EP1935822B2 - Device for producing printed products and method for controlling the drives - Google Patents
Device for producing printed products and method for controlling the drives Download PDFInfo
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- EP1935822B2 EP1935822B2 EP07021731.0A EP07021731A EP1935822B2 EP 1935822 B2 EP1935822 B2 EP 1935822B2 EP 07021731 A EP07021731 A EP 07021731A EP 1935822 B2 EP1935822 B2 EP 1935822B2
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- network
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- data telegrams
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- motor control
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- 238000000034 method Methods 0.000 title claims description 12
- 238000012545 processing Methods 0.000 claims description 6
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H39/00—Associating, collating, or gathering articles or webs
- B65H39/02—Associating,collating or gathering articles from several sources
- B65H39/04—Associating,collating or gathering articles from several sources from piles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B42—BOOKBINDING; ALBUMS; FILES; SPECIAL PRINTED MATTER
- B42B—PERMANENTLY ATTACHING TOGETHER SHEETS, QUIRES OR SIGNATURES OR PERMANENTLY ATTACHING OBJECTS THERETO
- B42B4/00—Permanently attaching together sheets, quires or signatures by discontinuous stitching with filamentary material, e.g. wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2402/00—Constructional details of the handling apparatus
- B65H2402/10—Modular constructions, e.g. using preformed elements or profiles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2403/00—Power transmission; Driving means
- B65H2403/90—Machine drive
- B65H2403/94—Other features of machine drive
- B65H2403/943—Electronic shaft arrangement
Definitions
- the invention relates to a method for drive control of a device for producing printed products composed of a plurality of partial products, which has a transport device transporting along a conveying path, a plurality of supply devices corresponding to the plurality of partial products, of which the partial products are spaced apart from one another along the conveying path Places can be fed into the conveyor device in a sequence corresponding to the printed product, and has a data processing network controlling the operating sequence of the device, the transport device and each of the feed devices each being provided with an electric drive motor and a motor control unit which controls the electrical energy supply to the drive motor, each of which forms a node of the network, which receives data telegrams from the network and sends them to the network, as well as to a device suitable for this.
- the invention is based on the object of creating a method for drive control that is simpler by comparison and of specifying a device suitable for this.
- the network has a coordinating node that receives data telegrams from the network and sends it to the network, so that the coordinating node provides each of the data telegrams it sends with information that it is the sender and one of the motor control units Identifies nodes or all of these nodes as receivers that each of the nodes forming an engine control unit provides the data telegrams it sends out with information that identifies it as the sender and only the coordinating node as the receiver, that each node only receives such data telegrams, in which it is identified as a recipient, and that each of the nodes forming an engine control unit only sends out data telegrams when requested to do so by a received data telegram.
- the coordinating node sends out data telegrams in which all other nodes forming an engine control unit or one of these nodes are identified as recipients of the transmitted data telegram.
- the data telegram sent out by the coordinating node is received exclusively by the node or nodes identified therein as recipients.
- the nodes forming the motor control units only send a data telegram if they have received a data telegram containing a request to send from the coordinating node. They provide the transmitted data telegrams with information that identifies them as the sender and only identifies the coordinating node as the recipient. In this way, only the coordinating node grants the other nodes the authorization to send data telegrams.
- the data telegrams sent out by the nodes forming the motor controls are received exclusively by the coordinating node, which in turn sends out data telegrams which are optionally received by all or only one of the nodes forming the motor controls.
- the phases of movement of the feed devices can be coordinated with the phase of movement of the conveying device in such a way that the partial products are transferred to the conveying device in the correct position and the partial products are thereby brought together one after the other along the conveying path to form the intended print products.
- the malfunctioning node reports this malfunction to the coordinating node in response to its data telegrams, which are used for cyclical interrogation of all nodes, by means of a transmitted data telegram.
- the coordinating node makes the decision about the measures to be taken depending on the fault reported at the node forming the engine controls and outputs corresponding data telegrams that are received by the nodes forming the engine controls and there the appropriate measures Trigger actions, in the simplest case, for example, a selective or complete shutdown of all drive motors.
- the nodes forming the motor control units only send data messages in which the coordinating node is identified as the recipient, whereas the coordinating node can identify both a single node and all nodes as recipients in its data messages.
- this principle is modified in such a way that precisely one of the nodes forming the motor control units optionally provides the data telegrams sent by it with information that identifies all other nodes as recipients.
- This node which forms an engine control unit and which, compared to the other nodes which form engine control units, has the peculiarity that, like the coordinating node, it can also send data telegrams to all other nodes, can expediently serve as a master value transmitter in that data telegrams sent to all other nodes in these nodes an information corresponding to the rotational position of the drive motor in question is transmitted as a master value for the drive motors of all other nodes.
- the node forming the motor control unit of the drive motor of the transport device is expediently used as such a master value transmitter.
- both the coordinating node and precisely one particular node forming a motor control unit can send data telegrams to all other nodes, there is no bidirectional data traffic between the nodes forming the motor control units.
- the special node only transmits unidirectional data telegrams, which in particular contain master value information, to the other nodes, which in turn transmit data telegrams exclusively to the coordinating node.
- the object on which the invention is based is achieved by a device with the features of claim 4. It is, inter alia, a device for producing printed products composed of a plurality of partial products, with a transport device transporting one of the plurality of partial products along a conveying path corresponding plurality of feed devices, of which the partial products can be fed into the conveyor device at points spaced apart from one another along the conveying path in a sequence corresponding to the printed product, and a data processing network controlling the operating sequence of the device, the transport device and each of the feed devices each having an electric drive motor and a the electrical energy supply to the drive motor controlling motor control unit, each of which forms a node of the network, from the data telegrams from the network k can be received and transmitted to the network, which is characterized in that the network has a coordinating node from which data telegrams can be received from the network and transmitted to the network, that in the coordinating node and in each of the nodes forming the motor control units information that uniquely identifies him
- the information identifying each node can act through the respective hardware address of a network card provided in the respective engine control unit.
- the hardware addresses of known network cards are stored in the network cards and are unique in the sense that no network card has the same hardware address as another.
- each motor control unit can provide an additional coding switch arrangement by means of which an individual node number can be set manually.
- the coordinating node can identify the motor control units on the basis of the node numbers set and request the identified node to send a data telegram containing its hardware address to the coordinating node. This means that it is not necessary to manually save the hardware addresses in the coordinating nodes.
- the network For both the method and the device, it is expedient for the network to have a bus topology. All nodes of the network are then in the network strand formed by the bus.
