MACHINE AND METHOD FOR SYNCHRONOUS CONTROL OF MACHINE DRIVE DEVICES

Abstract

Machine (1) with at least two drive units (14, 15, 24, 25), of which a first drive unit (14; 24) has a first position controller (141; 241) and a second drive unit (15; 25) has a second position controller (151; 251), for driving at least one element (17, 18, 19, 27, 28) into motion, wherein the first position controller (141; 241) is configured to control a position of the at least one element (17, 18, 19) with respect to a drive axis of the first drive unit (14; 24), and wherein the second position controller (151; 251) is configured to control a position of the at least one element (27, 28) with respect to a drive axis of the second drive unit (15; 25), and at least two control devices (11, 21), which have a first and a second control device (11, 21) and of which at least the second control device (21) is configured to control at least one of the at least two drive devices (14, 15, 24, 25) in such a way that the at least two drive devices (14, 15; 24, 25), by means of control with the aid of their position controller (141, 151; 241, 251), drive at least two elements (17, 18, 19; 27, 28) into a motion that is at least temporarily synchronous, wherein the at least two control devices (11, 21) each have a first interface (111; 211) designed to receive data according to a first communication protocol, wherein at least the second control unit (21) is connected to a time master (30) via its first interface (111), wherein the data according to the first communication protocol include time information from the time master (30) for time synchronization of the at least two control units (11, 21), wherein the at least two control units (11, 21) each have a second interface (112; 212) which is designed for communication with at least one of the two drive units (14, 15; 24, 25) according to a second communication protocol, wherein the at least two control devices (11, 21) are designed to synchronize their system time (31) via the first interface (111; 211) on the basis of the time information of the data, wherein the first interface (111) of the first control unit (11) is configured to generate a first cyclic clock signal (112A; 212A) from the system time (31), and the first interface (211) of the second control unit (21) is configured to generate a second cyclic clock signal (212A) from the system time (31), such that the first clock signal (112A) in the first control unit (11) is started at the same system time time as the second clock signal (212A) in the second control unit (21), and wherein the at least two control devices (11, 21) are each configured to transmit the cyclic clock signal (112A; 212A) generated from the system time (31) by their first interface (111; 211) to their second interface (112; 212) in order to drive the at least two elements (17, 18, 19, 27, 28) into a movement that is at least temporarily synchronous by controlling at least one of the at least two drive devices (14, 15, 24, 25).

Description

[0001] The present invention relates to a machine and a method for the synchronous control of drive devices of the machine. The machine can, in particular, be a printing press with several rollers for transporting a printing medium, such as paper.

[0002] Machines with multiple drives are used in many areas of automated manufacturing or processing of objects, such as printing presses, weaving machines, lathes, etc. These machines are typically controlled by several control units, which in turn control multiple drive units.

[0003] DE 10 2010 002 183 A1 discloses a printing press in which an event classified as a fault is time-stamped, the timing of which is referenced to a time signal carried in a first communication network. DE 10 2007 031 709 A1 discloses an electric drive which includes a synchronization generator for generating a synchronization signal.

[0004] For example, in a printing press, it is crucial that the rollers transporting the printing medium move angularly synchronously to prevent damage or tearing of the medium, such as paper. This poses significant challenges for the coordination of all control systems.

[0005] DE 37 30 625 A1 discloses a positioning system for quality control functions in rotary printing presses. EP 2 221 178 A1 discloses a method for synchronizing several movable functional parts of devices or machines, in particular printing presses, based on their position. DE 102 08 791 A1 discloses a method for synchronizing a printing press drive system comprising several drives with drive motors, to which local drive control units with primary data processing means and a central operating and control unit with secondary data processing means are assigned. In this process, the data processing means of one of the drive control units calculates the respective drive data depending on the computational operations required in the other primary data processing means, whereby system-related differences between the drives and / or the primary data processing means are compensated for during the calculation.

[0006] Therefore, the object of the present invention is to provide a machine and a method for the synchronous control of drive devices of the machine, with which the aforementioned problems can be solved. In particular, a machine and a method for the synchronous control of drive devices of the machine are to be provided, with which, using any number of control devices which in turn control any number of drive devices, a synchronous movement of elements of the machine can be ensured simply, cost-effectively and reliably.

