EP0939922A1

EP0939922A1 - Device and method for controlling machines especially a power loom

Info

Publication number: EP0939922A1
Application number: EP98952550A
Authority: EP
Inventors: Herbert Müller; Arno Wagner
Original assignee: Lindauer Dornier GmbH
Current assignee: Lindauer Dornier GmbH
Priority date: 1997-09-13
Filing date: 1998-09-08
Publication date: 1999-09-08
Also published as: JP2000506660A; DE19740306A1; WO1999014643A1

Abstract

A control system (1) whose accessories (3, 4, 5, 6) are combined via a control area network (CAN) bus (7) with a control device (2) serves to control component accessories such as actuators, sensors and other devices of a machine, especially a power loom. In addition to the CAN bus (7), at least one additional line (ITL-HIN) is provided to connect all software configurable accessories (3, 4, 5,) to one another. The line (ITL-HIN) is connected through all accessories (3, 4, 5), whereby it is guided to every accessory (3, 4, 5) by a switch (10), said switch being open before the initialization. When the switch (10) is successively closed, the accessories (3, 4, 5) are connected in succession to the initialization trigger line (ITL) signal and are individually activated in succession in order to receive their individual address from the control device (2), said address being valid for the successive operation.

Description

Device and method for controlling machines, in particular

Weaving machines

Weaving machines and other machines generally have a central control that communicates with assemblies and / or devices that are required to operate the weaving machine. Bus systems can be provided for communication between internal and external devices of the weaving machine as well as components and assemblies of the same and the weaving machine control, as has become known, for example, from DE 4238600 C2 for knitting machines. A central processing unit interacts with motor control units via a bus in order to control them. The motor control units are connected to the bus in parallel and are addressed via addresses.

For data communication between a central control device and several subordinate participants e.g. Weft insertion devices, weft brakes, sensors and actuators are known as so-called CAN buses, which manage with three lines, namely CANH, CANL and ground. With such CAN buses (CAN stands for Control Area Network), the participants can receive data from the central control device, namely the weaving machine control, and return data to it. You can also communicate with each other. In order to make this possible, each subscriber must be assigned a separate address, which he recognizes as an identifier when he is to be addressed, and which he sends in order to correctly identify the sender of the transmitted data packet.

Looms have a large number of devices, assemblies and other elements that are connected to a CAN bus as participants. Such devices are, as mentioned above, the weft feed devices, the weft brakes, sensors or actuators. If a weaving machine is set up, the individual addresses of each participant (device) must be carefully documented so that no address is assigned twice. If changes are made, this is only possible based on the existing documentation. With a flexible configuration and changeability of the weaving machine, this represents a considerable difficulty with regard to the equipment for carrying out additional functions.

Based on this, it is an object of the invention to provide a system and a method for

Control of machines, in particular weaving machines, with which the configuration of the machine is simplified considerably.

This object is achieved with the control system according to claim 1 and the control method according to claim 8.

The control system or control method creates a possibility of integrating additional devices into the existing system without having to manually check or set them for address compatibility. The devices are to be connected to the existing data bus and are automatically arranged in the system during an initialization procedure. This is achieved by individually and sequentially addressing devices that can be configured by the weaving machine control, that is to say devices with an initialization trigger line, so-called ITL devices. If they are addressed, they are assigned an individual address that is saved both on the device and on the weaving machine control.

The weaving machine control organizes the assignment of the addresses so that each configurable device (ITL device) receives a single address that is only assigned once and therefore only serves to address this one device. In addition, additional addresses can be assigned several times (group addresses) in order to be able to address several devices with one shipment.

At the beginning of the initialization procedure, the configurable ITL devices are still without an address. You will therefore be addressed individually and in terms of hardware. According to the invention, an additional line is used for this. If a CAN bus with the lines CANH and CANL and ground is used as the bus, at least one further line must be provided, the ITL line. This goes from the weaving machine control to everyone Devices that are arranged one behind the other in the additional line. Each device preferably has an input and an output. A switch is preferably provided between the input and the output and is open during the initialization of this device. The first signal coming from the weaving machine control can therefore only reach the device that is directly connected to the weaving machine control. It is activated and switched to initialization mode. In this device, it exchanges the necessary data with the weaving machine control in order to determine the address that will apply for later operation. After initialization, the switch is closed so that the next device in the chain receives the initialization signal and can start exchanging data with the weaving machine control. In this way, theoretically, an unlimited number of individual devices can be addressed one after the other and initialized individually. The system is also open to permanently configured devices, e.g. for a dobby. These do not take part in the initialization, and the weaving machine control does not assign their addresses again.