- the method according to the invention for drive control can advantageously be used in a saddle stitcher in which the transport device is a collecting chain and the feed devices are sheet feeders.
- the drive motors of the saddle chain and the feed devices are coordinated with one another in such a way that a feed device arranged downstream in the transport direction transfers the sheets to the saddle chain in such a way that they come to rest on sheets transferred from a feed device arranged upstream, and thus in known Way to be collected from the inside out.
- saddle stitchers have a stapling station which is arranged downstream of the feed devices and with which the collected sheets are stapled.
- one of the nodes forming the motor control units controls the drive motor of a stapling station of the saddle stitcher.
- the method according to the invention is suitable for drive control of an inserting machine in which the transport device is a pocket chain and the feed devices are feeders with which the partial products are transferred into the pockets.
- the drive control according to the invention coordinates the operation of the drive motors of the pocket chain and the feeder in such a way that downstream feeders feed the pockets loaded with partial products from upstream feeders with the further partial products required for the assembled printed product.
- a motor control unit controlling its drive motor can also form a node of the data processing network and, like the other nodes forming motor control units, can be included in the drive control according to the invention.
- FIG. 1 shows schematically a data processing network having a bus topology, the bus of which is denoted by the reference symbol 1.
- a coordinating node 2 and n further nodes 3 1 , 3 2 , 3 3 , ..., 3 n-1 , 3 n are coupled to the bus 1.
- the coordinating node 2 and each of the further nodes 3 1 , 3 2 , 3 3 , ..., 3 n-1 , 3 n each have a network card, in each of which a hardware address that uniquely identifies the network card in the network is stored .
- the network card of the coordinating node 2 serves as an interface for data transmission between the bus 1 and an operating program running in the coordinating node 2.
- the network card of each of the further nodes 3 1 , 3 2 , 3 3 , ..., 3 n-1 , 3 n serves as an interface for data transmission between the bus 1 and a motor control unit provided in each of these further nodes.
- Each network card has a transmitting / receiving device, which can be a known Ethernet PHY, with which data telegrams are transmitted to the network and received from the network. Furthermore, each network card is provided with two ports and a HUB which transmits the data telegrams between the ports, so that neighboring nodes can be connected directly to one another in line cabling.
- a transmitting / receiving device which can be a known Ethernet PHY, with which data telegrams are transmitted to the network and received from the network.
- each network card is provided with two ports and a HUB which transmits the data telegrams between the ports, so that neighboring nodes can be connected directly to one another in line cabling.
- Each of the motor control units controls the supply of electrical energy to an electrical drive motor assigned to it.
- One of these drive motors for example the drive motor controlled by node 3 n-1 , forms the main drive for a transport device transporting along a conveying path, for example the circulating saddle chain of a saddle stitcher or the circulating pocket chain of an inserting machine.
- Each of the nodes 3 1, 3 2, 3 3, ..., 3 n-1, 3 n-controlled drive motors drives each of a feeding device with which the transport device subassemblies assembled printed products to along its conveying path spaced apart locations to be supplied. This type of formation of composite printed products by collecting or inserting is generally known to the person skilled in the art, which is why a further explanation is dispensed with at this point.
- the drive motor controlled by the remaining node 3 n exemplifies the drive of a stapling station provided in the case of a saddle stitcher and / or a cutting station connected downstream of the inserting machine.
- the coordinating node 2 under the control of the operating program running in it, sends data telegrams to the bus 1 via its network card, in which it identifies itself as the sender of the data telegram by specifying its hardware address. He also identified in each of these emitted by him data telegrams one of the other nodes 3 1, 3 2, 3 3, ..., 3 n-1, 3 n as a receiver by indicating its hardware address, or identify all those nodes as receivers by specifying a collective address specified in the system.
- the network card of the motor control units forming nodes 3 1, 3 2, 3 3, ..., 3 n-1, n 3 examine the receiver addresses that are included in the output on the bus 1 data telegrams. If the recipient address specified in the data telegram does not match the hardware address of the relevant network card or the group address, the network card blocks the receipt of this data telegram.
- the network card forwards the information contained in the data telegram to the motor control unit assigned to it.
- This information can be, for example, a command variable for the drive motor sent by the coordinating node 1 to the motor control unit of the relevant node 3 1 , 3 2 , 3 3 , ..., 3 n-1 , 3 n , by means of which this drive motor prompts, for example is to assume a certain rotational position with respect to the rotational position of one of the other drive motors.
- this drive motor prompts for example is to assume a certain rotational position with respect to the rotational position of one of the other drive motors.
- it can also be a request to this node to send out a data telegram in which status information is communicated to the motor controller, which for example contains the current rotational position or also an error status of the drive motor in question.
- the network cards of the other nodes 3 1 , 3 2 , 3 3 , 3 n-2 , 3 n forming the motor control units can only specify the individual hardware address of the coordinating node 2 as the recipient address, with the result that the data telegrams sent by them are only received by the coordinating node 2.
- Only the node 3 n-1 controlling the main drive can optionally also provide the data telegrams sent by it with the collective address as recipient information, so that they can be received by all other nodes forming the motor control units. This makes it possible, in particular, for the main drive to pass on its current rotational position to all other drive motors as a master value.
- node 3 assigned to the main drive sends n-1 data telegrams to bus 1 only when it is requested to do so by telegrams received from coordinating node 2.
- each network card is additionally provided with a coding switch arrangement on which a two-digit hexadecimal node number, for example, can be set manually. Then the coordinating node 2 can query the hardware address of the relevant network card belonging to each node number by sending data telegrams that contain the group address as recipient identification and thereby receives the address information required for further operation.