[0007] This problem is solved by a machine according to claim 1. The machine has at least two drive units for driving at least one element each into motion, and at least two control units, at least one of which is configured to control at least one of the at least two drive units such that the at least two drive units drive at least two elements into at least temporarily synchronous motion, wherein the at least two control units have a first interface configured to receive data according to a first communication protocol, wherein the data includes time information from a time master for time synchronization of the at least two control units, and wherein the at least one of the at least two control units has a second interface.which is configured for communication with at least one of the two drive units according to a second communication protocol, wherein the at least two control units are configured to synchronize their system time via the first interface on the basis of the time information of the data, wherein the first interface is configured to generate a cyclic clock signal from the system time, and wherein the at least one of the at least two control units is configured to transmit the cyclic clock signal to the second interface in order to drive the at least two elements into an at least temporarily synchronous movement by controlling at least one of the at least two drive units, as specified in claim 1.

[0008] The machine enables simple, cost-effective, and reliable synchronous movement of machine elements across different control systems. Furthermore, other machine elements can also be synchronized across control systems to execute a predetermined operation.

[0009] The use of a first and second interface allows communication between the control units to be carried out using a communication protocol that differs from the communication protocol between the respective control unit and the drive units it controls. This offers the advantage that the machine can be integrated very easily and cost-effectively into an existing communication network, while still enabling the necessary synchronization between the drive units.The existing communication network can, for example, be a real-time capable network, where real-time, as defined by standards such as DIN ISO / IEC 2382, refers to the operation of a computer system in which programs for processing incoming data are constantly ready for operation, such that the processing results are available within a specified time period. Depending on the application, the data may be generated according to a random temporal distribution or at predetermined times. In particular, the communication network can be a TSN network, the standards for which are developed under IEEE 802.1, where TSN stands for Time-Sensitive Networking.

[0010] Advantageous further embodiments of the machine are specified in the dependent claims.

[0011] The start time of the cyclic clock signal may be a future start time relative to the system time. It is also possible that the first interface is designed to define the phase of the cyclic clock signal with a fixed start time in the past. In this case, the fixed start time in the past could be January 1, 1970, at 00:00.

[0012] In one configuration, the time master is one of at least two control units. Additionally or alternatively, the time master can be a motion control unit or a CNC control unit.

[0013] Preferably, each of the at least two control units is configured to exchange user data with at least one other control unit via the first interface. This user data can be setpoints or actual values. Additionally or alternatively, the user data includes a timestamp in system time format, where, in the case of a setpoint as user data, the timestamp is the validity time of the setpoint.

[0014] In a preferred implementation variant, the first interface is a TSN interface and the second interface is a Sercos interface.

[0015] It is conceivable that the machine is a printing press having at least two printing towers, each having a control device designed to control roller drive devices of the associated printing tower in such a way that all rollers move angularly synchronously as movable elements of the printing press for the transport of a printing medium.

[0016] The problem is further solved by a method for the synchronous control of drive devices of the machine according to claim 10. The machine has at least two drive devices for driving at least one element each into motion, and at least two control devices, each having a first interface, and at least one of which is configured to control at least one of the at least two drive devices such that the at least two drive devices drive at least two elements into at least temporarily synchronous motion, wherein at least one of the at least two control devices has a second interface.The method comprises the steps of: receiving, with the first interface, which is configured to receive data according to a first communication protocol, data containing time information from a time master for time synchronization of the at least two control units; and generating, with the first interface, a cyclic clock signal from the system time and transmitting the cyclic clock signal to the second interface, which is configured to communicate with the at least two drive units according to a second communication protocol, wherein the at least two control units are configured to synchronize their system time via the first interface on the basis of the time information of the data in order to drive the at least two elements into at least temporarily synchronous motion by controlling at least one of the at least two drive units, as specified in claim 10.

[0017] The process achieves the same advantages as previously mentioned in relation to the machine.