The machine can be expanded at any time with additional devices and individual devices / assemblies can also be expanded or reduced without further notice; e.g. the number of weft feeders can be changed. With each initialization, the weaving machine control checks its environment, i.e. it checks what devices are connected to the bus and assigns them to its address space.

In the system and method described above, addressing the individual devices or assemblies by hand is unnecessary. Documentation of the system configuration can be kept to a minimum. The range of functions on a weaving machine can be expanded or restricted without the

Having to change the weaving machine control by hand. The type and number of devices on the bus enable the weaving machine control system to automatically identify which functions are in operation or are operating less, which means that they can work properly after initialization. With this measure, the weaving machine control recognizes the number and functionality of existing system components, ie Actuators, sensors, devices etc. themselves. Accordingly, it also assigns addresses itself using this method.

Advantageous details of embodiments of the invention emerge from the drawing and / or the description and from subclaims.

An exemplary embodiment of the invention is illustrated in the drawing. Show it:

Fig. 1 shows the system architecture of the control system of a weaving machine, in an extremely schematic block diagram, and

Fig. 2 is a device belonging to the system of Figure 1, in a schematic representation as a block diagram.

A control system 1 of a weaving machine is illustrated in FIG. The control system 1 includes a control device 2, in the present case the weaving machine control, which is used to control several connected devices 3, 4, 5, 6. The control device 2 is, for example, a computer control which has a computer module and one or more storage devices. With devices 3,

4, 5, 6, the control device 2 communicates via a data bus 7, which is designed as a CAN bus. The CAN bus has two lines CANH, CANL. In addition, two lines 24V, not shown, are provided for the operating voltage supply and the GND as ground connection.

The devices 3, 4, 5, 6 are components or attachments of the weaving machine to be controlled by the control device 2. The devices can be sensor assemblies, actuator assemblies, adjusting devices and devices such as weft feed devices, weft brakes or the like or additional devices. Some of the devices, devices 3, 4 and 5 in FIG. 1, can be configured remotely since they are connected to the ITL system.

Some or more devices, for example device 6 in FIG. 1, cannot be configured remotely. The Configuration of the individual devices 3, 4 and 5 includes the assignment of a device address in order to be able to address the devices individually after initialization and to be able to identify sent data packets as being sent by the relevant devices.

The configurable devices 3, 4, 5 each have an initialization input 8 and an initialization output 9. The initialization input 8 and the initialization output 9 comprise further connections, not shown. They are used for the serial connection of devices 3, 4, 5 with each other. Devices 3, 4, 5 are connected via initialization lines ITL-Hin and ITL-Rück. The two lines ITL

The back and ITL back thus add two lines to the CAN bus.

From the point of view of the control system 1, the devices 3, 4, 5 are constructed identically to one another. Devices of the same type, e.g. Weft feed devices or different devices, i.e. Devices that perform different functions. Each device contains a central processing unit CPU connected to the CAN bus 7, the CPUs of all devices 3, 4, 5, 6 being connected in parallel to the CAN bus 7. The central processing unit CPU controls the operation of the respective device 3, 4, 5, 6 on the basis of the information and commands received via the CAN bus 7. If necessary, the CPU reports states, information and data back to the control device 2 via the CAN bus 7. To initialize the CPU, this is connected to the line ITL.HIN.IN according to FIG. 2, the connection going to the input connection 8a, i.e. is located in the signal flow direction in front of a switch 10, which is arranged between the input connection 8a and the output connection, not defined in more detail. The switch 10 is controlled by the CPU. The switch 10 is open before the device 3 is initialized. This applies accordingly to the other devices 4, 5.

