software and the user interface.
- the invention thus offers the advantage of an overall overview of the current status of the machine / system, with a uniform user interface simultaneously allowing simple and clear commissioning, operation and monitoring of the machine / system. Due to the uniformity of the user interface and the interfaces involved, errors in transmission / conversion and in the input of control instructions are reduced to excluded.
- the current model which is displayed by means of a monitoring, control and visualization tool.
- it offers a tree-like component and function-oriented view (whereby the current model does not necessarily have to include the component and function-oriented view / structure) of the existing programs and data and, on the other hand, a state graph-like view (of the current states of the to be controlled and / or monitoring processes including their actions and transitions).
- the tool / current model enables all actions and transitions displayed (or their programs and data elements) to be influenced or changed directly using a switch-like function.
- a force (forced setting of transitions) / Action data for example setting an output for switching on, for example, a coolant supply
- an editing mode can be set (see claim 13).
- a transition condition can be fulfilled, for example, by setting a flag in a targeted manner and the next action to be carried out, while in edit mode the current model can be modified, ie all the data and logic underlying a transition or a transition program or action or action program can be adapted to requirements via the uniform user interface, which allows universal and simple, direct access to the corresponding interface, especially during the commissioning of a machine / system. This eliminates the majority of multiple, more complex, e.g. manual, multi-step calls to interfaces to the actions / transitions.
- a monitoring, control and visualization module / tool is supplied with status information relating to the states of the action components of different action groups in addition to the current model. If action components are not located on the control and monitoring system, the associated status information is generally fed to the monitoring, control and visualization tool via at least one control / feedback line.
- Action components In addition to the actions to be carried out, the action components also process the transitions and also provide their results as status information for the monitoring, control and visualization module.
- Action components can be actuators, e.g. Drives or input / output devices, hydraulic cylinders, sensors (limit switches, light barriers, measuring systems, ...) that perform the required actions, but also software functions that manipulate, process or prepare specific data in a specified manner, or provide data / information, for example, the Read a tool data element.
- the status information corresponds to the current status of the relevant action component (s). They are fed to the current model and fed in by the monitoring, control and visualization module in an operating and display part of the control and monitoring system and displayed there. Supplemented by the fed-in status information, the current model is updated - preferably continuously or practically in real time (e.g. with respect to an operator). Real time in this sense refers to the time constants of the action group concerned; Different update times or cycles can certainly be provided for different action groups and different requirements for topicality.
- the current model includes a component and function-oriented summary of the data and programs for each machine / system, including the actions and transitions required for programming and displaying sequences similar to state graphs.
- Permanent data which represent unchangeable parameters with regard to a machine / system configuration, and volatile and updated data, which, for example, represent the status information, are thus taken into account.
- the permanent data can be stored in a memory with random access. However, they can also be a fixed and software-unchangeable part of the control and monitoring system.
- the permanent data for example drive or CNC control parameters, are preferably changeable and stored in the control and monitoring system, so that for different machines / systems with one and the same control and monitoring system. different models and can also be controlled.
- control and / or monitoring system has an input interface for control and / or drive and / or monitoring and / or communication and / or planning and / or resource management and / or optimization data and / or programs and means for storing these data / programs, wherein the stored data / programs when parameterizing the action components, action and transition programs, ie in particular, the definition of the boundary conditions and / or structure and / or when processing the current model can be called up.
- Actions are not only to be understood as physically visible actions, but also not directly visible software-technical actions, such as modifying, monitoring, optimizing, planning or managing operating data, such as switch positions, positions of machine components, and the number within a tool store usable tools etc.
- Action elements do not necessarily have to be assigned to action programs (via the corresponding interface), ie they can also be empty. This can be the case, for example, if certain states that are influenced by other actions are to be visualized.
- Action elements may also have the property that they are processed cyclically, once only with a time delay, always with a time delay, always with a time delay, etc. Depending on the application, it may also be desirable for several action elements to be active within one process. Accordingly, a transition program does not necessarily have to be assigned to a transition element, provided the only condition is that the preceding action (command) has been processed. This applies in particular to process-oriented actions, such as the execution of movement commands on a CNC, MC or RC action group. Transitions are processed in the relevant action groups taking into account the relevant cycle times.
