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  • 专利说明
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    • 专利摘要:
    The invention relates to a method for addressing / arrays of at least one control component (170..177) from a group of several linearly linked control components (170..177) of a conveyor system (1) via a daisy chain selection line (23). The addressing process starts from any point in the chain to the end of a branch of the chain. In one of the two branches, the numbering of the control components (170..177) is subsequently reversed. In addition, a conveyor system (1) is specified, on which said method is feasible.
    公开号:AT514999A1
    申请号:T50737/2013
    申请日:2013-11-06
    公开日:2015-05-15
    发明作者:
    申请人:Tgw Mechanics Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a method for addressing at least one control component from a group of several linearly linked control components of a conveyor system and for determining the rank of at least one control component from a group of several linearly linked control components of a conveyor system. Furthermore, the invention relates to a conveyor on which such a method is feasible.
    According to the state of the art, the control components of a conveyor system are also addressed, inter alia, by means of a unique address via a bus system. In a known way, a controller sends a message about the bus, which is provided with the addressee. The subscribers connected to the bus check whether an incoming message is intended for them by comparing the said addressee with their own address. In this way it is ensured that a control component of a conveyor system can be targeted ange¬.
    The problem is that a bus address usually says nothing about the physical location of the control component. If control components have to be controlled in a specific sequence, special precautions must therefore be taken. For example, this relates to physically successive conveyor rollers in a conveyor system, whose bus addresses without special precautions but "mixed mixed". are.
    To solve this problem, US 2004/0195078 A1 discloses a method by which successive conveyor rollers can be addressed according to their physical order. For this purpose, the controls of the conveyor rollers with a " daisy-chain " connected in series, interlinked linearly. The addressing process now starts at one end of the chain and runs to the end thereof, passing a signal through the daisy-chain lines successive from one controller to the next. This "handoff" allows a higher level controller to determine the physical order of the conveyor rollers.
    The disadvantage is that the connection of a higher-level control with ei¬nem end of the daisy-chain line in reality is sometimes difficult. If the superordinate control in the immediate vicinity of one end of the daisy-chain line is not possible for structural reasons, for example, an extra line may be laboriously laid. Apart from the production-technical complexity, such a laying is susceptible to error even on account of the cable length and the interferences scattered over it.
    It is therefore an object of the invention to specify a method or a conveying system in which an addressing process of control components and the detection of a physical sequence of the same can be performed flexibly. In particular, the above-mentioned disadvantages should be avoided.
    The object of the invention is achieved with a method for addressing / series zu¬ least one control component from a group of several linearly linked control components of a conveyor system, comprising the steps of a) stepwise addressing of control components, which starting from an arbitrary control component to a first end the chain are arranged, by means of a daisy-chain selection line, the ascending / descending addresses are assigned and / or the order of ordered addresses is stored, b) Stepwise addressing of the control components, which aus.hend of that control component, the in Step a) is opposite the first end of the linear chain, to the second end of said chain, by means of a daisy-chain select line, assigning ascending / descending addresses and / or the order of randomly assigned addresses c1) ascending / descending addressing of those addressed in step a)
    Control components in reverse order and subsequent ascending / descending addressing of the control components addressed in step b) in a constant order or c2) ascending / descending addressing of the addresses addressed in step b)
    Control components in the reverse order and subsequent ascending / descending addressing of the control components addressed in step a) in a constant order or c3) assigning all assigned addresses to the sequence specified in step c1) or c2).
    The object of the invention is also achieved with a conveyor system comprising a group of several control components which are linked in a linear manner by means of a daisy chain selection line,
    Means for stepwise addressing, by means of the daisy-chain select line, control components arranged outgoing from any control component to a first and a second end of said chain;
    Means for assigning ascending / descending addresses to stepwise addressed control components and / or for storing a sequence of addresses allocated to the control components in an unordered manner, means for ascending / descending addressing of all control components of the group according to their order in said chain the stepwise addressing operation or for assigning all zugewie¬senen addresses to the order mentioned.
    Advantageously, the arrangement of a superordinate control in the immediate vicinity of one end of the daisy-chain line or a complicated wiring to the same due to the proposed measures is no longer necessary. An addressing process of control components or the detection of a physical order of the same can thus be carried out flexibly. The wiring is also less error prone. In particular - but not only - the proposed method or the proposed conveyor system refers to the addressing of control components of a plurality of conveyor rollers of the conveyor system.
    Further advantageous embodiments and modifications of the invention will become apparent from the subclaims and from the description in Zusammenschaumit the figures.
    It is advantageous if the assignment of an address to or a read out of an address from a control component ensues via a communication bus to which all the control components of the group are equivalently connected. Similarly, it is advantageous if the conveyor system has a Kommunikati¬onsbus, which connects the control components with each other relationship with the higher-level control. In this way, the control components can exchange complex messages with the superordinate control or with each other by comparison. For example, the communication bus can be designed as a CAN bus. It is favorable if the assignment of an address and / or the storage of the order of disorderly assigned addresses in the course of the addressing of control components is controlled by a superordinate control system. It is equally favorable if the conveyor system has a superordinate control for controlling the addressing operation of the above-mentioned Steuerkomponen¬ten. As a result, the control components do not need to have any means for coordinating the addressing process and can consequently be simpler in design.
    For this purpose, the higher-level control can also
    Means for assigning ascending / descending addresses to said step-by-step addressed control components and / or for storing a sequence of addresses unassigned to the control components
    Have means for ascending / descending addressing all control components of the group according to their order in said chain on the basis of the stepwise addressing operation or for assigning all zugewie¬senen addresses to the order mentioned.