[0018] Other possible implementations of the invention also include combinations of features or embodiments described previously or subsequently with regard to exemplary embodiments, even if not explicitly mentioned. In such cases, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.

[0019] The invention is described in more detail below with reference to the accompanying drawing and by means of exemplary embodiments. The drawing shows: Fig. 1 a block diagram of a machine according to a first embodiment; Fig. 2 a flowchart to illustrate a method for the synchronous control of drive devices of the machine according to the first embodiment; Fig. 3 a block diagram of a machine according to a second embodiment; and Fig. 4 a block diagram of a machine according to a third embodiment.

[0020] In the figures, identical or functionally equivalent elements are provided with the same reference symbols unless otherwise specified.

[0021] Fig. Figure 1 schematically shows a machine 1, which in this example is a printing press that prints on a printing medium 5, such as paper, film, etc. However, the machine 1 is not limited to a printing press, but can be any other machine that has the configuration described below.

[0022] Machine 1 has, in the example of Fig. 1 Two pressure towers 10, 20 or other subunits, each comprising a control unit 11, 21 and several drive units 14, 15, 24, 25 for driving movable elements 17, 18, 19, 27, 28. In addition, a time master 30 with a master system time 31 or system time 31 for short is provided for the machine 1.

[0023] The movable elements 17, 18, 19, 27, 28 are, for example, each an axle, in particular a roller for transporting the printing medium 5. At least one of the movable elements 17, 18, 19, 27, 28 may be a printing roller. The number of printing towers 10, 20 is arbitrarily selectable. The number of drive units 14, 15, 24, 25 per printing tower 10, 20 is arbitrarily selectable. The number of movable elements 17, 18, 19, 27, 28 is arbitrarily selectable.

[0024] The control unit 11 of the printing tower 10 has a first interface 111, a second interface 112, a storage unit 113, and a master setpoint generator 115, which is designed to generate one or more master setpoints 115A, 115B for the other control unit(s) 21 of the machine 1, i.e., control unit 21 in this case. Taking into account setpoint specifications 115C, the master setpoint generator 115 generates speed profiles 115D, which are converted into motor angle setpoints in the grid of an interpolation cycle. These motor angle setpoints are subsequently referred to as angle setpoints 115A. Possible setpoint specifications 115C include drive motion profiles, target speeds, target positions, maximum speeds, maximum accelerations, and maximum jerk. If required, the master setpoint generator 115 can also generate further setpoints 115B.In particular, the angle setpoint 115A and / or the further setpoints 115B and / or the target specifications 115C and / or the speed profile 115D and / or the actual values ​​113A can be stored in the storage device 113, even if this is not fully in . Fig. Figure 1 is shown. The actual values ​​113A are recorded during the operation of machine 1 for any elements of machine 1 by a detection device (not shown). The angle setpoint 115A is forwarded to all position controllers 141, 151 of the drive units 14, 15. The first interface 111 is designed, for example, for communication in a TSN network. The second interface 112 is implemented as part of a fieldbus network, in particular a Sercos ring, via which all data are exchanged at a predetermined time interval 112A, in particular the Sercos interval.

[0025] The control unit 21 of the printing tower 20 has a first interface 211, a second interface 212, and a storage device 213 for storing the master setpoint(s) 115A, 115B and actual values ​​213A, which are acquired by a detection device (not shown) during the operation of the machine 1. The angle setpoint 115A is forwarded to all position controllers 241, 251 of the drive units 24, 25. The first interface 211 is designed, for example, for communication in a TSN network. The second interface 212 is implemented as part of a fieldbus network, in particular a Sercos ring, via which all data are exchanged at a predetermined time interval 212A, in particular the Sercos interval.

[0026] Thus, the communication protocol for communication or data exchange between the first interfaces 111 and 211 differs from the communication protocol for communication or data exchange between the second interfaces 112 and 212. The communication protocol for communication or data exchange between the first interfaces 111 and 211 is hereinafter referred to as the first communication protocol. The communication protocol for communication or data exchange between the second interfaces 112 and 212 is hereinafter referred to as the second communication protocol.

