Method for controlling a packaging machine

Abstract

The invention relates to a method for controlling a packaging machine for producing packagings, the packaging machine comprising at least two drives (A, B, C) which can be controlled independently of one another and which are preferably servo drives, each driving one machine element of the packaging machine and crossing in an intersection region in which the machine elements (12, 14, 17) could collide with one another or with products handled by the machine elements (12, 14, 17). The method is characterized in that a data contour (24) is used within the framework of controlling the packaging machine, the data contour delimiting a collision zone in a data space (23) which represents (in particular all) possible relative positions of the drives (A, B, C). The collision zone comprises those relative positions of the drives (A, B, C) in the data space (23) at which the machine elements (12, 14, 17) can collide with one another and / or with products handled by the machine elements (12, 14, 17).

Description

[0001] Applicant:

[0002] Focke & Co. (GmbH & Co. KG)

[0003] Method for controlling a packaging machine

[0004] Description

[0005] The present invention relates to a method for the (automatic) control of a packaging machine for producing packaging, preferably for producing packaging for smokable products in the tobacco industry, each having at least two independently controllable drives, preferably designed as servo drives, which each drive a machine element of the packaging machine and intersect in an overlap region in which the machine elements could collide with each other or with products handled by the machine elements. Furthermore, the invention relates to a device for producing such packaging, which can be controlled using the aforementioned method.

[0006] Packaging machines often have several groups of machine parts, especially in different areas of the machine, where the movement paths of the members of each group intersect in an overlapping area, as described above. On the other hand, in recent years, the mechanical (motion) coupling of individual, moving machine parts, such as sliders, conveyors, turrets, etc., to a rotating main or master shaft has increasingly been abandoned in packaging machines in favor of individual servo drives for these machine parts, electronically coupled to a machine cycle.

[0007] However, the use of separate servo drives for the individual moving machine parts naturally increases the risk of collisions between the respective machine part (or a product handled by such a part) and another moving machine part in the group in question. Particular problems arise when synchronizing the individual drives and thus the machine parts they move or the products they handle. In particular, before the packaging machine is put into operation for the first time or restarted, it can happen that the drives or the machine parts they drive are in undefined, non-synchronized positions relative to one another. For subsequent collision-free (normal) operation of the machine, it is therefore often necessary to align the machine parts beforehand and bring them into defined starting positions or synchronized positions.Due to the fundamentally overlapping movement paths of the machine parts, there is a considerable risk of unwanted collisions between the machine parts, so that such alignment is often carried out manually.

[0008] DE 10 2018 008 815 A1 aims to avoid collisions by creating a workspace data area, or rather a data space that maps a workspace in which the machine parts whose movements overlap, or the products handled by them, move. Within the data space, zones are defined within which collisions can occur, as well as zones within which this is not the case. The machine parts are then moved on the basis of or within the data space. Among other things, in order to synchronize the individual drives and thus the machine parts they move, or the products handled by them, for example during initial commissioning or recommissioning of the machine, it would ultimately be necessary to store all position and / orIt is necessary to store the movement constellations of the machine organs in the machine control system. However, depending on the number of machine organs, this can lead to a large amount of data that must be taken into account when preventing collisions.

[0009] It is an object of the present invention to further develop the control method and the manufacturing device mentioned above.

[0010] This object is achieved by a method having the features of claim 1 and a device having the features of claim 15. According to the invention, the method mentioned at the outset is characterized in that, within the scope of the control of the packaging machine, in particular the control of the movement of the machine elements, preferably for collision-free synchronization of the machine elements with one another in a synchronization operation, for example during initial commissioning or re-commissioning of the packaging machine, a data contour is used which (as a subset thereof) delimits a collision zone in a or the data space which maps (in particular all) possible relative positions of the drives, which collision zone comprises those relative positions of the drives in the data space at which the machine elements can collide with one another and / or with products handled by the machine elements.

[0011] According to the invention, by using a data contour located within the aforementioned data space and delimiting the collision zone for or within the framework of controlling the movements of the machine elements, it is possible, in comparison to the prior art solutions, to dispense with a large part of the data volume of the data space and to use only the data of the data contour. This massively reduces the computing power requirements of the control device of the packaging machine. For example, it is possible to first generate the data space offline or outside of operation of the packaging machine, to derive the data contour delimiting the collision zone from this, and to use exclusively the data contour in control operation of the machine. This does not, of course, rule out the possibility of also using the data space online orduring operation of the packaging machine and yet only use the data contour for the actual movement control.

