Labeling method and device
In a method for labeling, a label strip ( 20 ) is moved by means of an electric motor ( 80 ). Arranged on this label strip are labels ( 26 ) of predetermined length (EL) with uniform interstices (SB). The motor has associated with it a position controller ( 218 ), also a sensor ( 44 ) for sensing a predetermined position of a label ( 26 ) when the latter is moved on the label strip ( 20 ) relative to the sensor ( 44 ). The method has the following steps: in accordance with a stored profile, the label strip ( 20 ) is set in motion beginning from a start position (A), a first target position (Z) of the label strip being specified to the position controller ( 218 ); during the motion of the label strip ( 20 ), a predetermined position (M) of the label strip ( 20 ) is sensed; and subsequently thereto, a revised target position (Z) is specified to the position controller ( 218 ). This makes possible fast and precise labeling, since the target position can be reached very accurately. A corresponding device has a compact design.
1. A method of moving a label strip ( 20 ), on which are arranged labels ( 26 ) of predetermined length (EL) with substantially uniform interstices (SB), by means of an electric motor ( 80 ), a position controller ( 218 ) associated with that motor, and a sensor ( 44 ) for sensing a predetermined position of a label ( 26 ) when the latter is moved on the label strip ( 20 ) relative to the sensor ( 44 ), comprising the steps of:
in accordance with a predetermined motion profile, setting in motion the label strip ( 20 ), beginning from a start position (A), a first target position (Z) of the label strip ( 20 ) being specified to the position controller ( 218 );
during the motion of the label strip ( 20 ), sensing a predetermined position (M) of the label strip ( 20 );
in close chronological conjunction therewith, specifying a revised target position (Z) to the position controller ( 218 );
calculating, from the predetermined motion profile, a plurality of position values (S; 300 , 302 , 304 ) of the label strip ( 20 ), and a respective time value associated with each position value,
defining each respective position value and time value as a value pair, and successively delivering those value pairs to the position controller ( 273 ) as setpoints for position regulation.
2. The method according to claim 1 ,
wherein the position controller ( 218 ) has specified to it, as the first target position (Z), a motion over to a predetermined distance that corresponds approximately to the magnitude
n * [EL +SB],
where EL corresponds to the length of a label ( 26 ),
SB corresponds to the spacing between two successive labels ( 26 ), and
n is a positive integer. [= 1 , 2 , 3 , . . . ]
3. The method according to claim 1 ,
wherein the predetermined motion profile comprises a starting ramp ( 176 ) having a substantially predetermined shape; a motion phase ( 180 ; 180 ′), following the starting ramp, with a substantially constant advance speed (Vsoll); and a shutdown ramp ( 184 ) having a substantially predetermined shape.
4. The method according to claim 3 , further comprising sensing the predetermined position (M) of the label strip ( 20 ) in a time range ( 180 ′) in which the label strip ( 20 ) is being driven at the substantially uniform advance speed (Vsoll).
5. The method according to claim 3 , wherein the substantially constant advance speed is a regulated advance speed (Vsoll).
6. The method according to claim 3 ,
wherein the substantially constant advance speed (Vsoll) is specified by an element ( 140 ) that controls the motion of objects (P) to be labeled.
7. The method according to claim 1 ,
wherein the electric motor ( 80 ) is implemented with three phases, and is started by commutation in the manner of a brushless motor and then switched over to sine-wave commutation.
8. The method according to claim 1 , further comprising operating the controller with a subordinate current controller, to whose input a signal influenced by the setpoint acceleration is delivered, in order to enable a rapid change in the motor current, in the context of changes in the setpoint acceleration.