    It is advantageous if, for the selection of a control component currently to be addressed, a signal intended for this purpose is sent to the said control component via the daisy-chain selection line and, after successful addressing, forwarded to that neighboring control component which in case a) is in direction In this way, the control components can be successively addressed according to their physical order or their order can be detected.
    It is advantageous if the forwarding of said signal takes place by closing a switch interrupting the daisy chain selection line. In this way, the control component does not need to have any means for generating the selection signal.
    But it is also advantageous if the forwarding of said signal by actively generating the same takes place. This eliminates a switch for connecting the individual sections of the daisy-chain select line. It is favorable if step a) by sending / applying a signal for starting an addressing operation via a first branch of the daisy chain select line interrupted between two control components and step b) by sending / applying a signal for starting an addressing operation via the second branch of between two control components interrupted daisy chain select line to be started. It is favorable in this context if the said signals are sent / applied by a superordinate controller which is connected to the two branches of the daisy chain selection line. Likewise, it is beneficial if the daisy-chain select line is broken between two control components and both ends thereof are connected to the higher-level controller. In this variant, the addressing process is thus at a physically predetermined
    Started the chain of the control components. The addressing method is therefore well reproducible.
    In the above context, the method for addressing / assigning at least one control component from a group of several linearly linked control components of a conveyor system in an advantageous variant comprises the steps of: a) transmitting a signal for starting an addressing operation via a daisy-chain select line from a higher-level control a certain control component of the group, b) sending a command for starting an addressing operation via a communication bus, to which said control components are connected equally, by the higher-level control, c) sending an acknowledgment for the readiness for the addressing process via the communication bus, from the control component, which receives the signal for starting an addressing operation on an input connected to the daisy-chain selection line to the higher-order control, d) sending an address via the communication bus from the higher-order controller Control to the control component mentioned in step c), if the readiness for readiness in the higher-level control is received within a predetermined time, or continuing at step f), if this is not the case, e) sending an acknowledgment for an executed addressing operation via the Communication bus from the control component mentioned in step c) to the superordinate control, outputting a signal for starting the addressing operation at an output to which a segment of the daisy chain selection line is connected, which corresponds to the input referred to in step c) f) transmitting a signal for starting an addressing operation via the daisy chain selection line from the higher-level control to a selected control component of the group, which control unit referred to in step a) ¬erkomponente opposite to the linear chain and Fortse in step b), if step f) has not yet been carried out, or continuations in one of steps step g1) to g3), if this is not the case, g1) ascending addressing of the control components addressed to step f) in FIG reverse order and subsequent ascending addressing of the control components addressed from step f) in the same order or g2) ascending addressing of the control components addressed from step f) in reverse order and subsequent ascending addressing of the control components addressed to step f) in the same order or g3) assigning all assigned addresses to the order mentioned in step g1) or g2).
    For the sake of completeness, it is noted that the steps a) and b) mentioned in this method do not correspond to steps a) and b) of the method defined above. It is also favorable if the signal for the currently to be addressed Steuer¬ component in the form of a bit sequence, a voltage level, a current level or a level change of voltage and / or current via the daisy-chain selection line is sent or applied to this. In this way, easily available modules for signal generation and / or signal recognition can be used for the disclosed addressing method.
    In general, it is advantageous if all the control components of at least one part of the group or also all the control components of the group are randomly or randomly addressed before step a) with addresses that are unique for the control components (both in the method defined by steps a) to c3) as well as in the method defined by steps a) to g3)). In this way, the control components can also be specifically addressed even before the expiry of the presented addressing process.
    It is advantageous in this context if step a) starts with the control component with the lowest / highest address of the named part of the group or if step a) starts with a randomly selected control component of the named part of the group. In both variants, a creation of a
    Signal to the daisy-chain line not necessary. As a result, a higher-level control system also does not need to be connected to the daisy-chain line and can therefore be positioned even more flexibly.
    In the above context, the method for addressing / assigning at least one control component from a group of several linearly linked control components of a conveyor system in an advantageous variant comprises the steps: aO) random or unordered addressing of all control components of the group with addresses unique to the control components, bO Sending a command for starting an addressing operation via a communication bus to which said control components are connected equally, from the higher-level controller to a selected control component selected by the higher-level controller; c) sending an acknowledgment for the readiness for the addressing operation via the communication bus, from the control component mentioned in step bO) to the higher-level control and continuing in step d) b) sending a command for starting an addressing operation via a communication bus, to wel c) sending an acknowledgment for the readiness for the addressing process via the communication bus, from the control component which transmits the signal for starting an addressing process to a daisy chain selection line d) sending an address via the communication bus from the higher-order control to the control component mentioned in step c) or cO), if the readiness confirmation in the higher-level control unit is within a predetermined time e) sending an acknowledgment for an executed addressing operation via the communication bus from the control component mentioned in step c) or cO) to the higher-level control, outputting a signal to the control unit, or continuing at step f), if this is not the case Start the Addressing operation at an output to which a segment of the daisy-chain select line connected to the linear-chain input referred to in step c) and cO), respectively, and continuing at step b), f) transmitting a signal to start an addressing operation the daisy-chain select line from the higher-level controller to a selected control component of the group opposite to the linear-chain control component mentioned in step a) and continuing at step b) if step f) has not yet been performed If this is not the case, g1) ascending addressing of the control components addressed to step f) in reverse order and subsequent ascending addressing of the control components addressed in step f) in the same order or g2 ) Ascending addressing the control components addressed from step f) in reverse order and subsequent ascending addressing of the control components addressed to step f) in a constant sequence or g3) assigning all assigned addresses to the ascending order specified in step g1) or g2). It is favorable if a control component comprises a drive control for a conveyor roller of the conveyor system, since the advantages of the presented method or of the conveyor system are particularly evident.