[0012] To simplify the illustration, this application assumes examples in which the movement paths of two machine elements overlap. However, it is understood that the inventive concepts can also be readily applied to configurations with more than two such machine elements.

[0013] Preferably, the data contour in the data space forms a boundary, in particular a boundary line, between the collision zone and a non-collision zone, which in the data space comprises those relative positions of the drives in which the machine elements cannot collide with each other and / or with products handled by the machine elements. The boundary can preferably surround or enclose the collision zone and / or the non-collision zone.

[0014] The data contour can be part of the non-collision zone and form the outer boundary of the non-collision zone to the collision zone or alternatively be part of the collision zone and form the outer boundary of the collision zone to the non-collision zone.

[0015] As far as the data contour is concerned, this or the data belonging to the data contour can in particular be automatically derived from the data space comprising the collision zone and the non-collision zone, extracted and then stored in an electronic memory preferably assigned to a control system of the packaging machine.

[0016] The data space can preferably be generated computer-assisted. In this case, the collision zone and / or the non-collision zone are preferably defined as respective subsets of the data space. The data contour delimiting the collision zone or the data associated with the data contour can also be derived as a subset, particularly automatically, from the data space encompassing the collision zone and the non-collision zone, extracted, and then stored in an electronic memory, preferably assigned to the control system of the packaging machine.

[0017] As part of the generation of the data space and the definition of the collision zones, the non-collision zones, and the data contour in the data space, a digital simulation model of the packaging machine that represents (at least) the drives and the machine elements can be created and / or used (this can be created, for example, using a simulation program). Different relative positions of the drives and the states of the packaging machine that arise in these relative positions are simulated using the simulation model, preferably using the simulation program, in particular of the machine elements. The data contour and / or the data space can thereby represent the relative positions of the drives using coordinates that are preferably based on the rotation angles of the drives, preferably as one or more tables, lists, arrays, convex hulls, and / or Fourier parameters.

[0018] It is also conceivable that the data contour maps the relative positions of the drives using mathematical functional equations that are preferably based on the angles of rotation of these drives.

[0019] Furthermore, the data contour could preferably represent the relative positions of two drives each via fixed coordinate pairs of coordinates based in particular on the angles of rotation of these drives.

[0020] Preferably, no coordinate pairs that lie on the data contour are then released for the control of the drives and / or for the calculation of the collision-free travel path, or the coordinate pairs that lie on the data contour are blocked for this purpose, so that the drives cannot assume relative positions that correspond to blocked coordinate pairs within the scope of the control and / or within the scope of the calculation of the collision-free travel path.

[0021] As far as the actual control of the drives using the data contour is concerned, it is conceivable that the current actual relative position of the drives is queried, in particular by means of suitable sensors, preferably continuously or periodically, and that it is checked whether this actual relative position corresponds to a relative position that lies on the data contour.

[0022] In the event that this actual relative position corresponds to a relative position that lies on the data contour, a signal can then be generated that is further processed by the controller, for example an error signal.

[0023] In particular, a concrete implementation of the basic concept of the invention can provide for the current relative position of the drives to be queried, in particular by means of suitable sensors, such as rotary encoders. If the actual relative position deviates from a predetermined synchronous position of the drives, in particular one stored in a memory, a collision-free travel path can then be automatically calculated, along which the drives can be transferred from the actual relative position to a synchronous relative position corresponding to a synchronous position of the drives by moving one or more of the drives, without the current relative positions of the drives touching the data contour or assuming a value that lies on the data contour.

[0024] The drives can be moved into the synchronous relative position by moving one or more drives along this travel path.

[0025] When the drives driving them are in the synchronous relative position, in particular before or at the start of normal operation of the drives and / or the machine, the machine elements are expediently aligned to one another in such a way that, during subsequent synchronized control of the drives, in particular during normal operation of the drives and / or the machine, collision-free operation is also possible in the overlapping area of ​​the machine elements.

[0026] Furthermore, it can be provided that, after the drives are in the synchronous relative position, they are put into normal operation in which they are preferably controlled in a synchronized manner, in particular in a cyclic or continuously synchronized manner, according to predetermined motion laws stored in a memory.

[0027] Further features of the present invention emerge from the appended patent claims, the following description of preferred embodiments and the appended drawings.