9. An arrangement for moving a label strip on which labels ( 26 ) of predetermined length (EL) are arranged with substantially uniform spacings (SB), which arrangement comprises:
an electric motor ( 80 );
a position controller ( 218 ) associated with that motor ( 80 );
a sensor ( 44 ) for sensing a predetermined position (M) of a label ( 26 ) when the label strip ( 20 ) is moved past the sensor ( 44 );
a profile generator ( 220 ) which calculates, from a predetermined motion profile, a plurality of position values (S) of the label strip ( 20 ), and time values associated with those position values (S) in the manner of value pairs, those value pairs serving as setpoints for position regulation; and
a control arrangement that sets the label strip ( 20 ) in motion, beginning from a start position (A), according to said predetermined motion profile, a first target position (Z) of the label strip ( 20 ) being specified to the position controller as a first target variable, and that senses a predetermined position (M) of the label strip ( 20 ) during the motion of the label strip ( 20 ) and, subsequently thereto, specifies a revised target position (Z) to the position controller ( 218 ) as a new target variable.
10. The arrangement according to claim 9 ,
wherein the position controller ( 218 ) has specified to it, as a first target position (Z), a motion over a predetermined distance that corresponds approximately to the magnitude
n * [EL +SB],
where EL corresponds to the length of a label ( 26 ),
SB to the spacing between two successive labels ( 26 ), and
n is a positive integer. [= 1 , 2 , 3 , . . . ]
11. The arrangement according to claim 9 ,
wherein the predetermined motion profile comprises a starting ramp ( 176 ) having a substantially predetermined shape;
a motion phase ( 180 ; 180 ′), following the starting ramp ( 176 ), with a substantially uniform advance speed (Vsoll);
and a shutdown ramp ( 184 ) having a substantially predetermined shape.
12. The arrangement according to claim 9 ,
wherein the determination of the predetermined position of the label strip ( 20 ) takes place in a time range ( 180 ′) in which the label strip ( 20 ) is being driven at the substantially uniform advance speed (Vsoll).
13. The arrangement according to claim 11 ,
wherein the substantially uniform advance speed is a regulated advance speed (Vsoll).
14. The arrangement according to claim 11 ,
wherein an element ( 140 ) is provided that controls the motion of objects (P) to be labeled, and wherein the substantially uniform advance speed (Vsoll) is specified by that element ( 140 ).
15. The arrangement according to claim 9 , wherein the electric motor is a three-phase internal-rotor motor ( 80 ).
16. The arrangement according to claim 15 , wherein
for starting, the three-phase motor ( 80 ) has, associated with it, a commutation device and an apparatus ( 82 ) for furnishing rotor position signals, in order to start the motor ( 80 ) in the manner of a brushless DC motor.
17. The arrangement according to claim 16 , wherein the three-phase motor ( 80 ) has associated with it an arrangement ( 256 , 260 , 262 , 268 ) for sine-wave commutation that is switched on after the motor ( 80 ) is started.
18. The arrangement according to claim 9 , wherein the electric motor ( 80 ) has associated with it a resolver that furnishes at least 1,000 pulses per motor revolution.
19. The arrangement according to claim 9 ,
wherein the controller comprises a subordinate current controller to whose input a signal influenced by the setpoint acceleration is delivered, in order to enable a rapid adaptation of the motor current in the context of changes in the setpoint acceleration.
20. A method of moving a label strip ( 20 ) from a start position (A) to a target position (A′) by means of an electric motor ( 80 ), on which label strip ( 20 ) are arranged labels ( 26 ) of predetermined length (EL) with substantially uniform interstices (SB), comprising the steps of:
using a controller ( 218 ) associated with the electric motor ( 80 ) to impart, to the label strip ( 20 ), a motion profile which comprises, as a first phase, a starting ramp ( 176 ) of defined shape and, as a second phase, a portion ( 180 , 180 ′), subsequent to the starting ramp ( 176 ), having a substantially uniform speed (Vsoll),
based on predetermined data that are the basis for the motion profile, calculating a future point in time ( 182 ; 182 ′) for a transition from the second phase to a third phase;
approximately after said future point in time ( 182 ; 182 ′) is reached, in the third phase ( 184 ), braking the label strip in position-controlled fashion by the motor ( 80 ) in such a way that the label strip reaches a speed of zero substantially at the target position (A′), and wherein,
upon specification of a modified speed characteristic (Vsoll) in the second phase ( 180 , 180 ′), an integral (∫V dt) defined by a speed profile is kept substantially constant.