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Conveyors (AREA)
- Collation Of Sheets And Webs (AREA)
Description
Die Erfindung bezieht sich auf ein Verfahren zur Antriebssteuerung einer Vorrichtung zum Herstellen von aus einer Mehrzahl von Teilerzeugnissen zusammengesetzten Druckerzeugnissen, die eine längs eines Förderweges transportierende Transporteinrichtung, eine der Mehrzahl der Teilerzeugnisse entsprechende Mehrzahl von Zuführeinrichtungen, von denen die Teilerzeugnisse an längs des Förderweges voneinander beabstandeten Stellen in einer dem Druckerzeugnis entsprechenden Reihenfolge in die Fördereinrichtung einspeisbar sind, und ein den Betriebsablauf der Vorrichtung steuerndes Datenverarbeitungsnetzwerk aufweist, wobei die Transporteinrichtung und jede der Zuführeinrichtungen jeweils mit einem elektrischen Antriebsmotor und einer die elektrische Energiezufuhr zu dem Antriebsmotor steuernden Motorsteuereinheit versehen ist, deren jede einen Knoten des Netzwerks bildet, der Datentelegramme aus dem Netzwerk empfängt und an das Netzwerk aussendet, sowie auf eine hierfür geeignete Vorrichtung.The invention relates to a method for drive control of a device for producing printed products composed of a plurality of partial products, which has a transport device transporting along a conveying path, a plurality of supply devices corresponding to the plurality of partial products, of which the partial products are spaced apart from one another along the conveying path Places can be fed into the conveyor device in a sequence corresponding to the printed product, and has a data processing network controlling the operating sequence of the device, the transport device and each of the feed devices each being provided with an electric drive motor and a motor control unit which controls the electrical energy supply to the drive motor, each of which forms a node of the network, which receives data telegrams from the network and sends them to the network, as well as to a device suitable for this.
Bei einem derartigen bekannten Verfahren, das zur Antriebssteuerung eines Sammelhefters dient (
Der Erfindung liegt die Aufgabe zugrunde, ein demgegenüber einfacheres Verfahren zur Antriebssteuerung zu schaffen und eine hierfür geeignete Vorrichtung anzugeben.The invention is based on the object of creating a method for drive control that is simpler by comparison and of specifying a device suitable for this.
Erfindungsgemäß wird diese Aufgabe hinsichtlich des Verfahrens durch die Merkmale des Anspruchs 1 gelöst. Unter anderem ist vorgesehen, dass das Netzwerk einen koordinierenden Knoten aufweist, der Datentelegramme aus dem Netzwerk empfängt und an das Netzwerk aussendet, dass der koordinierende Knoten die von ihm ausgesendeten Datentelegramme jeweils mit einer Information versieht, die ihn als Absender und einen der die Motorsteuereinheiten bildenden Knoten oder alle diese Knoten als Empfänger identifiziert, dass jeder der eine Motorsteuereinheit bildenden Knoten die von ihm ausgesendeten Datentelegramme jeweils mit einer Information versieht, die ihn als Absender und nur den koordinierenden Knoten als Empfänger identifiziert, dass durch jeden Knoten nur solche Datentelegramme empfangen werden, in denen er als Empfänger identifiziert ist, und dass jeder der eine Motorsteuereinheit bildenden Knoten Datentelegramme nur dann aussendet, wenn er durch ein empfangenes Datentelegramm dazu aufgefordert wird.According to the invention, this object is achieved with regard to the method by the features of
Bei der erfindungsgemäßen Gestaltung des Verfahrens sendet also der koordinierende Knoten Datentelegramme aus, in denen alle anderen, eine Motorsteuereinheit bildenden Knoten oder jeweils einer dieser Knoten als Empfänger des ausgesendeten Datentelegramms identifiziert sind. Hierdurch wird das von dem koordinierenden Knoten ausgesendete Datentelegramm ausschließlich von dem oder den darin als Empfänger identifizierten Knoten empfangen. Die die Motorsteuereinheiten bildenden Knoten senden nur dann ein Datentelegramm aus, wenn sie ein eine Sendeaufforderung enthaltendes Datentelegramm vom koordinierenden Knoten empfangen haben. Sie versehen die ausgesendeten Datentelegramme jeweils mit einer Information, die sie als Absender identifiziert und ausschließlich den koordinierenden Knoten als Empfänger identifiziert. Auf diese Weise teilt allein der koordinierende Knoten den anderen Knoten die Berechtigung zum Senden von Datentelegrammen zu. Gleichzeitig ist gewährleistet, daß die von den die Motorsteuerungen bildenden Knoten ausgesendeten Datentelegramme ausschließlich von dem koordinierenden Knoten empfangen werden, welcher seinerseits jedoch Datentelegramme aussendet, die wahlweise von allen oder von nur einem der die Motorsteuerungen bildenden Knoten empfangen werden. Durch die von dem koordinierenden Knoten ausgesendeten Datentelegramme können somit die Bewegungsphasen der Zuführeinrichtungen mit der Bewegungsphase der Fördereinrichtung derart koordiniert werden, daß die Teilprodukte lagerichtig an die Fördereinrichtung übergeben werden und dadurch die Teilerzeugnisse nacheinander längs des Förderweges zur Bildung der beabsichtigten Druckerzeugnisse zusammengeführt werden. Wenn beispielsweise an einem der die Motorsteuereinheiten bildenden Knoten eine Störung auftritt, teilt der gestörte Knoten diese Störung dem koordinierenden Knoten ansprechend auf dessen einer zyklischen Abfrage aller Knoten dienenden Datentelegramme durch ein ausgesendetes Datentelegramm mit. Ansprechend auf den Empfang dieses Datentelegramms trifft sodann der koordinierende Knoten die Entscheidung über die in Abhängigkeit von der mitgeteilten Störung an den die Motorsteuerungen bildenden Knoten zu treffenden Maßnahmen und gibt entsprechende Datentelegramme aus, die von den die Motorsteuerungen bildenden Knoten empfangen werden und dort den Maßnahmen entsprechende Aktionen auslösen, im einfachsten Fall beispielsweise eine selektive oder vollständige Abschaltung aller Antriebsmotore.In the inventive design of the method, the coordinating node sends out data telegrams in which all other nodes forming an engine control unit or one of these nodes are identified as recipients of the transmitted data telegram. As a result, the data telegram sent out by the coordinating node is received exclusively by the node or nodes identified therein as recipients. The nodes forming the motor control units only send a data telegram if they have received a data telegram containing a request to send from the coordinating node. They provide the transmitted data telegrams with information that identifies them as the sender and only identifies the coordinating node as the recipient. In this way, only the coordinating node grants the other nodes the authorization to send data telegrams. At the same time it is ensured that the data telegrams sent out by the nodes forming the motor controls are received exclusively by the coordinating node, which in turn sends out data telegrams which are optionally received by all or only one of the nodes forming the motor controls. Through the data telegrams sent by the coordinating node, the phases of movement of the feed devices can be coordinated with the phase of movement of the conveying device in such a way that the partial products are transferred to the conveying device in the correct position and the partial products are thereby brought together one after the other along the conveying path to form the intended print products. If, for example, a malfunction occurs at one of the nodes forming the motor control units, the malfunctioning node reports this malfunction to the coordinating node in response to its data telegrams, which are used for cyclical interrogation of all nodes, by means of a transmitted data telegram. In response to the receipt of this data telegram, the coordinating node then makes the decision about the measures to be taken depending on the fault reported at the node forming the engine controls and outputs corresponding data telegrams that are received by the nodes forming the engine controls and there the appropriate measures Trigger actions, in the simplest case, for example, a selective or complete shutdown of all drive motors.