    It should be noted at this point that the variants of embodiment disclosed for the presented method and the resulting advantages relate equally to the presented conveyor system and vice versa.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    Each show:
    1 shows an exemplary section of a conveyor system 1 from obliquely;
    Fig. 2 as shown in FIG. 1, only obliquely from behind;
    Fig. 3 as shown in Figure 1, only obliquely from below.
    4 shows an exemplary block diagram of a conveyor system;
    Fig. 5 linearly linked control components in which a daisy chain line is interrupted by a controllable switch;
    Fig. 6 as in FIG. 5, only with clearly designated control components or switches in a first state;
    Fig. 7 as Fig. 6 only with an already closed switch;
    Fig. 8 as shown in FIG 6 only with two already closed switches ..;
    9 linearly linked control components in which a daisy-chain
    Line is connected to signal inputs / outputs of the control component;
    Fig. 10 linearly linked control components, in which a higher-level control is not connected to the daisy-chain line and
    Fig. 11 is a schematic representation of an addressing process.
    By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, wherein the disclosures contained in the entire description apply mutatis mutandis to the same parts with the same reference numerals. same component names can be transferred. Also, the location information chosen in the description, such as up, down, laterally, etc. related to the immediately described and illustrated figure and are to be transferred to the new situation mutatis mutandis in a position change. Furthermore, individual features or combinations of features from the illustrated and described different exemplary embodiments may also represent separate, inventive or inventive solutions.
    Fig. 1 shows an exemplary section of a conveyor system 1 of obliquely. The conveyor system 1 comprises two spaced-apart frame profiles 2 and 3 as well as a plurality of motorized conveyor rollers 4 arranged therebetween. Via belts 5 further non-motorized conveyor rollers 6 and 7 can be driven. Of course, it is not a mandatory condition that all conveyor rollers of the conveyor system 1 are driven directly or indirectly, but it can also idler rollers between the frame sections 2 and 3 may be arranged. It would also be conceivable that a conveyor belt or belt is placed over the conveyor rollers 4, 6, 7. In particular, the motorized conveyor roller 4 can be arranged at the end of the conveyor belt or belt, since the looping angle of the belt or the belt is large there. A separate Rie¬men 5 can be omitted when using a belt or belt.
    Furthermore, the conveyor system 1 comprises optional guide rails 8 and 9, which are fastened to the frame profiles 2 and 3 via mounting brackets 10. This serves to provide better lateral guidance of the objects carried on the conveyor 1, e.g. Containers, trays and cardboard.
    The motorized conveyor rollers 4 are connected via connection boxes 11 to a Energie¬versorgungsbus and a data bus. The control of the conveyor rollers 4 takes place via the controller 12. For the detection of conveyor objects, photodetectors 13 can also be arranged in the course of the frame profiles 2 and 3. In addition, in this example reflectors 14 are arranged.
    Fig. 2 shows the conveyor system 1 already shown in Fig. 1 now of obliquely, Fig. 3 obliquely from below. In addition, FIG. 3 also shows the power supply bus 15 laid internally on the frame profile 2 (for example with a supply voltage of 24V or 48V).
    Fig. 4 shows an example block diagram of the conveyor system 1 with several successively arranged and motor-driven conveyor rollers 4. Zwi these could of course also other non-driven Förderrol¬len 6, 7 are arranged, as shown in Figures 1 to 3 is.
    Each motorized conveyor roller 4 in this example is associated with a motor controller 170 (as denoted by "MC" in FIG. 4). Multiple motor controllers 170 are connected (eg, via a CAN bus) to a conveyor controller 18 (labeled "CC" in Fig. 4) or to a master conveyor controller 19 (labeled "MCC" in Fig. 4) , The master conveyor controllers 19 generally have the purpose of determining from the commands of a central controller 20 (as indicated in FIG. 4 by "PLC") the necessary instructions to the motor controllers 170 of the individual conveyor rollers 4, or status messages ¬gen to receive the same and to forward information about status messages on to the central controller 20. For example, the controller 12 shown in Figures 1 to 3 may be formed by a Conveyor Controller 18, a MasterConveyor Controller 19 or by the central controller 20.
    However, not only motor controller 170 but also conveyor controller 18 (for example via Ethernet) are connected to master conveyor controller 19. These are fully equivalent to the master conveyor controllers 19, except that only the master conveyor controller 19 is directly (e.g., via Ethernet or Profibus) connected to and communicates with the central controller 20. Thus, only the Master Conveyor Controller 19 takes commands from the central controller 20 and optionally generates commands to the Conveyor Controllers 18, respectively, to transfer information from the Conveyor Controllers 18 to the Central Controller 20. The conveyor roller 4 itself encompasses in this hierarchy in electrical terms only the motor, a temperature sensor and Hall sensors, and is connected to a motor controller 170.
    The motor controllers 170 of the individual conveyor rollers 4 are connected to one another with cages, which have at least one wire for a daisy-chain line and two wires for a data bus.