- the current model represents the physical configuration of the machine / system, preferably with all components. It is therefore a displayable, configurable and operable machine / system model.
- the processes in a machine / system can usually first be assigned to components or subcomponents of the machine / system or functions or subfunctions and then modeled hierarchically (from the rough to the fine). Accordingly, the current model for the representation and programming similar to the state graph is constructed from interlinked action and transition elements over several levels, preferably only one action element being active on each level. If action elements extend over several levels, only one action element is active on each level.
- the linking of the action and transition elements of one or more levels to one another is predetermined by the processes to be controlled and / or monitored and / or optimized and is programmed and optimized during commissioning.
- the action elements represent the associated actions including the programs required for this, the transition elements corresponding to the transitions or the programs required for this.
- An action can correspond, for example, to a setpoint value to be assumed by a component or to an intended speed or speed value. Accordingly, both static and dynamic actions or states are provided.
- the update can also include that current status information or other status information relevant to the respective action or transition is displayed, e.g. B. positions, speeds, revolutions or on / off status.
- the individual action and transition elements, displays, editors, switch panels etc. can be addressed via input means.
- These input means can be, for example, touchscreens, keyboard functions or panels / touch panels or the like specifically designed for this purpose. Virtually any machine / system configuration can thus be completely put into operation, controlled, monitored and visualized by a control and monitoring system according to the invention.
- actions or the associated action programs
- These include, for example, CNC, RC (Robot Control), MC (Motion Control), PLC, drive, monitoring, planning, management, communication and optimization action groups.
- CNC CNC
- RC Robot Control
- MC Motion Control
- PLC drive, monitoring, planning, management, communication and optimization action groups.
- PLC action groups that can also be integrated and coordinated with CNC and / or drive action groups; This was previously not possible with a uniform control and monitoring system with a uniform operating and visualization interface for these different action groups and is realized for the first time by the invention.
- a large number of regularly occurring applications in industrial manufacturing technology are thus already covered by this embodiment of the invention.
- the optional and at any time overview of all actions of the machine / system makes it particularly advantageous if the update of the current model - from the point of view of an operator - takes place practically instantaneously, ie at the moment.
- the requirements for this can easily be met even with complex machines / systems, since the associated time constants are relatively large.
- the instantaneous model is preferably updated at a time cycle which is less than or equal to 500 ms and particularly preferably less than or equal to 100 ms. This depends on the required topicality of the respective application. For certain applications, it may also be sufficient if the timing is a few seconds to about 10 minutes grooves is. This is the case, for example, in the case of appropriately slowly changing monitoring processes to be controlled, such as storage, logistics, etc.
- the image of the machine / system is preferably complete by the current model, i.
- the current model includes all processes to be controlled for all components of the machine / system.
- the components of the machine / system include in particular all drives, motors and sensors.
- the entire machine / system can be started up uniformly with the aid of the instantaneous model, and can be controlled, monitored and operated.
- the user / operator is only required to know how to use a uniform user interface.
- an object-oriented database module (see FIG. 4 below) with the data mentioned there is also present in the control and monitoring system.
- New in this context is the approach of storing individual objects (components / subcomponents / functions / subfunctions) of the machine / system with all relevant data in an object library (if these have proven to be practical).
- object library if these have proven to be practical.
- new machines can then be designed in terms of software technology in a machine library, or existing machines can be improved or further developed. This means that entire systems that are made up of several machines can be taken into account in the current model.
- the actual programming and data / parameter input for the individual objects can - as before - be done manually at the beginning or during commissioning. follow, but alternatively also using program generators.
- the modeling of individual objects (components / functions) or their processes can be carried out using UML (unified modeling language) or UML-like description means (especially subject-specific extensions) and then using program generators - possibly using an intermediate language (e.g. XML - eXtended markup language ) for the control or action group independent neutral problem description - converted into the specific problem-oriented programming languages of the respective action group and the programs and data required for the individual objects can be generated.