Bei diesem erfindungsgemäßen Grundprinzip senden also die die Motorsteuereinheiten bildenden Knoten nur solche Datentelegramme aus, in denen der koordinierende Knoten als Empfänger identifiziert ist, wogegen der koordinierende Knoten in seinen Datentelegrammen sowohl jeweils einen einzelnen Knoten als auch alle Knoten als Empfänger identifizieren kann. Dieses Prinzip wird erfindungsgemäß dahingehend modifiziert, dass genau einer der die Motorsteuereinheiten bildenden Knoten die von ihm ausgesendeten Datentelegramme wahlweise mit einer Information versieht, die alle anderen Knoten als Empfänger identifiziert.With this basic principle according to the invention, the nodes forming the motor control units only send data messages in which the coordinating node is identified as the recipient, whereas the coordinating node can identify both a single node and all nodes as recipients in its data messages. According to the invention, this principle is modified in such a way that precisely one of the nodes forming the motor control units optionally provides the data telegrams sent by it with information that identifies all other nodes as recipients.
Dieser eine Motorsteuereinheit bildende Knoten, der gegenüber den anderen, Motorsteuereinheiten bildenden Knoten die Besonderheit aufweist, daß er ebenso wie der koordinierende Knoten Datentelegramme auch an alle anderen Knoten versenden kann, kann zweckmäßig als Leitwertgeber dienen, indem in diesen an alle anderen Knoten ausgesendeten Datentelegrammen jeweils eine der Drehposition des betreffenden Antriebsmotors entsprechende Information als Leitwert für die Antriebsmotore aller anderen Knoten übertragen wird. Zweckmäßigerweise wird der die Motorsteuereinheit des Antriebsmotors der Transporteinrichtung bildende Knoten als ein solcher Leitwertgeber eingesetzt.This node, which forms an engine control unit and which, compared to the other nodes which form engine control units, has the peculiarity that, like the coordinating node, it can also send data telegrams to all other nodes, can expediently serve as a master value transmitter in that data telegrams sent to all other nodes in these nodes an information corresponding to the rotational position of the drive motor in question is transmitted as a master value for the drive motors of all other nodes. The node forming the motor control unit of the drive motor of the transport device is expediently used as such a master value transmitter.
Auch bei dieser besonderen Ausbildung, bei der sowohl der koordinierende Knoten als auch genau ein eine Motorsteuereinheit bildender, besonderer Knoten Datentelegramme an alle anderen Knoten senden können, findet kein bidirektionaler Datenverkehr zwischen den die Motorsteuereinheiten bildenden Knoten statt. Der besondere Knoten überträgt lediglich unidirektional Datentelegramme, die insbesondere eine Leitwertinformation enthalten, an die übrigen Knoten, die ihrerseits Datentelegramme ausschließlich an den koordinierenden Knoten übertragen.Even with this special embodiment, in which both the coordinating node and precisely one particular node forming a motor control unit can send data telegrams to all other nodes, there is no bidirectional data traffic between the nodes forming the motor control units. The special node only transmits unidirectional data telegrams, which in particular contain master value information, to the other nodes, which in turn transmit data telegrams exclusively to the coordinating node.
In vorrichtungsmäßiger Hinsicht wird die der Erfindung zugrundeliegende Aufgabe gelöst durch eine Vorrichtung mit den Merkmalen von Anspruch 4. Es ist unter anderem eine Vorrichtung zum Herstellen von aus einer Mehrzahl von Teilerzeugnissen zusammengesetzten Druckerzeugnissen, mit einer längs eines Förderweges transportierenden Transporteinrichtung, einer der Mehrzahl der Teilerzeugnisse entsprechenden Mehrzahl von Zuführeinrichtungen, von denen die Teilerzeugnisse an längs des Förderweges voneinander beabstandeten Stellen in einer dem Druckerzeugnis entsprechenden Reihenfolge in die Fördereinrichtung einspeisbar sind, und einem den Betriebsablauf der Vorrichtung steuernden Datenverarbeitungsnetzwerk, wobei die Transporteinrichtung und jede der Zuführeinrichtungen jeweils einen elektrischen Antriebsmotor und eine die elektrische Energiezufuhr zu dem Antriebsmotor steuernde Motorsteuereinheit aufweist, deren jede einen Knoten des Netzwerks bildet, von dem Datentelegramme aus dem Netzwerk empfangbar und an das Netzwerk aussendbar sind, die dadurch gekennzeichnet ist, dass das Netzwerk einen koordinierenden Knoten aufweist, von dem Datentelegramme aus dem Netzwerk empfangbar und an das Netzwerk aussendbar sind, dass in dem koordinierenden Knoten und in jedem der die Motorsteuereinheiten bildenden Knoten jeweils eine ihn in dem Netzwerk eindeutig identifizierende Information gespeichert ist, dass durch den koordinierenden Knoten die von ihm ausgesendeten Datentelegramme jeweils mit einer Information versehbar sind, die ihn als Absender und einen der die Motorsteuereinheiten bildenden Knoten oder alle diese Knoten als Empfänger identifiziert, dass durch jeden der eine Motorsteuereinheit bildenden Knoten die von ihm ausgesendeten Datentelegramme jeweils mit einer Information versehbar sind, die ihn als Absender und nur den koordinierenden Knoten als Empfänger identifiziert, dass durch jeden Knoten nur solche Datentelegramme empfangbar sind, in denen er als Empfänger identifiziert ist, und dass durch jeden der eine Motorsteuereinheit bildenden Knoten Datentelegramme nur dann aussendbar sind, wenn er durch ein empfangenes Datentelegramm dazu aufgefordert wird.In terms of the device, the object on which the invention is based is achieved by a device with the features of claim 4. It is, inter alia, a device for producing printed products composed of a plurality of partial products, with a transport device transporting one of the plurality of partial products along a conveying path corresponding plurality of feed devices, of which the partial products can be fed into the conveyor device at points spaced apart from one another along the conveying path in a sequence corresponding to the printed product, and a data processing network controlling the operating sequence of the device, the transport device and each of the feed devices each having an electric drive motor and a the electrical energy supply to the drive motor controlling motor control unit, each of which forms a node of the network, from the data telegrams from the network k can be received and transmitted to the network, which is characterized in that the network has a coordinating node from which data telegrams can be received from the network and transmitted to the network, that in the coordinating node and in each of the nodes forming the motor control units information that uniquely identifies him is stored in the network that the data telegrams sent by him can be provided with information by the coordinating node that identifies him as the sender and one of the nodes forming the motor control units or all of these nodes as the recipient of the node forming an engine control unit, the data telegrams sent by it can each be provided with information that identifies it as the sender and only the coordinating node as the recipient, that only those data telegrams can be received by each node in which it identifies as the recipient is ified, and that data telegrams can only be sent out by each of the nodes forming an engine control unit if it is requested to do so by a received data telegram.