    5 shows an exemplary arrangement in which a plurality of motors 21 (as indicated in FIG. 5 with "M") of the conveyor rollers 4 are each electrically connected to a connection box 11. This connection box 11 comprises the motor controller 170 and may also have further components, for example the possibility of connecting light barriers 13, switches and the like, and in particular also a possibility for connecting an energy supply 15 (see FIGS. 1 to 3), but for reasons the better overview in Fig. 5 is not shown. The connection boxes 11 and the motor controllers 170 are connected to each other via a daisy-chain line 23 and via a data bus 24. As can be seen from FIG. 5, the Dai¬sy chain line 23 is separated within the junction boxes 11 each by a switch 250, which can be controlled via the motor controller 170. In FIG. 5, for reasons of clarity, a single conveyor controller 18 is shown, which is connected to the motor controllers 170. Of course, a master conveyor controller 19 could also be provided in place of the controller controller 18, which is connected to the motor controllers 170. Of course, however, the hierarchy shown in FIG. 4 could also be implemented. The conveyor controller 18 is connected to the dainy chain line 23 and also the data bus 24 in this example.
    The function of the arrangement shown in FIGS. 4 and 5 will now be explained in more detail with reference to FIGS. 6 to 8. By way of example, the conveyor controller 18 is shown there. Instead, the MasterConveyor controller 19 or the central controller 20 can be used equivalently (the same also applies to the embodiments according to FIGS. 9 and 10).
    Each motor controller 171 ..177 has an effective bus address with which incoming messages are filtered and outgoing messages are sent. In particular, each motor controller 171 ..177 has an assigned address, which is stored in a nonvolatile memory. This address becomes the effective address with the transition from an initial state to a normal state.
    In the initial state, the 171 ..177 motor controllers only respond to a bus reset telegram and ignore all other CAN messages. At the same time they check whether on the daisy-chain line 23 a level transition of " low " on " high ". Preferably, the signal in question should stay "high" for a certain time in order to ignore disturbances on the daisy-chain line 23. If the mentioned low-high transition has occurred, then that motor controller 171..177 which detected the level transition is selected. In FIG. 6, this is the motor controller 171, since it is assumed that the conveyor controller 18 applies the named signal only to the left branch of the daisy chain line 23. Motor controller 171 now accepts the default address (e.g., " 127 ") as the effective address and responds to CAN messages in sequence. The switches 251 ..257 and insbeson¬dere the switch 251 remain open for the time being.
    Now the Conveyor Controller 18 respectively the Master Conveyor Controller 19 can access the selected Motor Controller 171 normally via the default address and, e.g. poll the assigned address or change it. With a falling edge on the daisy-chain line 23, a transition from " high " to " low " Motor controller 171 also accepts the assigned address as the effective address and goes to the normal state.
    Of the motor controllers 171 ..177, which are still in the initial state, only the first one reacts to the default address because it is selected via the signal on the daisy-chain line 23 and via the switch 251 ensures that the remaining one Rest of the chain is not selected. Motor Controller 171 ..177, which are already in the normal state and no longer in the initial state, have alseffektive address, however, already adopted the assigned address and thus no longer respond to the default address.
    In the normal state, in which the switch 251 is closed, the signal on the daisy-chain line 23 is transmitted to the next motor controller 172 in the chain. Thus, the conveyor controller 18 can now select the next motor controller 172 in the chain via the daisy-chain line 23 and address it via the CAN bus with the default address (e.g., " 127 "). This state is shown in FIG. 7.
    Fig. 8 shows another state in which the motor controllers 171, 172, 173 are already addressed and the switches 251 and 252 are closed. The addressed addressing procedure is repeated recursively until all motor controllers 171..177 in the chain are addressed and are in the normal state.
    The end of the chain can be determined, for example, by the fact that no motor controller 171..177 reports any more to an addressing command of the conveyor controller 18 within a predefined time (timeout). In the specific example, this means that a signal on the daisy-chain line 23 following addressing of the motor controller 174 "fails". goes and no MotorController 171..177 answers more to a command for addressing.
    If this case occurs, the right branch of the chain is then addressed in a very similar Wei¬se. By applying the above-mentioned signal to the right branch of the daisy-chain line 23, the motor controllers 175, 176 and 177 are now successively addressed.
    In general, therefore, methods for addressing / arrays of at least one control component 170..177 are performed from a group of several linearly linked control components 170..177 of a conveyor system 1, comprising the following steps: a) Stepwise addressing of control components 171 ..174, which starting from b) Step by step addressing the control components 175..177, which originate from the control component 175 that corresponds to the control component 171 mentioned in step a) with respect to the first end of the linear chain gegenüber¬liegt, are arranged to the second end of said chain, with the aid of the Daiy-chain select line 23rd
    When addressing, generally ascending / descending addresses can be assigned and / or the sequence of unordered assigned addresses can be stored. In concrete terms, this means that the motor controllers 171 ..177 are addressed with ascending / descending addresses, or that random addresses or random addresses are assigned, and the position of an engine controller 171..177 (that is, its rank in the Order of the group of motor controller 171 ..177) is noted for example in a table. It should be noted at this point that ascending / descending addressing does not necessarily have to be allocated by 1 incremented / decremented addresses. Instead, other increments / decrements can also be used. For example, the addresses 17, 25, 45, 98 are not each increasing by 1, but are nonetheless unambiguous and also correctly represent a sequence of motor controllers 171 ..177. The same applies to the order noted in a table.