21. The method according to claim 20 , further comprising defining the imparted motion profile, at least in part, by a profile in which a sequence of setpoint positions (S) of the label strip ( 20 ) is specified as a function of time.
22. The method according to claim 20 ,
wherein the integral (∫V dt) defined by the entire speed profile is kept substantially constant by recalculating the future point in time ( 182 ; 182 ′).
23. The method according to claim 20 ,
wherein during the first phase, the speed profile is defined by a substantially constant acceleration (Δ 1 ) of the label strip ( 20 ).
24. The method according to claim 20 , wherein, during the third phase, the speed profile is defined by a substantially constant deceleration (Δ 2 ) of the label strip.
25. The method according to claim 20 , wherein, in the third phase ( 184 ), a motion of the label strip ( 20 ) opposite to the direction ( 29 ) occurring in the context of an advance motion is at least impeded.
26. The method according to claim 25 , wherein
in the third phase ( 184 ), a rotation of the electric motor ( 80 ) opposite to the motion direction ( 29 ) executed by the label strip ( 20 ) in the context of an advance motion is at least impeded.
27. The method according to claim 20 , wherein the electric motor ( 80 ) is configured with three phases and is started using commutation in the manner of a brushless motor, and then switched over to sine-wave commutation.
28. The method according to claim 20 , wherein the controller operates with a subordinate current controller to whose input a signal influenced by the setpoint acceleration is delivered, in order to enable a rapid change in the motor current in the context of changes in the setpoint acceleration.
29. An arrangement for moving a label strip ( 20 ) from a start position (A) to a target position (A′), which arrangement comprises:
an electric motor ( 80 ) for effecting a motion of the label strip ( 20 );
a control arrangement ( 218 ) for controlling the motion of the electric motor ( 80 ), and thus of the label strip ( 20 ), in the manner of a four-quadrant controller,
which control arrangement ( 218 ) is implemented to impart to the label strip ( 20 ) a motion profile which comprises
as a first phase, a starting ramp ( 176 ) in which the label strip ( 20 ) experiences an acceleration,
as a second phase, a portion ( 180 , 180 ′) subsequent to the starting ramp ( 176 ) having a substantially uniform speed (Vsoll), and
as a third phase, a portion ( 184 ) in which the electric motor ( 80 ) brakes the label strip ( 20 ) in position-controlled fashion in such a way that it reaches a speed of zero approximately at the target position (A′); and
the imparted motion profile is defined, at least in part, by a speed profile in which, as a function of time, a specific speed of the label strip ( 20 ) is at least approximately specified in each case.
30. The arrangement according to claim 29 ,
wherein the control arrangement ( 218 ) is implemented to calculate, based on data that are the basis for the motion profile, a future transition time ( 182 ′) in whose chronological vicinity the control arrangement ( 218 ) brings about the transition from the second phase ( 180 , 180 ′) to the third phase ( 184 ).
31. The arrangement according to claim 29 , wherein, in the context of a change in the speed (Vsoll) specified for the second phase ( 180 , 180 ′), the control arrangement ( 218 ) is implemented to keep the integral (∫V dt]defined by the entire speed profile substantially constant.
32. The arrangement according to claim 31 ,
wherein the control arrangement ( 218 ) is implemented to keep the integral (∫V dt) defined by the entire speed profile substantially constant by recalculating the transition time ( 182 ′).
33. The arrangement according to claim 31 ,
wherein during the first phase, the speed profile is defined by a substantially constant acceleration (Δ 1 ) of the label strip ( 20 ).
34. The arrangement according to claim 31 ,
wherein during the third phase ( 184 ), the speed profile is defined by a substantially constant deceleration (Δ 2 ) of the label strip ( 20 ).
35. The arrangement according to claim 29 , wherein the control arrangement ( 218 ) is implemented at least to impede, in the third phase ( 184 ), a motion of the label strip ( 20 ) opposite to the direction ( 29 ) occurring in the context of an advance motion.
36. The arrangement according to claim 35 ,
wherein the control arrangement ( 218 ) is implemented at least to impede, in the third phase ( 184 ), a rotation of the electric motor ( 80 ) opposite to the motion direction ( 29 ) executed by the label strip ( 20 ) in the context of an advance motion.