[0027] Control units 11 and 21 communicate with each other via the first interfaces 111 and 211. Control unit 11 can send the master setpoint(s) 115A and 115B to control unit 21 to synchronize their setpoints. Furthermore, actual values ​​113A and 213A can be exchanged between control units 11 and 21 via the first interfaces 111 and 211. If the first interfaces 111 and 211 are configured for a TSN network, data can be sent and received using mechanisms for data transmission over Ethernet networks. According to current TSN standards, transmission with very low latency and high availability is possible. Therefore, the TSN network in machine 1 can be used, for example, for real-time audio / video streams or real-time control streams, which are used for control within machine 1.

[0028] As previously mentioned, the control unit 11 communicates with the drive units 14, 15 via the second interface 112. The control unit 11 of the printing tower 10 sends the speed profile 115D with the changing angle setpoint 115A to the drive units 14, 15 in order to synchronously control the movable elements 17, 18, 19 of the printing tower 10, in particular angularly. As a result of the control by the control unit 11, the drive unit 14 drives the movable element 17, the position of the movable element 17 relative to the drive axis of the drive unit 14 being controlled by the position controller 141. Preferably, if the movable element 17 is an axis or roller, the angular position of the axis or roller, or of the movable element 17 itself, is controlled. Similarly, the drive unit 15 drives the movable element 18, which is, for example, also an axle or roller for transporting paper.The movable element 18 can be coupled to the movable element 19, so that the movable element 19 can also be driven by the drive unit 15. The position of the movable element 18 relative to the drive axis of the drive unit 15 is controlled by the position controller 151. Preferably, if the movable element 18 is an axis or roller, the angular position of the axis or roller, or of the movable element 18 itself, is controlled. The same applies to the movable element 19 if it is coupled to the axis of the movable element 18.

[0029] Furthermore, the control unit 21 communicates with the drive units 24, 25 via the second interface 212. Here, the control unit 21 of the printing tower 20 sends the speed profile 115D with the changing angle setpoint 115A to the drive units 24, 25 in order to control the movable elements 27, 28 of the printing tower 20 synchronously, in particular angularly. As a result of the control by the control unit 21, the drive unit 24 drives the movable element 27, the position of the movable element 27 relative to the drive axis of the drive unit 24 being controlled by the position controller 241. Preferably, if the movable element 27 is an axis or roller, the angular position of the axis or roller or of the movable element 27 is controlled. Similarly, the drive unit 25 drives the movable element 28, which is, for example, also an axle or roller for transporting paper.Here, the position of the movable element 28 relative to the drive axis of the drive device 25 is controlled by means of the position controller 251. Preferably, in the case of an axis or roller as the movable element 28, the angular position of the axis or roller or of the movable element 28 is controlled.

[0030] The drive units 14, 15, 24, 25 are preferably position-controlled servo motors for uniform transport of the printing medium 5. For this purpose, all rollers or movable elements 17, 18, 19, 27, 28 of a printing tower 10, 20 are controlled angularly synchronously, necessarily with the same target speed as setpoints 115A and optionally 115B. This ensures that the transported printing medium 5, in particular paper, film, etc., does not tear or become damaged.

[0031] Furthermore, the principle previously described with regard to the rollers as movable elements 17, 18, 19 also applies to the individual printing towers 10, 20. Accordingly, the two printing towers 10, 20 are also synchronized. For this purpose, the control units 11, 21 of the printing towers 10, 20 are synchronized. In this context, one of the control units 11, 21 generates the master setpoint(s) 115A, 115B and forwards this setpoint(s) 115A, 115B to the control unit 21 via the first interface 111 of control unit 11 and the first interface 211 of control unit 21. In the case described in Fig. In the example shown, control unit 11 is the master control unit, which forwards the respective master setpoint(s) 115A, 115B to control unit 21 as the slave control unit. More generally, the master control unit forwards the generated master setpoint(s) 115A, 115B to all other control units 21, 11 of the printing towers 10, 20 of machine 1.

[0032] Thus, the setpoints 115A, 115B for all control units 21, 11 of the printing towers 10, 20 of machine 1 are the same and therefore synchronized. For this purpose, the setpoints 115A, 115B or master setpoints 115A, 115B each have a timestamp. Likewise, all actual values ​​113A, 213A have a timestamp. The timestamp has a system time format that is defined by or derived from the master system time 31 of the time master 30.