    After addressing the Motor Controller 171 ..177 of the two branches, these need only be placed in the correct order. For this purpose, either the sequence of the left or the right branch is reversed, whereby all the Mo¬tor controller 171 ..177 are then addressed or ranked in ascending / descending or descending order.
    In general terms, subsequent steps a) and b) are thus carried out as follows: c1) ascending / descending addressing of those addressed in step a)
    Control components 171..174 in reverse order and subsequent ascending / descending addressing of the control components 175..177 addressed in step b) in the same order or c2) ascending / descending addressing of those addressed in step b)
    Control components 175..177 in the reverse order and subsequent ascending / descending addressing of the control components 171 ..174 addressed in step a) in the same order or c) assignment of all assigned addresses to the ascending order mentioned in step C1) or C2).
    The steps C1) and C2) in this case relate to variants in which the Mo¬tor Controller 171 ..177 are addressed directly with ascending / descending addresses. Step C3) relates to a variant in which random or predefined random addresses are assigned and the position of a motor controller 171.177 is noted, for example, in a table.
    In order to carry out steps C1), C2) or C3), the address of the motor controller 171 .177 to which branch, for example with the aid of a status bit which is set in a table, is noted in the conveyor controller 18 during addressing. It would also be conceivable for the start address and / or end address of a branch to be stored in the conveyor controller 18.
    In general, it is also possible that the presented auto-addressing can be skipped over or another addressing is subsequently performed, as long as the sequence of motor controllers 171... 177 is determined in a different way than indicated. For this purpose, the bus reset telegram has a parameter which can assume the value "skip-auto-addressing" or "do-auto-addressing". By means of this telegram, each motor controller 171..177 returns to the initial state, regardless of the state in which it is currently located. If the parameter "skip-auto-addressing" is set, each motor controller immediately adopts the assigned address as the effective address and changes to the normal state. In this way, it is possible to get to the normal state after starting up the För¬deranlage 1 faster. Furthermore, problems that occur in the case of auto-addressing, which are caused, for example, by faults in the wiring, can be temporarily bypassed, so that the control of the conveyor system 1 remains functional until the next maintenance interval.
    The addressing of the Master Conveyor Controller 19 and Conveyor Controller 18 itself can be done manually via an Ini-File, which is stored on an SD memory card (Secure Digital Memory Card) and inserted into the Conveyor Controller 18 or Master Conveyor Controller 19.
    In general, the method presented in FIGS. 5 to 8 has the following features:
    Assigning an address to or reading out an address from a control component 170..177 is effected via a communication bus 24 to which all the control components 170..177 of the group have the same value.
    Assigning an address and / or storing the order of assigned addresses in the course of the addressing of control components 170..177 is controlled by a higher-level controller 18, 19, 20. For the selection of a control component 170..177 currently to be addressed, a signal provided for this purpose is sent or applied via the daisy chain selection line 23 to the named control component 170..177, and this is sent to this adjacent control component after successful addressing 175, which follows in the case a) in the direction of the first end of said chain and in the case b) in the direction of the second end of said chain.
    The forwarding of said signal is accomplished by closing a switch 250..257 interrupting the daisy-chain select line 23.
    Step a) is performed by transmitting / applying a signal for starting an addressing operation over a first branch of the daisy chain select line 23 interrupted between two control components 170..177 and step b) by sending / applying a signal to start an addressing operation via the second branch the broken between two control components 170..177 daisy chain select line 23 started.
    Said signals are transmitted / applied by a higher-level control unit 18, 19, 20, which is connected to the two branches of the daisy chain selection line 23.
    The signal for the control component 170..177 currently to be addressed is sent or applied in a level change of the voltage on the daisy-chain selection line 23. Equivalently, it can be imagined that the signal for the control component 170..177 currently to be addressed is sent in the form of a bit sequence, a voltage level, a current level or a change in the level of a current via the daisy chain selection line 23 or applied thereto becomes.
    None of the control components 170 .. 177 of the group is addressed before step a), or the said control components 170..177 are with
    Addressed addresses that are not unique. It is also conceivable, however, that all control components 170..177 of at least part of the group before step a) are addressed with random or random addresses for the control components 170..177.
    In general, the conveyor system 1 presented in FIGS. 1 to 8 thus has, among other things, the following features. The conveyor system comprises: a group of several linearly linked control components 170..177 with the aid of a daisy chain selection line 23,
    Means for stepwise addressing of control components 170..177 arranged from any one of the control components 170..177 to first and second ends of said chain by means of the daisy chain select line 23;
    Means for assigning ascending / descending addresses to the incrementally addressed control components 170, 117 and / or for storing a sequence of addresses allocated to the control components 170, 1777 in an unscheduled manner,
    Means for ascending / descending addressing of all control components 170..177 of the group according to their order in said chain based on the stepwise addressing operation or for assigning all the assigned addresses to the said order.
    In general, the conveyor system 1 presented in FIGS. 5 to 8 also has the following features:
    The conveyor system comprises a higher-level controller 18, 29, 20 for controlling the addressing operation of said control components 170, 177,
    The means for assigning ascending / descending addresses to step-by-step addressed control components 170, 117 and / or for storing an order of addresses randomly assigned to the control components 170, 177 are integrated in the higher-level controller 18, 29, 20,
    The means for ascending / descending addressing of all control components 170..177 of the group according to their order in said chain on the basis of the stepwise addressing operation or for assigning all assigned addresses to the named sequence are integrated in the higher-level controller 18, 29, 20 .