Dabei kann die jeden Knoten identifizierende Information durch die jeweilige Hardwareadresse einer in der jeweiligen Motorsteuereinheit vorgesehenen Netzwerkkarte handeln. Die Hardwareadressen bekannter Netzwerkkarten sind in den Netzwerkkarten gespeichert und in dem Sinne eindeutig, daß keine Netzwerkkarte dieselbe Hardwareadresse hat wie eine andere. Es ist jedoch zweckmäßig, jede Motorsteuereinheit zusätzlich mit einer Kodierschalteranordnung zu versehen, durch die manuell eine individuelle Knotennummer eingestellt werden kann. Dann kann der koordinierende Knoten beim Hochlauf der Vorrichtung die Motorsteuereinheiten anhand der eingestellten Knotennummern identifizieren und den jeweils identifizierten Knoten dazu auffordern, ein seine Hardwareadresse enthaltendes Datentelegramm an den koordinierenden Knoten auszusenden. Dadurch ist es nicht erforderlich, die Hardwareadressen in den koordinierenden Knoten manuell einzuspeichern.The information identifying each node can act through the respective hardware address of a network card provided in the respective engine control unit. The hardware addresses of known network cards are stored in the network cards and are unique in the sense that no network card has the same hardware address as another. However, it is advisable to provide each motor control unit with an additional coding switch arrangement by means of which an individual node number can be set manually. Then, when the device starts up, the coordinating node can identify the motor control units on the basis of the node numbers set and request the identified node to send a data telegram containing its hardware address to the coordinating node. This means that it is not necessary to manually save the hardware addresses in the coordinating nodes.
Sowohl für das Verfahren als auch die Vorrichtung ist es zweckmäßig, daß das Netzwerk eine Bus-Topologie aufweist. Alle Knoten des Netzwerkes befinden sich dann in den von dem Bus gebildeten Netzwerkstrang.For both the method and the device, it is expedient for the network to have a bus topology. All nodes of the network are then in the network strand formed by the bus.
Das erfindungsgemäße Verfahren zur Antriebssteuerung kann mit Vorteil in einem Sammelhefter angewendet werden, bei dem die Transporteinrichtung eine Sammelkette und die Zuführeinrichtungen Bogenanleger sind. Durch die erfindungsgemäße Antriebssteuerung werden die Antriebsmotore der Sammelkette und der Zuführeinrichtungen derart aufeinander abgestimmt, daß jeweils eine in Transportrichtung stromabwärts angeordnete Zuführeinrichtung die Bogen derart an die Sammelkette übergibt, daß sie auf von einer demgegenüber stromaufwärts angeordneten Zuführeinrichtung übergebenen Bogen zu liegen kommen und dadurch in bekannter Weise von innen nach außen gesammelt werden.The method according to the invention for drive control can advantageously be used in a saddle stitcher in which the transport device is a collecting chain and the feed devices are sheet feeders. Through the drive control according to the invention, the drive motors of the saddle chain and the feed devices are coordinated with one another in such a way that a feed device arranged downstream in the transport direction transfers the sheets to the saddle chain in such a way that they come to rest on sheets transferred from a feed device arranged upstream, and thus in known Way to be collected from the inside out.
Bekanntlich weisen Sammelhefter eine stromabwärts der Zuführeinrichtungen angeordnete Heftstation auf, mit der die gesammelten Bogen geheftet werden. In diesem Fall ist zweckmäßig vorgesehen, daß einer der die Motorsteuereinheiten bildenden Knoten den Antriebsmotor einer Heftstation des Sammelhefters steuert.It is known that saddle stitchers have a stapling station which is arranged downstream of the feed devices and with which the collected sheets are stapled. In this case it is expediently provided that one of the nodes forming the motor control units controls the drive motor of a stapling station of the saddle stitcher.
Weiterhin ist das erfindungsgemäße Verfahren zur Antriebssteuerung einer Einsteckmaschine geeignet, bei der die Transporteinrichtung eine Taschenkette und die Zuführeinrichtungen Anleger sind, mit denen die Teilprodukte in die Taschen übergeben werden. Auch hier wird durch die erfindungsgemäße Antriebssteuerung der Betrieb der Antriebsmotore der Taschenkette und der Anleger derart aufeinander abgestimmt, daß in der Transportrichtung stromabwärtige Anleger den von stromaufwärtigen Anlegern mit Teilerzeugnissen beschickten Taschen die für das zusammengesetzte Druckerzeugnis noch benötigten weiteren Teilerzeugnisse zuführen.Furthermore, the method according to the invention is suitable for drive control of an inserting machine in which the transport device is a pocket chain and the feed devices are feeders with which the partial products are transferred into the pockets. Here, too, the drive control according to the invention coordinates the operation of the drive motors of the pocket chain and the feeder in such a way that downstream feeders feed the pockets loaded with partial products from upstream feeders with the further partial products required for the assembled printed product.
Falls stromabwärts einer dieser Vorrichtungen eine Schneidstation zum Seitenbeschnitt der zusammengesetzten Druckerzeugnisse angeordnet ist, kann auch eine ihren Antriebsmotor steuernde Motorsteuereinheit einen Knoten des Datenverarbeitungsnetzwerkes bilden und wie die anderen, Motorsteuereinheiten bildenden Knoten in die erfindungsgemäße Antriebssteuerung einbezogen werden.If downstream of one of these devices a cutting station for side trimming the composite Printed products is arranged, a motor control unit controlling its drive motor can also form a node of the data processing network and, like the other nodes forming motor control units, can be included in the drive control according to the invention.