[0033] The execution of the synchronization of the pressure towers 10, 20 to synchronize the movable elements 17, 18, 19, 27, 28 is described below using the following: Fig. 2 described in more detail.

[0034] Fig. Figure 2 illustrates a method that is carried out in machine 1 for the synchronous control of the drive devices 14, 15, 24, 25 of machine 1.

[0035] After the process begins, in step S1, the control units 11 and 21 synchronize their system time to the system time 31 of the time master 30 according to a procedure described in IEEE 1588 / 802.1AS. The data from the time master 30 contains the system time 31 as time information. After the system time 31 is initially set in the respective control units 11 and 21, the system time 31 is continuously adjusted to the master system time 31 via a PLL (phase-locked loop). The process then continues to step S2.

[0036] In step S2, the first interface 111 of the control unit 11 generates a cyclic clock signal from system time 31, which is passed to the second interface 112 as clock signal 112A. If the second interface 112 is implemented as a Sercos interface or Sercos participant station, the clock signal 112A is passed to a subordinate Sercos ring as a Sercos clock signal. Similarly, the control unit 21 generates a cyclic clock signal from system time 31, which is passed to the second interface 112 as clock signal 212A. If the second interface 112 is also implemented as a Sercos interface or Sercos participant station, the clock signal 212A is passed to a subordinate Sercos ring as a Sercos clock signal. In this case, the clock signal 112A of pressure tower 10 and the clock signal 112A of pressure tower 20 are identical.The clock signal 112A is started in control unit 11 at the same system time as the clock signal 212A in control unit 21. The start time of the cyclic clock signals 112A and 212A is a future start time relative to system time 31. Subsequently, the clock signals 112A and 212A are generated synchronously at system time 31. Therefore, control units 11 and 21 operate with the same synchronized clock signal 112A and 212A, specifically the Sercos clock signal. Alternatively, it is also possible to define the phase relationship of the clock signals 112A and 212A without specifying a start time for the clock signals 112A and 212A, or with a fixed start time in the past. In this case, the start time of system time 31, January 1, 1970, 00:00, is a suitable reference point. The river then continues to step S3.

[0037] In step S3, the exchange of user data, such as target values ​​115A, 115B and / or actual values ​​113A, 213A, can be carried out via the first interfaces 111, 211. As mentioned previously, all data includes a timestamp in system time format. For target values ​​115A, 115B, the timestamp represents the validity time of the respective target value 115A, 115B. It is important to note that a target value 115A, 115B must arrive at the destination point before the timestamp expires, which in the example of Fig. 1 the control unit 21 is.

[0038] Step S3 can continue as long as machine 1 is in operation. After that, the procedure is terminated.

[0039] The procedure can be performed when machine 1 is switched on. If necessary, the entire procedure, or at least steps S1 and S2, can also be repeated while machine 1 is running.

[0040] Any TSN topology is conceivable for communication between the control units 11, 21 and optionally at least one further control unit.

[0041] Fig. Figure 3 shows a machine 2 according to a second embodiment. Machine 2 is largely constructed in the same way as machine 1 according to the preceding embodiment. However, machine 2 has only two drive units 14, 24, with each control unit 11, 21 being connected to only one of the drive units 14, 24. The previously described method can also be carried out by machine 2.

[0042] Fig.Figure 4 shows a machine 3 according to a third embodiment. Machine 3 is largely constructed in the same way as machine 1 according to the first embodiment. However, machine 3 has only two drive units 24, 25, each of which is connected to only one of the control units 11, in this example, control unit 21. The previously described method can also be executed by machine 3. In this case, the master setpoint generator 115 is preferably again provided in the control unit 11, and setpoint synchronization of the control units 11 and 21 is performed, as previously described with reference to the first embodiment. However, in this case, the control unit 11 does not necessarily require a second interface 112 and consequently does not necessarily generate a clock signal 112A, as previously described with reference to step S2 of the method.Therefore, the second interface 112 is only optional.