    The daisy-chain selection line 23 is interrupted between two control components 170..177, and both ends of the same are connected to the higher-level control 18, 29, 20,
    The control components 170..177 are connected to one another or to the higher-level controller 18, 19, 20 by a communication bus 24,
    The control component 170..177 comprises a drive control for a conveyor roller 4 of the conveyor system 1.
    In addition to the variant presented above, another embodiment of the addressing is conceivable, which is shown schematically in FIG. 9. At this time, the signal on the daisy-chain select line 23 will not be forwarded by closing a switch 250..257, but the "forwarding" of said signal will be done by actively generating it. Specifically, the motor controller 170 includes two daisy-chain connections, which can act as an input and / or output. If the motor controller 170 is in the initial state, the daisy-chain connections are configured as an input.
    In the initial state, the motor controller 170 again reacts only to the bus reset telegram and ignores all other CAN messages. At the same time, it checks whether a level transition from "low" to "high" on one of the daisy-chain connections. is done (and again a certain time remains high to ignore disturbances on the daisy-chain line 23). When the said low-high transition has occurred, that motor controller 170 is selected which has detected the level transition. As previously stated, the motor controller 170 accepts the default address (e.g., " 127 ") as the effective address and responds to CAN messages in succession. At the same time, it configures the other daisy-chain connection to the output and drives the level there to "low". Now, the controller controller 18 can access the selected motor controller 170 normally via the default address and, for example, access it. interrogate the assigned address or change it. With the falling edge on the daisy-chain input, the motor controller 170 also accepts the assigned address as the effective address and enters the normal state. Finally, the level at the Daiy-Chain output is set to " high " driven, whereby the next Motor Control¬ler 170 receives the necessary for the addressing selection signal and the process can be performed anew. The rest of the process is analogous to the process described in FIGS. 4 to 8.
    FIG. 10 shows a further variant of the addressing method. Da¬bei the forwarding of the selection signal is carried on the daisy-chain line 23 as in the variant shown in Fig. 9 by actively generating the same. Concretely, the motor controller 170 in turn comprises two daisy-chain connections, which can act as input and / or output.
    The motor controllers 170 are equipped at the beginning with unique addresses, that is, each motor controller 170 can be targeted addressed. For example, ascending (but unordered) addresses or even random addresses can be assigned. The motor controllers 170 are then in the initial state as before and configure both daisy-chain connections as inputs.
    To start the method, the conveyor controller 18 sends a start signal to one of the motor controllers 170. For example, this may be the motor controller 170 with the highest or lowest address or a randomly selected motor controller 170. For the selection of this first motor controller 170, the transmission or application of a signal to the daisy-chain line 23 is not required, but said motor controller 170 is simply addressed by its unique address.
    In principle, it is also sufficient for starting the method if a (single) motor controller 170 is provided with a unique address and the method is started there. The remaining motor controllers 170 can also be equipped with non-unique addresses or even all have the same address.
    The initially selected motor controller 170 now configures one of the two daisy-chain connections as output and drives the level there to "low". The Conveyor Controller 18 may poll or address the address assigned to the Motor Controller 170. Thereafter, the conveyor controller 18 sets the selected motor controller 170 to the normal state, whereupon it sets the level at the selected daisy-chain output to " high " puts. As a result, the next motor controller 170 receives the selection signal necessary for the addressing and the addressing process can be continued until the end of the chain in the manner described above. If the end of the chain is detected (for example, as already mentioned, over a timeout), then the controller controller 18 instructs the first addressed motor controller 170 to also configure the second daisy-chain connection as an output and there to supply a low-high edge produce. In this way, the addressing can also take place in the other direction in the manner already described.
    In general, the method disclosed has, inter alia, the following features: all the control components 170..177 of at least part of the group are addressed in a random or random manner before step a) with addresses that are unambiguous for the control components 170..177,
    Step a) starts, for example, at the control component 170..177 with the lowest / highest address of said part of the group, alternatively step a) starts at a randomly selected control component 170..177 of said part of the group, alternatively at least one control component 170..177 with a unique address, in which step a) begins, the conveyor controller 18 need not be connected to the daisy-chain line 23.
    When addressing, ascending / descending addresses can also be assigned in this variant and / or the order of unordered assigned addresses can be stored, in particular the order of the addresses initially assigned before step a).
    After addressing the motor controllers 171 .. 177 of the two branches, these need only be placed in the correct order, which can be done in the manner already described.
    In order to carry out steps C1), C2) or C3) as described above, in the controller controllers 18 it is again noted during addressing, for example, which motor controller 171 ..177 belongs to which branch, for example with the aid of a status bit which is set in a table. It would also be conceivable for the start address and / or end address of a branch to be stored in the conveyor controller 18.
    If the motor controllers 171... 177 are already identified as having unique addresses when they register their sequence, in principle no change in the addresses takes place, as long as the physical sequence is noted, for example, in a table. However, it is also conceivable that the motor controllers 171 ..177 in step C3) are redirected according to the stored sequence and ascending / descending addresses are assigned.
    All disclosed variants have in common that the addressing can in principle be started at an arbitrary point of the linked control components 171..177 and in any direction, without this affecting the correct ranking of the control components 171 ..177. Advantageously, when constructing a conveyor system 1, therefore, no consideration must be given to the fact that the conveyor rollers 4 or the conveyor controllers 18 or the master conveyor controller 19 must be connected at a specific point in the course of the conveyor system 1 built-in perspective. The structure of a conveyor system 1 can therefore be very flexible.