A resistor 11 connecting the CANH and the CANL after the device 6 ensures, in a manner known per se, that interference does not negatively influence the data transmission to the individual devices (3, 4, 5, 6). The line loop (daisy chain) consisting of the ITL-HIN and ITL-RÜCK lines in addition to the CAN bus 7 supplements the CAN bus and makes it possible to use the devices 3, 4, 5 in a configuration mode of the higher-level control device 2 if required to address in sequence, to identify and to assign an address or to determine a predetermined address, the

Configuration state for the actual operating state of the control device 2 is stored. Once such an initialization has been completed, the daisy chain (ITL-HIN and ITL-RÜCK) can be used as a trigger line.

Overall, the bus, as it is connected to the device according to FIG. 2, has the following lines:

- 24 volts,

- GND,

- CAN high,

- CAN low

- ITL-HIN-OUT -> ITL-HIN-IN,

- ITL BACK.

The CAN bus and the voltage supply are routed serially over each device 3, 4, 5, 6. Via the initialization trigger lines (ITL-HIN and ITL-RÜCK), the higher-level control device 2 recognizes the number of connected devices in turn, as will be explained in more detail later. Fixed device addresses, e.g. Dobby = 3, used.

Initialization process Before the actual operation of the control system 1, an initialization procedure is run through in which addresses are assigned to the remotely configurable devices 3, 4, 5 (ITL devices). This is achieved through the following steps:

1. First, all switches 10 in the ITL-HIN line are open.

2. The control device 2 switches the ITL-HIN line to a high level, which reaches the CPU of the first device 3 in the chain and informs it that an initialization is now to take place. In addition, the control device 2 sends a message on the CAN lines, for example the telegram 0, 128, 1, in order to announce that an initialization is taking place and that a message is now required which device has been addressed via the ITL-HIN line.

3. The ITL device 3, which has been activated by the ITL-HIN line, now responds with a device identifier, i.e. a bit string, the information about the type of

Device as well as other properties if necessary.

4. If the control device 2 has received this message, it assigns a suitable address that will apply to the ITL device 3 in the future and sends it out on the CAN lines. The ITL device 3 stores this address as its own

Address and closes switch 10.

5. If the switch 10 of the ITL device 3 is closed, the subsequent device 4 receives the request signal on the ITL outward line for the initialization. This is now carried out as described above (points 1 to 4), but an address is assigned which is different from the address of the device 3.

6. Once all the devices configured in the machine control have received their address, the control device recognizes the end of the initialization by the closed ITL line and ends the initialization. This is done by

Sending an initialization end telegram to everyone as a broadcast message Attendees. This is particularly easy to carry out if all devices 3, 4, 5, apart from their individual addresses, have each been permanently set or transmitted with a common address with which all devices can be addressed simultaneously. If all participants or devices 3, 4, 5 have been informed that the initialization has ended, devices 3, 4, 5 set their CAN receive filter according to their address and are ready for normal operation. The system setup is now complete.

Devices with an ITL line and without an ITL line can be initialized on the bus. However, they differ by their device address. ITL configurable devices all have the address 0 and can therefore be operated multiple times (including the same devices) on the bus. An individual address component is added to address 0 so that these devices can be addressed individually. Devices that cannot be configured for ITL have an address different from 0, whereby only one device can be operated with the same address.

Allocation of the CAN identifier;

Fixed CAN identifiers or addresses are used for the system initialization phase. A fundamental part of this phase is the free assignment of further identifiers of the weaving machine to the connected devices for the subsequent normal operation. Several devices can be grouped together, which can then be addressed together. During the initialization phase, the weaving machine control or control device 2 is the bus master. After that, all bus participants, i.e. both the devices 3 to 6 and the control device 2 have equal rights.

The device address is only used to identify an external device during system setup. It is to be agreed and has e.g. the values 0 to 15.

The group address is assigned by the master (= machine or control device 2) depending on the configuration. The number in the group is used to select a group participant. It is part of the telegram data and not of the identifier (address).

The data or telegram communication between machines and devices is described below:

Initialization:

The machine controller initializes all devices on the bus, e.g.

Telegram description:

Each telegram consists of several, e.g. 8 data bytes. The individual bytes have different meanings. These arise depending on the situation. The request for the device type, which is carried out, for example, by the control device 2 during the initialization, takes place in the direction from the machine (control device 2) to the individual device 3, 4, 5 with an identifier 0 and the data bytes 0, 128, 2 .

* LEX devices are devices with ITL cables set up for external data communication via CAN bus; Third-party devices are other devices without an ITL line.