- UML unified modeling language
- UML-like description means especially subject-specific extensions
- 1 is a schematic drawing of a control and monitoring system according to the invention on a machine with interacting action elements of different action groups
- 2 shows a schematic overview of the current model, some action groups of the control and monitoring system and the most important program and data flows,
- FIG. 3 shows a section of a model of a tool change process to be controlled
- FIG. 4 shows the basic structure of a database with all the data required for the manufacture and in particular the commissioning and operation of a machine / system.
- Fig. 1 shows a control and / or monitoring system (1) on a machine / system (2) in a schematic representation.
- system (2) is used below.
- the system (2) has action components (3, 4) which belong to different action groups (5, 6, 27).
- the system (2) is an automated, industrial production system in which a workpiece (not shown here) is processed. Different tools (28) are required for processing. These tools are provided in a tool magazine (not shown). A tool that is no longer required for further machining of the workpiece is automatically checked by the spindle-side tool holder (20) using a (not shown) handling system with a gripper (26) after checking its further usability by means of a sensor (23). removed and placed in a tool magazine and then another tool required for further processing and still usable is removed from the magazine and brought into the spindle-side tool holder (20).
- the aforementioned process is an automation in which frequently recurring actions (16) are carried out.
- the proper execution of the individual actions is important on. If even one action cannot be carried out properly, the next following actions must not be carried out, as otherwise damage to the tool, workpiece, system or even people can occur.
- the focus of modern production plants is on a time-optimized overall process, i.e. an optimal interaction of the PLC and CNC action elements.
- the actions (16) to be carried out for the feeding and removal of tools from the spindle-side tool holder (20) are indicated schematically by double arrows; these mean that the gripper (26) (or its CNC action components 'drives' (18) that move it) is linear in the direction shown, possibly.
- the gripper jaws (19) (or its PLC action component 'hydraulic cylinder' (24) are moved together for gripping the tools and moved apart for loosening), the tool slide (36) (or its CNC action component ' Drive '(18)) is brought into the required change position, the spindle-side tool holder (20) (or the (not shown) PLC action component' tool clamping device ') is opened for the removal of tools and is closed again after picking up a tool, which Tool spindle (29) (or its CNC action component drive '' (18)) stops its rotary movement at the beginning of a tool change and takes the required position and the sensor (23) (or its monitoring action component 'Check tool', not shown) does this Tool inspected.
- the actual processing unit consists of the tool slide (36) with the corresponding drive (18) for moving the slide.
- Both the tool slide and the tool spindle (29) with their drives are assigned to the action group CNC (6)
- the action group CNC (6) can also be influenced in its behavior by the action group PLC (5). This can be the case, for example, when the tool slide (36) leaves the permissible travel range and actuates the limit switches (24).
- the action group PLC (5) then withdraws the motion component from the action component CNC (6), whereupon it shuts down the axes concerned as quickly as possible. This process of monitoring the driving area chung can be realized very easily using the action and transition elements (and the associated programs) described above.
- control and monitoring system (1) shown schematically here consists of control logic module (30) and storage means (22). In addition to these components that are present in the control electronics (32), there are also the action groups
- the operating and display part (8) has a display (43) and an input interface (21).
- the monitoring, control and visualization module (9) according to the invention using the current model (25) is used in the display (8).
- Amplifiers / converters (42) are used between the action groups (5, 6) and the action elements (10) assigned to them, e.g. Drive amplifiers, input / output devices, hydraulic units etc.
- these devices can also include additional action groups (27), for example extensive functionality within a drive amplifier, such as measuring functions, electronic cam functions, etc.
- FIG. 2 shows a schematic representation of the instantaneous model (25), represented by the data / modules represented symbolically in the form of a menu, some action groups (27) of a control and monitoring system (1) and the essential program and data flows (54) ,
- the action groups (27) communicate via the usual data exchange mechanisms / interfaces (12) (e.g. shared memory, dual ported RAM), protocols (e.g. RS232, Sercos Interface) and call mechanisms (eg interrupt-controlled multitasking).