    Fig. 11 is intended to illustrate this once again. Here, in the upper portion, a variant is shown in which the motor controller 170 (in the junction box 11) is arranged on the right in the conveying direction indicated by the arrow. In the lower area, however, a variant is shown in which the Motor Control¬ler 170 are arranged in the left direction. The addressing process is in each case in the direction " up " started. The goal is in each case in the conveying direction ab¬ rising addresses. In the following three examples, the order assigned in the " down " branch is retained, while the sequence in the " up " branch is reversed.
    In the first example (top left, first line) the "up" branch is not present, the chain of the motor controller 170 is therefore numbered or addressed in the "down" branch from 1 to 6. The order obtained corresponds directly to the desired order.
    In the second example (middle top, second row) numbers 1 to 3 are given in the "up" branch and numbers 4 to 6 in the "down" branch. The numbers in the " up " branch are reversed according to the above rule. The obtained order again corresponds to the desired order.
    In the third example (top right, third line), the "down" branch is not present, the chain of the motor controller 170 is therefore numbered or addressed in the "up" branch from 1 to 6. The order obtained is reversed and then corresponds to the desired order.
    The order is thus completely independent of the starting point of the addressing process.
    The other examples (bottom right, fourth line), (middle bottom, fifth line) and left bottom, sixth line) are completely analogous. The addressing process is in turn in the direction " up " started. However, the rank assigned in the " up " branch is now retained, while the ranking in the " down " branch is reversed. The aim is again in each case in descending direction addresses.
    Again, the order is independent of the starting point of the addressing process.
    In each case a segment of the conveyor system 1, which is assigned to a conveyor controller 18 or a master conveyor controller 19, was considered in the preceding examples. Of course, the presented
    Processes in all variants are applied to a larger section of Förderanla¬ge 1 or a complete conveyor system 1.
    If the physical order of the Conveyor Controller 18 / Master Conveyor Controller 19 is known, an overall order of the Conveyor Rollers 4 can be formed by, in a first step, forming the order in the said segments and, together with the order of the Conveyor Controller 18 / Master Conveyor Controller 19 the overall order is formed. It is also conceivable, however, that several segments are addressed or ranked using the disclosed addressing method. In this case, the control can be transferred when changing a segment from one of the Conveyor Controller 18 / Master Conveyor Controller 19 to another of the Conveyor Controller 18 / Master Conveyor Controller 19. For example, this handover may be coordinated by the central controller 20. It is also conceivable that the addressing or ranking as such is performed by the central controller 20, and the Conveyor Controller 18 / MasterConveyor Controller 19 pass on the necessary messages more or less transparently.
    Of course, the disclosed method is not bound to one of the illustrated system architectures, but the conveyor system 1 can also be organized differently in terms of control technology. In this connection, it should be noted that while the CAN bus and the Ethernet are advantageous for the said method, they have been mentioned by way of example only. Of course, other communication technologies can be used, including wireless communication.
    In this sense, the daisy-chain line 23 may be wireless, for example, in which the individual sections thereof are formed by optical Komu¬nikationsstrecken. It would be conceivable that a selection signal is passed via Infra¬rot from one motor controller 170 to the next. By shading the connection box 11, it is ensured that the signal is sent only to a directly adjacent motor controller 170. The wiring effort for a conveyor system is reduced in such a case to the laying of a power supply bus 15.
    The examples shown describe the addressing or ranking of conveyor rollers 4 of a conveyor system 1. Of course, the disclosed method is not limited to the addressing / ranking of conveyor rollers 4, but can also be applied to the light barriers 13, for example.
    The exemplary embodiments show possible embodiments of a conveyor system 1 or of an addressing method for such a conveyor system 1, wherein it should be noted at this point that the invention is not restricted to the specific variants of the same or the same, but rather also various combinations the individual Ausführungsvari¬anten with each other are possible and this possibility of variation due to the teaching of technical flanders by subject invention lies within the skill of those skilled in this technical field. Thus, all conceivable embodiments which are possible by combinations of individual details of the illustrated and described embodiment are also included within the scope of protection.
    In particular, it is noted that the conveyor 1 may in reality also comprise more or fewer components than illustrated.
    For the sake of order, it should finally be pointed out that in order to better understand the construction of the conveyor system 1, this or its components have been shown partly unevenly and / or enlarged and / or reduced in size.
    The problem underlying the independent inventive solutions can be taken from the description.
    REFERENCE SIGNS I conveyor 2.3 frame profile 4 motorized conveyor roller 5 belt 6, 7 non-motorized conveyor roller 8.9 guide rail 10 mounting bracket II junction box 12 control 13 photodetector 14 reflector 15 power bus 16 170 .. 177 motor controller 18 Conveyor Controller 19 Master Conveyor Controller 20 central Control 21 Motor 22 23 Daisy chain line 24 Communication bus 250 .. 257 Switch
    权利要求:
    Claims (18)
    [1]
    1. Method for addressing / rows of at least one control component (170..177) from a group of several linearly linked control components (170..177) of a conveyor system (1), comprising the steps a) Step by step addressing of control components ( 171 ..174), which are arranged outgoing from an arbitrary control component (171) up to a first end of said chain, by means of a daisy chain selection line (23), wherein ascending / descending addresses are assigned and / / b) stepwise addressing the control components (175 .. 177), which originates from the control component (175) which is opposite the control component (171) referred to in step a) with respect to the first end of the linear chain to the second end of said chain, by means of the daisy-chain select line (23), assigning ascending / descending addresses and / or c1) ascending / descending addressing of the control components (171..174) addressed in step a) in the reverse order and subsequent ascending / descending addressing of the control components addressed in step b) (175. .177) in the same order or c2) ascending / descending addressing of the control components (175..177) addressed in step b) in the reverse order and subsequent ascending / descending addressing of the control components (171) addressed in step a). 174) in a constant order, or c3) assigning all the assigned addresses (171..177) to the order mentioned in step C1) or C2).