** The art byte identifies the telegram content

The telegram may not be earlier than a certain time after the power is on

Machine are sent to start the initialization only after a mostly predetermined reset time has expired.

After the request for the device type has been sent, the addressed device responds by reporting its device ID. This takes place in the direction from the device to the machine, i.e. its control device 2. 400h + device address is sent as identifier. From this data, the control device 2 recognizes the device identifier, which is thus reported.

Device identifier: defines which device it is (e.g. weft feed device, weft brake ...)

Version: 0

Device version: ASCII bytes

To set the address parameters from the direction from the machine to

Device uses the following telegram to inform the device of the parameters valid for further operation (group address and CAN send ID).

To transmit the end of initialization, the identifier 0 from the machine, i.e. to the control device 2 for the device with the telegram listed in the table below that the system construction phase has ended and that the addresses communicated in the telegram explained above are valid. Devices 3, 4, 5 and 6 now set their CAN input filters (mask register) and at the latest now go into the operating state for normal operation:

A control system 1, the devices 3, 4, 5, 6 of which are linked to a control device 2 via a CAN bus 7, is used to control assembly devices, actuators, sensors and other devices of a machine, in particular a weaving machine. In addition to the CAN bus 7, there is at least one further line ITL-HIN is provided, which connects all software-configurable devices 3, 4, 5 with one another. The ITL-HIN line is looped through all devices 3, 4, 5, and is guided in each device 3, 4, 5 via a switch 10. This is open before initialization. By successively closing the switches, the devices 3, 4, 5 are connected in succession to the ITL signal and thereby individually activated one after the other in order to receive their individual address from the control device 2, which applies to the subsequent operation.

Claims

PATENT CLAIMS

1. Control system (1) for machines, in particular weaving machines and devices (3, 4, 5, 6) interacting with them,

with a control device (2) and with devices (3, 4, 5, 6) to be controlled by the control device (2) or supplied with information or data by the control device (3), each of which can be addressed separately or in groups via device addresses,

with a bus (7) to which signal lines (CANH, CANL) belong and through which data communication between the control unit (2) and the devices (3, 4, 5, 6) is made possible,

characterized,

that at least some of the devices (3, 4, 5) are designed as ITL devices (3, 4, 5) in such a way that their device addresses can be determined via the bus (7).

2. Control device according to claim 1, characterized in that the bus (7) is a CAN bus which has two signal lines CANH and CANL and additionally a daisy chain (ITL-HIN).

3. Control device according to claim 1, characterized in that the interlinking line (ITL-HIN) is routed serially over all ITL devices (3, 4, 5) and back (ITL-RÜCK).

4. Control device according to claim 1, characterized in that each ITL device (3, 4, 5) has an ITL input (8) and an ITL output (9), between which a switch (10) is arranged.

5. Control device according to claim 1, characterized in that each ITL device (3, 4, 5) has a control unit (CPU) which can be converted into an initialization mode by a signal received via the ITL line (ITL-HIN).

6. Control device according to claim 5, characterized in that the control unit (CPU) in the initialization mode sends the device (3, 4, 5) information relating to the control device (2) and assigns at least one address, preferably a single address and at least one group address receives, with which the device can be addressed separately and together with other devices.

7. Control device according to claim 4 and 5, characterized in that the device (3, 4, 5) closes the switch (10) after initialization.

8. control methods for machines, in particular weaving machines and devices interacting with them,

an initialization being carried out before operation of the weaving machine and connected devices, in which the devices are addressed one after the other in order to initialize them,

wherein at least one address is communicated to the device in question during initialization, which is used to identify the device during the subsequent operation of the weaving machine and the connected devices.

9. Control method according to claim 8, characterized in that the

The devices are addressed via a line (ITL-HIN; ITL-RÜCK) additionally provided to the bus (7), which is interrupted for each device and which is connected through when the device has been initialized.

10. Control method according to claim 8, characterized in that the control device (2) uses stored data about existing addresses to define each new address to be assigned differently from existing addresses.

11. Control method according to claim 8, characterized in that for each device (3, 4, 5) at least one individual address and at least one group address are defined, which it has in common with at least one other device, so that if necessary several devices belonging to a group are accessible as a group.