- data exchange mechanisms / interfaces (12) e.g. shared memory, dual ported RAM
- protocols e.g. RS232, Sercos Interface
- call mechanisms eg interrupt-controlled multitasking
- transitions (17) programs for monitoring a transition condition
- the data that is not available on the respective action group (27) must also be made available there cyclically.
- Action groups (27) that do not have cyclical processing options (eg older CNCs), but also for reasons of performance or clarity can lead to transition programs (55) belonging to an action group being replaced by other action groups (27) (preferably by the PLC) are to be executed.
- transition programs (55) belonging to an action group being replaced by other action groups (27) preferably by the PLC
- the associated action (16) or the action program (56) can be processed (for example by means of interrupt-like mechanisms such as interrupt-controlled calling of an NC subroutine).
- the current model (25) is constructed in an object-oriented manner and depends on the physical configuration of the machine / system (2). Relevant objects of the current model (25) are the individual components and subcomponents of the machine / system (35) and (the functions and subfunctions (45 usually assigned to the individual components / subcomponents)).
- the object-oriented structure of the instantaneous model (25) thus corresponds to the component / function-oriented structure of the machine / system (2).
- the user can assign each object its relevant data, which will also remain there in the following, for example when saving or copying the current model (25) or individual objects.
- This new approach makes it possible not only to carry data that is relevant for the control and monitoring system, but also other supplementary data that fundamentally facilitate later operation of the machine, improvements to the machine or new procurement.
- additional data can be, for example, order documents, construction and manufacturing drawings, wiring plans, vibration analyzes of individual machine parts, machine cycle times, data for maintenance intervals, for weak point analysis or for machine optimization.
- the figure shows mainly the control-relevant data, that is, in particular, the data that make it possible to adapt the control and monitoring system (1) to the existing control and monitoring system (1) (52), as well as the data and programs required for the state graph-like programming including action group specific programs and data (16, 17).
- FIG. 3 shows, on the basis of a section from a tool change sequence (in which action elements of the CNC and the PLC are involved), the work steps required for the user or the menus to be run through.
- the user proceeds as follows: First, in the Construction menu (44), he enters his components / functions (46) relevant to the system in the tree-like component and function-oriented structure (45). He then models the processes (50) belonging to the respective component or structure within the Modeling menu (47) by entering the relevant action elements (10) and transition elements (11) - if necessary going from coarse to fine , After the relevant action and transition elements (10, 11) have been created, the user programs the associated action and transition programs. For this purpose, for each action / transition (16) he selects the action group (48) on which the associated programs are to be executed. Preferably, only those action groups should be displayed in the selection menus that are also available within the machine / system (2).
- action groups (27) that do not have cyclical program processing mechanisms should not be shown when selecting the action group for a transition.
- the user should also take into account that action programs (56) can only be programmed on the action groups (27) on which the infrastructure required for the actions in question (16) is also available, i.e. that the desired problem-oriented language (ISO 6983 with specific extensions, ISO 14649, EN 61131-3 (STL, SFC, LD, FBD, ST), C, C ++, Visual Basic, HTML, XML, etc.), which is available within the action program (56)
- Action components (3, 4) to be addressed are present on the action group (27) in question or can be addressed from there.
- Transitions should generally be carried out on the action group (27), on which most of the data required within the transition programs (55) is also available, provided that the transition conditions are cyclically processed. Transition programs (55) can, however, also be carried out preferentially or completely on only one action group (preferably on the PLC). Program lines of a CNC action program (56) with high-level language elements and a PLC transition program (57) in the manner of a circuit diagram are shown as examples in the picture.
- Fig. 4 shows a more detailed, schematic representation of the database module (40).
- the database module (40) is structured hierarchically in the manner of a tree (45), the database module (40) being subdivided into two main areas: the actual object library (38) with all machines / systems already in use objects (46) (and thus generally tried and tested) components / functions (56) and, on the other hand, the machine library (39), which are constructed from the objects (46) of the object library (38).