In der folgenden Beschreibung wird die Erfindung anhand einer einzigen Zeichnungsfigur beispielhaft erläutert. Diese Figur zeigt schematisch ein eine Bus-Topologie aufweisendes Datenverarbeitungsnetzwerk, dessen Bus mit dem Bezugszeichen 1 bezeichnet ist. Mit dem Bus 1 sind ein koordinierender Knoten 2 und n weitere Knoten 31, 32, 33, ..., 3n-1, 3n gekoppelt. Hierzu weisen der koordinierende Knoten 2 und jeder der weiteren Knoten 31, 32, 33, ..., 3n-1, 3n jeweils eine Netzwerkkarte auf, in deren jeder eine die Netzwerkkarte in dem Netzwerk eindeutig identifizierende Hardwareadresse gespeichert ist.In the following description, the invention is explained by way of example with reference to a single drawing figure. This figure shows schematically a data processing network having a bus topology, the bus of which is denoted by the
Die Netzwerkkarte des koordinierenden Knotens 2 dient als Schnittstelle für die Datenübertragung zwischen dem Bus 1 und einem in dem koordinierenden Knoten 2 ablaufenden Betriebsprogramm. Die Netzwerkkarte jedes der weiteren Knoten 31, 32, 33, ..., 3n-1, 3n dient als Schnittstelle für die Datenübertragung zwischen dem Bus 1 und einer in jedem dieser weiteren Knoten jeweils vorgesehenen Motorsteuereinheit.The network card of the
Jede Netzwerkkarte weist eine Sende/Empfangseinrichtung auf, bei der es sich um einen bekannten Ethernet-PHY handeln kann, mit dem Datentelegramme an das Netzwerk ausgesendet und aus dem Netzwerk empfangen werden. Ferner ist jede Netzwerkkarte mit zwei Ports und einem die Datentelegramme zwischen den Ports weiterleitenden HUB versehen, so daß benachbarte Knoten in Linienverkabelung direkt miteinander verbunden werden können.Each network card has a transmitting / receiving device, which can be a known Ethernet PHY, with which data telegrams are transmitted to the network and received from the network. Furthermore, each network card is provided with two ports and a HUB which transmits the data telegrams between the ports, so that neighboring nodes can be connected directly to one another in line cabling.
Jede der Motorsteuereinheiten steuert die elektrische Energiezufuhr zu einem ihr zugeordneten elektrischen Antriebsmotor. Einer dieser Antriebsmotore, beispielsweise der von dem Knoten 3n-1 gesteuerte Antriebsmotor, bildet den Hauptantrieb für eine längs eines Förderweges transportierende Transporteinrichtung, beispielsweise die umlaufende Sammelkette eines Sammelhefters oder die umlaufende Taschenkette einer Einsteckmaschine. Jeder der von den Knoten 31, 32, 33, ..., 3n-1, 3n gesteuerten Antriebsmotore treibt jeweils eine Zuführeinrichtung an, mit welcher der Transporteinrichtung Teilerzeugnisse zusammengesetzter Druckerzeugnisse an längs ihres Förderweges voneinander beabstandeten Stellen zugeführt werden. Diese Art der Bildung zusammengesetzter Druckerzeugnisse durch Sammeln oder Einstecken ist dem Fachmann allgemein bekannt, weswegen an dieser Stelle auf eine weitergehende Erläuterung verzichtet wird. Der durch den verbleibenden Knoten 3n gesteuerte Antriebsmotor veranschaulicht beispielhaft den Antrieb einer im Falle eines Sammelhefters vorgesehenen Heftstation und/oder einer der Einsteckmaschine nachgeschalteten Schneidstation.Each of the motor control units controls the supply of electrical energy to an electrical drive motor assigned to it. One of these drive motors, for example the drive motor controlled by node 3 n-1 , forms the main drive for a transport device transporting along a conveying path, for example the circulating saddle chain of a saddle stitcher or the circulating pocket chain of an inserting machine. Each of the nodes 3 1, 3 2, 3 3, ..., 3 n-1, 3 n-controlled drive motors drives each of a feeding device with which the transport device subassemblies assembled printed products to along its conveying path spaced apart locations to be supplied. This type of formation of composite printed products by collecting or inserting is generally known to the person skilled in the art, which is why a further explanation is dispensed with at this point. The drive motor controlled by the remaining node 3 n exemplifies the drive of a stapling station provided in the case of a saddle stitcher and / or a cutting station connected downstream of the inserting machine.
Der koordinierende Knoten 2 sendet unter der Steuerung des in ihm laufenden Betriebsprogramms über seine Netzwerkkarte Datentelegramme an den Bus 1 aus, in denen er sich durch die Angabe seiner Hardwareadresse als Absender des Datentelegramms identifiziert. Außerdem identifiziert er in jedem dieser von ihm ausgesendeten Datentelegramme einen der weiteren Knoten 31, 32, 33, ..., 3n-1, 3n als Empfänger, indem er dessen Hardwareadresse angibt, oder identifiziert alle diese Knoten als Empfänger, indem er eine in dem System festgelegte Sammeladresse angibt.The
Die Netzwerkkarten der die Motorsteuereinheiten bildenden Knoten 31, 32, 33, ..., 3n-1, 3n prüfen die Empfängeradressen, die in den auf den Bus 1 ausgegebenen Datentelegrammen enthalten sind. Wenn die in dem Datentelegramm angegebene Empfängeradresse nicht mit der Hardwareadresse der betreffenden Netzwerkkarte oder der Sammeladresse übereinstimmt, sperrt die Netzwerkkarte den Empfang dieses Datentelegramms.The network card of the motor control units forming nodes 3 1, 3 2, 3 3, ..., 3 n-1, n 3 examine the receiver addresses that are included in the output on the
Wenn infolge einer Übereinstimmung mit der Sammeladresse oder der individuellen Hardwareadresse des betreffenden Knotens das Datentelegramm empfangen wird, leitet die Netzwerkkarte die in dem Datentelegramm enthaltene Information an die ihr zugeordnete Motorsteuereinheit weiter. Diese Information kann beispielsweise eine von dem koordinierenden Knoten 1 an die Motorsteuereinheit des betreffenden Knotens 31, 32, 33, ..., 3n-1, 3n ausgesendete Führungsgröße für den Antriebsmotor sein, durch die dieser Antriebsmotor beispielsweise dazu veranlaßt wird, eine bestimmte Drehposition in bezug auf die Drehposition eines der anderen Antriebsmotore einzunehmen. Es kann aber auch eine Aufforderung an diesen Knoten sein, ein Datentelegramm auszusenden, in dem eine Zustandsinformation der Motorsteuerung mitgeteilt wird, die beispielsweise die momentane Drehposition oder auch einen Fehlerzustand des betreffenden Antriebsmotors beinhaltet.If the data telegram is received as a result of a match with the collective address or the individual hardware address of the relevant node, the network card forwards the information contained in the data telegram to the motor control unit assigned to it. This information can be, for example, a command variable for the drive motor sent by the