[0043] According to a fourth embodiment, the time master 30 is a motion controller, for example the control unit 11 or the control unit 21. In this way, the function of the time master 30 does not have to be performed externally, but can be integrated into the control unit 11 or the control unit 21.

[0044] Otherwise, machine 1 is constructed in the same manner as previously described in relation to the first embodiment.

[0045] According to a fifth embodiment, the Timemaster 30 is a CNC controller (CNC = Computerized Numerical Control). In this case, machine 1 is, for example, a machine tool.

[0046] Otherwise, machine 1 is constructed in the same manner as previously described in relation to the first embodiment.

[0047] According to a sixth embodiment, the time master 30 is a fieldbus device with a multi-Ethernet interface, in particular a Sercos device with a multi-Ethernet interface. The real-time capable multi-Ethernet interface allows for the selection of any of the most important Ethernet protocols, such as Sercos, EtherCAT, EtherNet / IP, VARAN, and PROFINET, etc. This enables flexible integration of the fieldbus device, which is in particular an axis controller, into the higher-level control networks – regardless of the control system manufacturer.

[0048] Otherwise, machine 1 is constructed in the same manner as previously described in relation to the first embodiment.

[0049] All previously described embodiments of machine 1 and of the method for synchronously controlling the drive devices 14, 15, 24, 25 can be used individually or in any possible combination. In particular, all features and / or functions of the previously described embodiments and their modifications can be combined as desired. The following modifications are also conceivable.

[0050] The parts shown in the figures are schematic and may differ in their exact design from the forms shown in the figures, as long as their previously described functions are guaranteed.

[0051] In machine 1, the first and second interfaces 111, 112, do not need to be integrated into the control unit 11, but the first interface 111 and / or the second interface 112 may be provided in a separate device. Furthermore, in machine 1, the first and second interfaces 211, 212 do not need to be integrated into the control unit 21, but the first interface 211 and / or the second interface 212 may be provided in a separate device.

[0052] Machine 1 is particularly advantageously designed for all applications that have multiple motion and / or CNC controls and a large number of drives, requiring cross-control synchronization of the drive devices 14, 15, 24, 25.

[0053] Machine 1 may additionally or alternatively have a programmable logic controller (PLC).

[0054] Machine 1 can be an industrial plant, as described previously. However, Machine 1 can also be a vehicle.

[0055] Machine 1 may additionally or alternatively have a motion logic control for, for example, transport systems or for guiding tools, etc.

Claims

[1] Machine (1) with at least two drive units (14, 15, 24, 25), of which a first drive unit (14; 24) has a first position controller (141; 241) and a second drive unit (15; 25) has a second position controller (151; 251), for driving at least one element (17, 18, 19, 27, 28) into motion, wherein the first position controller (141; 241) is configured to control a position of the at least one element (17, 18, 19) with respect to a drive axis of the first drive unit (14; 24), and wherein the second position controller (151; 251) is configured to control a position of the at least one element (27, 28) with respect to a drive axis of the second drive unit (15; 25), and at least two control devices (11, 21), which have a first and a second control device (11, 21) and of which at least the second control device (21) is configured to control at least one of the at least two drive devices (14, 15, 24, 25) in such a way that the at least two drive devices (14, 15; 24, 25), by means of control with the aid of their position controller (141, 151; 241, 251), drive at least two elements (17, 18, 19; 27, 28) into a motion that is at least temporarily synchronous, wherein the at least two control devices (11, 21) each have a first interface (111; 211) designed to receive data according to a first communication protocol, wherein at least the second control unit (21) is connected to a time master (30) via its first interface (111), wherein the data according to the first communication protocol include time information from the time master (30) for time synchronization of the at least two control units (11, 21), wherein the at least two control units (11, 21) each have a second interface (112; 212) which is designed for communication with at least one of the two drive units (14, 15; 24, 25) according to a second communication protocol, wherein the at least two control devices (11, 21) are designed to synchronize their system time (31) via the first interface (111; 211) on the basis of the time information of the data, wherein the first interface (111) of the first control unit (11) is configured to generate a first cyclic clock signal (112A; 212A) from the system time (31), and the first interface (211) of the second control unit (21) is configured to generate a second cyclic clock signal (212A) from the system time (31), such that the first clock signal (112A) in the first control unit (11) is started at the same system time time as the second clock signal (212A) in the second control unit (21), and wherein the at least two control devices (11, 21) are each configured to transmit the cyclic clock signal (112A; 212A) generated from the system time (31) by their first interface (111; 211) to their second interface (112; 212) in order to drive the at least two elements (17, 18, 19, 27, 28) into a movement that is at least temporarily synchronous by controlling at least one of the at least two drive devices (14, 15, 24, 25). [2] Machine (1) according to claim 1, wherein a start time of the cyclic clock signal (112A; 212A) is a start time in the future related to the system time (31). [3] Machine (1) according to claim 1, wherein the first interface (111; 211) is configured to determine the phase position of the cyclic clock signal (112A; 212A) with a fixed start time in the past. [4] Machine (1) according to claim 3, wherein the fixed start time in the past is 01.01.1970 at 00:

00. [5] Machine (1) according to any one of the preceding claims, wherein the time master (30) is one of the at least two control devices (11; 21), and / or wherein the time master (30) is a motion control device or a CNC control device (30). [6] Machine (1) according to one of the preceding claims, wherein each of the at least two control units (11, 21) is configured to exchange user data with the at least one further control unit (11; 21) via the first interface (111; 211). [7] Machine (1) according to claim 6, where the user data are target values ​​(115A; 115B) or actual values ​​(113A; 213A), and / or wherein the user data has a timestamp in system time format, where the timestamp for a target value (115A; 115B) as user data is the validity time of the target value (115A; 115B). [8] Machine (1) according to any one of the preceding claims, where the first interface (111; 211) is a TSN interface, and where the second interface (112; 212) is a Sercos interface. [9] Machine (1) according to any one of the preceding claims, wherein the machine (1) is a printing machine having at least two printing towers (10, 20), wherein the at least two printing towers (10, 20) each have a control device (11, 21) which is designed to control roller drive devices (14, 15, 24, 25) of the associated printing tower (10, 20) such that all rollers move angularly synchronously as movable elements (17, 18, 19, 27, 28) of the printing machine for the transport of a printing medium (5). [10] Method for the synchronous control of drive devices of a machine (1) comprising at least two drive devices (14, 15, 24, 25) for driving at least one element (17, 18, 19, 27, 28) into motion, and at least two control devices (11, 21) each having a first interface (111; 211) and of which at least one control device (11; 21) is configured to control at least one of the at least two drive devices (14, 15, 24, 25) such that the at least two drive devices (14, 15; 24, 25) drive at least two elements (17, 18, 19; 27, 28) into at least temporarily synchronous motion, wherein at least one of the at least two control devices (11, 21) has a second interface (112; 212), and wherein the method comprises the steps: Receiving (S1), with the first interface (111; 211), which is designed to receive data according to a first communication protocol, of data with time information from a time master (30) for time synchronization of at least two of the control devices (11, 21), and Generating (S2) a first cyclic clock signal (112A) from the system time (31) using the first interface (111) of the first control unit (11), and transmitting the first cyclic clock signal (112A; 212A) to the second interface (112) of the first control unit (11), wherein the second interface (112; 212) of each of the at least two control units (11, 12) is configured for communication with the at least two drive units (14, 15; 24, 25) according to a second communication protocol, and generating (S2) a second cyclic clock signal (212A) from the system time (31) using the first interface (211) of the second control unit (21), and transmitting the cyclic clock signal (112A; 212A) to the second interface (112; 212) of the second control unit (21), such that the first clock signal (112A) in the first control unit (11) is started at the same system time as the second clock signal (212A) in the second control unit (21), wherein the at least two control devices (11, 21) are designed to synchronize their system time (31) via the first interface (111; 211) on the basis of the time information of the data in order to drive the at least two elements (17, 18, 19, 27, 28) into a motion that is at least temporarily synchronous by controlling at least one of the at least two drive devices (14, 15, 24, 25).

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