- the individual objects (46) represent the individual components / sub-components (46) of the machine / system or functions / sub-functions - (46) of the machine / system or individual components / sub-components.
- the individual objects (46) can be assigned information relevant to control / monitoring, but also additional information (as described above) in accordance with the requirements.
- Different objects (46) with almost any data are present within the database module for different machines / systems. Depending on the application, different and preferably all possible configurations for all physically possible applications of a machine / system (2) can thereby be put together. As shown in FIG. 4, the data from the database module (40) are used for the adaptation of the monitoring and control system (1) or its action groups (27).
- Data can be: control-relevant data (e.g. drive parameters, machine parameters, machine data, PLC data, modeling data, PLC functions and function blocks, CNC subroutines and macros, drive programs, PC programs, management programs, communication programs, optimization programs) or non- Control data (additional data, e.g. planning data, mechanical and electrical construction drawings, monitoring data).
- control-relevant data e.g. drive parameters, machine parameters, machine data, PLC data, modeling data, PLC functions and function blocks, CNC subroutines and macros, drive programs, PC programs, management programs, communication programs, optimization programs
- non- Control data additional data, e.g. planning data, mechanical and electrical construction drawings, monitoring data.
- Action components of a PLC action group e.g. I / O device or hydraulic cylinder
- Action components of a CNC action group e.g. drive
- Control / feedback line e.g. drive or fieldbus
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US10/470,430 US20040088119A1 (en) | 2001-01-30 | 2002-01-30 | System for controlling and monitoring machines and/or systems with active components belonging to different active groups |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE10104163A DE10104163A1 (de) | 2001-01-30 | 2001-01-30 | Steuerungs-und/oder Überwachungsanlage von Maschinen und/oder Anlagen mit Aktionskomponenten unterschiedlicher Aktionsgruppen |
DE10104163.2 | 2001-01-30 |
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WO2002065223A2 true WO2002065223A2 (de) | 2002-08-22 |
WO2002065223A3 WO2002065223A3 (de) | 2002-10-10 |
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PCT/DE2002/000318 WO2002065223A2 (de) | 2001-01-30 | 2002-01-30 | Steuerungs- und überwachungsanlage von maschinen und/oder anlagen mit aktionskomponenten unterschiedlicher aktionsgruppen |
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US (1) | US20040088119A1 (de) |
DE (1) | DE10104163A1 (de) |
WO (1) | WO2002065223A2 (de) |
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US7080144B2 (en) * | 2000-12-22 | 2006-07-18 | Bell South Intellectual Property Corp. | System enabling access to obtain real-time information from a cell site when an emergency event occurs at the site |
EP1388769A1 (de) * | 2002-08-05 | 2004-02-11 | Peter Renner | System zur Automatisierung, Überwachung, Steuerung, Messwerterfassung von technischen Prozessen |
KR20030081199A (ko) * | 2003-07-16 | 2003-10-17 | 쓰리지디코리아 주식회사 | 프로세스 제어에 필요한 데이터 획득 시스템 및 방법, 그프로그램을 기록한 기록매체 |
-
2001
- 2001-01-30 DE DE10104163A patent/DE10104163A1/de not_active Withdrawn
-
2002
- 2002-01-30 WO PCT/DE2002/000318 patent/WO2002065223A2/de not_active Application Discontinuation
- 2002-01-30 US US10/470,430 patent/US20040088119A1/en not_active Abandoned
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2724744A1 (fr) * | 1994-09-16 | 1996-03-22 | Ass Pour Le Dev De L Enseignem | Procede de modelisation d'un processus physique |
EP1052383A2 (de) * | 1999-05-11 | 2000-11-15 | Ford Global Technologies, Inc. | Luft-Kraftstoffverhältnis-Regeleinrichtung für eine Bremskraftmaschine |
Also Published As
Publication number | Publication date |
---|---|
WO2002065223A3 (de) | 2002-10-10 |
US20040088119A1 (en) | 2004-05-06 |
DE10104163A1 (de) | 2002-08-14 |
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