Mit Ausnahme des den Hauptantrieb steuernden Knotens 3n-1 können die Netzwerkkarten der anderen, Motorsteuereinheiten bildenden Knoten 31, 32, 33, 3n-2, 3n nur die individuelle Hardwareadresse des koordinierenden Knotens 2 als Empfängeradresse angeben mit der Folge, daß die von ihnen ausgesendeten Datentelegramme nur von dem koordinierenden Knoten 2 empfangen werden. Lediglich der den Hauptantrieb steuernde Knoten 3n-1, kann wahlweise die von ihm ausgesendeten Datentelegramme auch mit der Sammeladresse als Empfängerangabe versehen, so daß sie von allen anderen, Motorsteuereinheiten bildenden Knoten empfangen werden können. Hierdurch ist es insbesondere möglich, daß der Hauptantrieb seine momentane Drehposition an alle anderen Antriebsmotore als Leitwert weitergibt. Ebenso wie alle anderen, Motorsteuereinheiten bildenden Knoten sendet der dem Hauptantrieb zugeordnete Knoten 3n-1 Datentelegramme nur dann auf den Bus 1 aus, wenn er durch vom koordinierenden Knoten 2 empfangene Telegramme dazu aufgefordert wird.With the exception of the node 3 n-1 controlling the main drive, the network cards of the other nodes 3 1 , 3 2 , 3 3 , 3 n-2 , 3 n forming the motor control units can only specify the individual hardware address of the
Der vorstehend dargelegte Betriebsablauf setzt voraus, daß der koordinierende Knoten 2 die Hardwareadressen der Netzwerkkarten aller weiteren Knoten 31, 32, 33, ..., 3n-1, 3n kennt. Deshalb ist in dem erörterten Ausführungsbeispiel vorgesehen, daß jede Netzwerkkarte zusätzlich mit einer Kodierschalteranordnung versehen ist, auf der manuell eine beispielsweise zweistellige hexadezimale Knotennummer eingestellt werden kann. Dann kann der koordinierende Knoten 2 beim Systemhochlauf durch die Aussendung von Datentelegrammen, die als Empfängeridentifikation die Sammeladresse enthalten, die zu jeder Knotennummer gehörende Hardwareadresse der betreffenden Netzwerkkarte abfragen und erhält dadurch die für den weiteren Betriebsablauf erforderliche Adresseninformation.The operational sequence outlined above assumes that the
- 11
- Busbus
- 22
- koordinierender Knotencoordinating node
- 31, 32, 33, ..., 3n-1, 3n31, 32, 33, ..., 3n-1, 3n
- weitere Knotenmore knots
Claims (11)
- A method for controlling the drive of a device for producing printed products composed of a plurality of part-products which has a transport device transporting along a conveyance path, a plurality of feed devices corresponding to the plurality of part-products, of which the part-products can be fed into the transport device at points spaced apart from each other along the conveyance path in a sequence corresponding to the print product, and a data processing network controlling the operating sequence of the device, the transport device and each of the feed devices respectively being provided with an electric drive motor and a motor control unit controlling the supply of electrical energy to the drive motor, each of which forms a node (31, 32, 33, ..., 3n-1, 3n) of the network which receives data telegrams from the network and sends them to the network, characterised in that the network has a coordinating node (2) that receives data telegrams from the network and sends them to the network, that the coordinating node (2) respectively provides the data telegrams sent by it with a piece of information which identifies it as the sender and one of the nodes forming the motor control units or all of these nodes (31, 32, 33, ..., 3n-1, 3n) as the recipient, that each of the nodes (31, 32, 33, ..., 3n-1, 3n) forming a motor control unit respectively provides the data telegrams sent by it with a piece of information which identifies it as the sender and only the coordinating node (2) as the recipient, and precisely one of the nodes (3n-1) forming the motor control units optionally provides the data telegrams sent by it with a piece of information which identifies all of the other nodes as recipients, that each node (2; 31, 32, 33, ..., 3n-1, 3n) only receives data telegrams in which it is identified as the recipient, and that each of the nodes (31, 32, 33, ..., 3n-1, 3n) forming a motor control unit only sends data telegrams when it is prompted to do so by a received data telegram.
- The method according to Claim 1, characterised in that the precisely one node (3n-1) forms the motor control unit of the drive motor of the transport device and the data telegrams identifying all of the other nodes as recipients contain a piece of information corresponding to the rotation position of this drive motor.
- The method according to any of Claims 1 to 3, characterised in that the network has a bus topology (1).
- A device for producing printed products composed of a plurality of part-products, comprising a transport device transporting along a conveyance path, a plurality of feed devices corresponding to the plurality of part-products, of which the part-products can be fed into the transport device at points spaced apart from each other along the conveyance path in a sequence corresponding to the printed product, and a data processing network controlling the operating sequence of the device, the transport device and each of the feed devices respectively having an electric drive motor and a motor control unit controlling the supply of electrical energy to the drive motor, each of which forms a node (31, 32, 33, ..., 3n-1, 3n) of the network which can receive data telegrams from the network and can send them to the network, characterised in that the network has a coordinating node (2) that can receive data telegrams from the network and can send them to the network, that there is stored in the coordinating node (2) and in each of the nodes (31, 32, 33, ..., 3n-1, 3n) forming the motor control units respectively a piece of information clearly identifying it in the network, that the coordinating node (2) can respectively provide the data telegrams sent by it with a piece of information which identifies it as the sender and one of the nodes forming the motor control units or all of these nodes (31, 32, 33, ..., 3n-1, 3n) as the recipient, that each of the nodes (31, 32, 33, ..., 3n-1, 3n) forming a motor control unit can respectively provide the data telegrams sent by it with a piece of information which identifies it as the sender and only the coordinating node (2) as the recipient, the data telegrams sent by precisely one of the nodes (3n-1) forming the motor control units can optionally be provided with a piece of information which identifies all of the other nodes as recipients, that each node (2; 31, 32, 33, ..., 3n-1, 3n) can only receive data telegrams in which it is identified as the recipient, and that each of the nodes (31, 32, 33, ..., 3n-1, 3n) forming a motor control unit can only send data telegrams when it is prompted to do so by a received data telegram.
- The device according to Claim 4, characterised in that the precisely one node (3n-1) forms the motor control unit of the drive motor of the transport device and the data telegrams identifying all of the other nodes as recipients contain a piece of information corresponding to the rotation position of this drive motor.