37. The arrangement according to claim 29 ,
wherein the control arrangement is implemented to calculate, from a predetermined motion profile, a plurality of position values (S) of the label strip ( 20 ), and time values associated with those position values (S) in the manner of value pairs, which value pairs are deliverable to a position controller ( 273 ) for the position of the label strip ( 20 ).
38. The arrangement according to claim 37 ,
wherein the value pairs are deliverable to the position controller ( 273 ) in a predetermined chronological sequence.
39. The arrangement according to claim 29 , wherein the electric motor is implemented as a three-phase internal-rotor motor ( 80 ).
40. The arrangement according to claim 39 ,
wherein the three-phase motor ( 80 ) has associated with it a commutation device operating with rotor position signals, in order to start the motor in the manner of a brushless DC motor.
41. The arrangement according to claim 40 ,
wherein the three-phase motor ( 80 ) has associated with it an arrangement ( 256 , 260 , 262 , 268 ) for sine-wave commutation that is automatically switched on when the motor ( 80 ) is rotating.
42. The arrangement according to claim 29 ,
wherein the electric motor ( 80 ) has associated with it a resolver that furnishes at least 1,000 pulses per motor revolution.
43. The arrangement according to claim 29 ,
wherein the controller comprises a subordinate current controller to whose input a signal influenced by the setpoint acceleration is delivered, in order to enable a rapid change in the motor current in the context of changes in the setpoint acceleration.
44. An arrangement for repeatedly moving a label strip ( 20 ) from a starting position (A) to a target position (A′), on which label strip ( 20 ) are arranged labels ( 26 ) of predetermined length (EL) with substantially uniform interstices (SB), which arrangement comprises:
an electric motor ( 80 );
a position controller ( 218 ) associated with the electric motor ( 80 ) and implemented as a four-quadrant controller,
the label strip ( 20 ) having imparted to it during its motion, by the position controller ( 218 ), a motion profile which comprises
as a first phase, a starting ramp ( 176 ) with a defined acceleration (Δ 1 );
as a second phase, a portion ( 180 , 180 ′), subsequent to the starting ramp, with a substantially constant speed (Vsoll); and
as a third phase, a braking ramp ( 184 ) with a substantially predetermined deceleration (Δ 2 ),
and in which, in the third phase, the label strip ( 20 ) is braked in position-controlled fashion to a speed of zero at a predetermined location (A′), and any motion of the label strip, opposite to motion which occurs in the context of advance motion, is suppressed.
45. The arrangement according to claim 44 ,
wherein the position controller ( 218 ) is implemented in such a way that in the third phase ( 184 ), a rotation of the electric motor ( 80 ) opposite to the motion direction ( 29 ) executed by the label strip ( 20 ) in the context of its advance motion is suppressed.
46. The arrangement according to claim 44 ,
wherein the control arrangement is implemented to calculate, from a predetermined motion profile, a plurality of position values (S) of the label strip ( 20 ), and time values associated with those position values (S) in the manner of value pairs, which value pairs are deliverable to a position controller ( 273 ) for the position of the label strip ( 20 ).
47. The arrangement according to claim 44 ,
wherein the position controller comprises a subordinate current controller for the motor current, to whose input a signal influenced by the setpoint acceleration is delivered in order to enable a rapid change in the motor current in the context of changes in the setpoint acceleration.
48. The arrangement according to claim 44 ,
wherein the motor is implemented as a three-phase internal-rotor motor ( 80 ).
49. The arrangement according to claim 48 ,
wherein the three-phase motor ( 80 ) has, associated with it, a commutation device that starts the motor ( 80 ) in the manner of a brushless DC motor.
50. The arrangement according to claim 49 ,
wherein the three-phase motor ( 80 ) has, associated with it, an arrangement ( 256 , 260 , 262 , 268 ) for sine-wave commutation that is switched on after the motor ( 80 ) is started.
51. The arrangement according to claim 44 ,
wherein the electric motor ( 80 ) has, associated with it, a resolver that furnishes at least 1,000 pulses per motor revolution.