    [2]
    2. The method according to claim 1, characterized in that assigning an address to or reading out an address from a control component (170..177) takes place via a communication bus (24) to all the control components (170..177) of Group are equally connected.
    [3]
    3. The method according to claim 1 or 2, characterized in that assigning an address and / or storing the order of ungeordnetzuweister addresses in the course of addressing of Steuerkomponen¬ten (170..177) by a higher-level controller (18, 19, 20) is controlled.
    [4]
    4. The method according to any one of claims 1 to 3, characterized gekennzeich¬net that for the selection of a currently to be addressed Steuerkomponen¬te (170..177) a dedicated signal via the daisy-chain select line (23) to said The control component (170..177) is transmitted or applied, and after successful addressing, it is forwarded to the adjacent control component (170..177), which in case a) moves in the direction of the first end of said chain and in case b) in the direction of the second End of said chain follows.
    [5]
    5. The method according to claim 4, characterized in that the Wei¬terleiten said signal by closing a daisy-chain select line (23) interrupting switch (250..257) takes place.
    [6]
    6. The method according to claim 4, characterized in that the Wei¬terleiten of said signal by actively generating the same takes place.
    [7]
    7. The method according to any one of claims 1 to 6, characterized gekennzeich¬net that step a) by sending / applying a signal to start an addressing process via a first branch of between two Steuerkom¬ components (170..177) interrupted daisy-chain Selection line (23) and step b) by sending / applying a signal to start an addressing operation on the second branch of the two control components (170..177) interrupted daisy chain selection line (23) are started.
    [8]
    8. The method according to claim 7, characterized in that the said signals are gesen-det / created by a higher-level control (18, 19, 20), which is connected to the two branches of the daisy-chain selection line (23) ,
    [9]
    9. The method according to any one of claims 1 to 8, characterized gekennzeich¬net that the signal for the currently to be addressed Steuerkomponen¬te (170..177) in the form of a bit sequence, a voltage level, a current level or a level change of voltage and / or Power is sent via the daisy-chain select line (23) or applied to this.
    [10]
    10. The method according to any one of claims 1 to 9, characterized gekennzeich¬net that all control components (170..177) of at least part of the group before step a) with the control components (170..177) unique addresses unordered or random be addressed.
    [11]
    11. The method according to claim 10, characterized in that step a) starts at the control component (170..177) with the lowest / highest address of said part of the group.
    [12]
    12. The method according to any one of claims 1 to 6, in particular in conjunction with one of claims 9 to 11, characterized in that step a) starts at a randomly selected control component (170..177) of said part of the group.
    [13]
    13. Conveying system (1) for transporting objects to be conveyed, for example containers, comprising a group of several linearly linked control components (170..177) by means of a daisy chain selection line (23), characterized by means for stepwise addressing of control components (170 ..177), which, starting from an arbitrary control component (170..177), are arranged as far as a first and a second end of said chain, with the aid of the daisy chain selection line (23), means for assigning ascending / descending Addresses addressed to stepwise addressed control components (170..177) and / or for storing an order of addresses randomly assigned to the control components (170..177), means for ascending / descending addressing of all control components (170..177) of the group according to their order in said chain on the basis of the stepwise addressing operation or for assigning all assigned addresses to said series episode.
    [14]
    14. conveyor system (1) according to claim 13, characterized by a higher-level control (18,19, 20) for controlling the addressing operation of said control components (170..177).
    [15]
    A conveyor system (1) according to claim 14, characterized in that the means for assigning ascending / descending addresses are assigned to step-by-step addressed control components (170..177) and / or for storing an order of randomly to the control components (170..177) Addresses, means for ascending / descending addressing of all control components (170..177) of the group according to their order in said chain, based on the stepwise addressing operation or for assigning all assigned addresses to said order in the higher level controller (18, 19, 20) are.
    [16]
    16. Conveying system according to claim 14 or 15, characterized in that the daisy chain selection line (23) between two Steuerkomponen¬ten (170..177) is interrupted and both ends of the same with the übergeordne¬ten control (18,19, 20) are connected.
    [17]
    17. Conveying system according to one of claims 13 to 16 characterized by a communication bus (24), which connects the control components (170..177) with each other or with the higher-level control (18, 19, 20).
    [18]
    18. Conveying system according to one of claims 13 to 17, characterized gekenn¬zeichnet that a control component (170..177) comprises a drive control for a conveyor roller (4) of the conveyor system (1).
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    同族专利:
    公开号 | 公开日
    CN105706008A|2016-06-22|
    EP3066531A2|2016-09-14|
    EP3066531B1|2018-01-31|
    US9745141B2|2017-08-29|
    US20160318714A1|2016-11-03|
    WO2015066745A2|2015-05-14|
    AT514999B1|2015-11-15|
    WO2015066745A3|2015-07-16|
    CN105706008B|2019-01-22|
    ES2665150T3|2018-04-24|
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    法律状态:
    优先权:
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    EP14828121.5A| EP3066531B1|2013-11-06|2014-11-06|Method for addressing/sequencing linearly interlinked control components of a conveying system|
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