- The device according to any of Claims 4 to 5, characterised in that the network has a bus topology.
- The device according to any of Claims 4 to 6, characterised in that each node has a network card with a hardware address clearly identifying the network card in the network and a sending/receiving device serving to send and receive the data telegrams.
- The device according to Claim 7, characterised in that each network card has two ports and one HUB serving to forward the data telegrams between the ports.
- The device according to any of Claims 4 to 8, characterised in that the transport device is a gathering chain and the feed devices are sheet feeders of a saddle stitcher.
- The device according to Claim 9, characterised in that one of the nodes (3n-1) forming the motor control units controls the drive motor of a stitching station of the saddle stitcher.
- The device according to any of Claims 4 to 9, characterised in that the transport device is a pocket chain and the feed devices are feeders of an inserting machine.
Applications Claiming Priority (1)
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|---|---|---|---|
| DE102006059654A DE102006059654A1 (en) | 2006-12-18 | 2006-12-18 | Saddle binder control, at a printed material saddle stitch stapling machine, has a data processing link to the motor control units with a coordination link to give command data telegrams to them |
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| EP1935822A1 EP1935822A1 (en) | 2008-06-25 |
| EP1935822B1 EP1935822B1 (en) | 2013-07-17 |
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| EP07021731.0A Active EP1935822B2 (en) | 2006-12-18 | 2007-11-08 | Device for producing printed products and method for controlling the drives |
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| EP (1) | EP1935822B2 (en) |
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| DE102006059654A1 (en) * | 2006-12-18 | 2008-06-19 | Müller Martini Holding AG | Saddle binder control, at a printed material saddle stitch stapling machine, has a data processing link to the motor control units with a coordination link to give command data telegrams to them |
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| US5499803A (en) † | 1994-11-23 | 1996-03-19 | Am International, Inc. | Collator without a main line drive shaft |
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| US6907316B2 (en) * | 2002-06-20 | 2005-06-14 | Graphic Management Associates, Inc. | Insert machine |
| DE10308654B4 (en) * | 2003-02-27 | 2014-02-13 | Siemens Aktiengesellschaft | Data transmission system for connecting a controller with drives |
| US7251736B2 (en) * | 2003-06-25 | 2007-07-31 | International Business Machines Corporation | Remote power control in a multi-node, partitioned data processing system via network interface cards |
| US7624431B2 (en) * | 2003-12-04 | 2009-11-24 | Cisco Technology, Inc. | 802.1X authentication technique for shared media |
| US7519063B2 (en) * | 2004-02-26 | 2009-04-14 | Research In Motion Limited | Distributed wireless packet assembly |
| DE102004037896A1 (en) * | 2004-08-05 | 2006-03-16 | Heidelberger Druckmaschinen Ag | Device for gathering flat workpieces |
| DE102006059654A1 (en) * | 2006-12-18 | 2008-06-19 | Müller Martini Holding AG | Saddle binder control, at a printed material saddle stitch stapling machine, has a data processing link to the motor control units with a coordination link to give command data telegrams to them |
| JP5276838B2 (en) * | 2007-12-20 | 2013-08-28 | 三星電子株式会社 | Information processing apparatus, information processing method, and computer program |
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- 2006-12-18 DE DE102006059654A patent/DE102006059654A1/en not_active Withdrawn
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- 2007-11-08 EP EP07021731.0A patent/EP1935822B2/en active Active
- 2007-12-04 JP JP2007313043A patent/JP5026938B2/en not_active Expired - Fee Related
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| US5499803A (en) † | 1994-11-23 | 1996-03-19 | Am International, Inc. | Collator without a main line drive shaft |
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| Auszüge aus Technische Dokumentation der Motorsteuerung TLC63x vom Juli 2004 † |
| Binder-Report Drupa 2004 † |
| CAN-BUS, Horst Engels, Franzis Verlag GmbH, 2.Auflage 2002. Seiten 1-20, 40-56, 224-232. † |
| CANopen, aus Wikipedia in der Fassung vom 03.07.2015 † |
| Die Funktionsweise von CAN Netzwerken, aus Wikipedia in der Fassung vom 13.11.2015 † |
| Duplik vom 26.10.2006 mit Anlage B4 † |
| E-Mail-Kommunikation mit der Firma Berger-Lahr vom 04.07.2006 † |
| Entscheidung der Oberlandesgerichts Karlsruhe vom 12.11.2008 † |
| Gerhard Schnell (Hrsg.), Bussysteme in der Automatisierungstechnik, 3. vollständig überarbeitete und erweiterte Auflage 1999. † |
| Heft 22/1996 etz † |
| Hub (Netzwerktechnik) aus Wikipedia in der Fassung vom 08.10.2006 † |
| Inbetriebnahmeprotokolle † |
| Internetausdruck der Firma handling online † |
| Klageerwiderung vom 08.08.2006 † |
| Klageschrift vom 08.08.2006 † |
| Kurzbeschreibung von Profibus in deutscher Sprache zusammengestellt für DKE † |
| Liebenau, Dieter; Heinze, Ines; Industrielle Buchbinderei † |
| Liebenau, Dieter; Heinze, Ines; Lexikon Buchbinderische Verarbeitung † |
| Liebenau, Dieter; Weschke, Hugo; Polygrph Fachlexikon der Druckindustrie und Kommunikationstechnik † |
| Profibus aus Wikipedia in der Fassung vom 23.05.2006 † |
| Prospekt des Sammelhefters HSB 10000 † |
| Protokoll der öffentlichen Verhandlung † |
| Screenshots einer Downloadseite der Firma Schneider Elektrik † |
| Seiten 26-29 des Buches 'CAN-BUS' (E17) † |
| seiten 3-22 bis 3-28 des vollständigen Dokuments E2 † |
| seiten 3-7 bis 3-27 des vollständigen Dokuments E2 † |
| Technische Dokumentation Twin Line CANopen vom Dezember 2005 † |
| Urteil des Bundesgerichtshofs zur Nichtigkeit des europäischen Patentes gemäss E6 für die Bundesrepublik Deutschland † |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101204896B (en) | 2011-03-30 |
| EP1935822A1 (en) | 2008-06-25 |
| JP2008149713A (en) | 2008-07-03 |
| JP5026938B2 (en) | 2012-09-19 |
| DE102006059654A1 (en) | 2008-06-19 |
| CN101204896A (en) | 2008-06-25 |
| EP1935822B1 (en) | 2013-07-17 |
| US20080161960A1 (en) | 2008-07-03 |
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