[0028] It shows:

[0029] Fig. 1 shows a section of a controlled according to the invention

[0030] Packaging machine for producing packs for tobacco products with several independent drives that move machine elements, wherein in a first overlapping area the movement paths of two machine elements overlap and in a second overlapping area the movement path of one machine element overlaps with the movement path of products that are moved by one machine element,

[0031] Fig. 2 a side view of the packaging machine along the

[0032] Viewing direction II in Fig. 1,

[0033] Fig. 3 a side view of the packaging machine along the

[0034] Viewing direction III in Fig. 2,

[0035] Fig. 4, 5 exemplary visualizations of a data room according to the state of the art,

[0036] Fig. 6, 7 exemplary visualizations of a data space according to the present invention with data contours defined therein,

[0037] Fig. 8 is a schematic diagram of a circuit structure for

[0038] Power supply of the packaging machine.

[0039] The above-described relationships according to the invention will be explained below using a specific packaging machine (Figs. 1-3), namely a packaging machine 10 for packaging cigarettes 11 or for producing cigarette packs containing cigarettes 11, which is shown only in detail for this purpose. Packaging machines for cigarettes or other products are known to those skilled in the art and are therefore not described in detail here. It is understood that the control method according to the invention can also be applied to other types of packaging devices or packaging machines.

[0040] Furthermore, it is understood that the method according to the invention can be applied in all areas of a packaging machine in which two or more machine elements of the packaging machine driven by (motor) drives move on movement paths in a working space in which, in an overlapping area, collisions can occur between a moving machine element and another moving machine element or with products handled by the machine elements.

[0041] Fig. 1 shows a part of the packaging machine 10, in which, in a first area, cigarettes 11 are pushed or slid in groups and in cycles from a cigarette magazine 13 into machine elements held in precise positions by machine elements designed as pushers 12, which are moved back and forth by a drive C in line with the machine cycle and are in this case designed as pockets 14 of a circulating pocket conveyor 15. The path of movement of the cigarette groups and the path of movement of the pockets 14 intersect in an overlap and transfer area 18, in which, for example, if the pockets 14 are incorrectly aligned in an inaccurate position, for example if they are laterally offset too far, the respective cigarette group may collide with one of the pocket walls of the pockets 14.

[0042] The pocket conveyor 15 then conveys the cigarette groups in cycles in the direction of a circulating carrier conveyor 16, which has individual machine elements moved by a drive B, in this case designed as carriers 17, which move on a conveyor track running transversely to the conveying plane of the pockets 14.

[0043] In a further overlap and transfer area 22, in which the conveying or movement path of the pockets 14 and the conveying or movement path of the drivers 17 intersect, an upper driver part 21 of one of the drivers 17, which is adapted to the inner contour of the respective pocket 14, is moved lengthwise through a respective pocket 14 that is held ready and in the process conveys the group of cigarettes located in the pocket 14 (taking the same along with it) transversely to the conveying plane of the pockets 14 out of the pocket 14 in the direction of a downstream wrapping station 19, in which an inner blank 20 is then placed on the group of cigarettes and folded around it. Collisions can also occur in the overlap and transfer area 22, for example a collision of a driver 17 with a held ready pocket 14 or a pocket wall thereof if the pockets 14 are incorrectly or inaccurately aligned relative to the drivers 17 orthe upper driver parts 21.

[0044] The drives A, B, C can be controlled individually and are each designed as servo drives with servo motor and corresponding position control.

[0045] The pushers 12, the pockets 14 (if necessary, also the entire pocket conveyor 15), and the drivers 17 (if necessary, also the entire driver conveyor 16) can form the machine elements moved by the drives C, A, and B, respectively, which move along intersecting paths. Drives A, B form a first group of drives of the packaging machine 10, whose machine elements driven by them intersect in an overlapping area and which may need to be synchronized after a shutdown of the machine 10, in particular before its initial start-up and / or restart. Drives A, C accordingly form a second such group.

[0046] Naturally, the invention is not limited to the specific machine components mentioned above. Rather, the invention encompasses all conceivable machine components moved by drives whose movement paths intersect in an overlapping area.

[0047] As mentioned, particular problems could arise, particularly (but not only) during initial commissioning or recommissioning of the packaging machine 10. For example, it may happen that the drives A, B, C and, accordingly, the machine elements 12, 14, 17 are in undefined, unsynchronized positions relative to one another, which makes it necessary to synchronize the machine elements 12, 14, 17 or the drives A, B, C that move them before the machine starts normal operation in order to prevent collisions. For subsequent collision-free (regular) operation of the packaging machine 10, it is therefore necessary in such a situation to align the machine elements 12, 14, 17 beforehand and to transfer them to defined starting positions or synchronized positions.

[0048] However, due to the fundamentally overlapping movement paths of the machine elements 12, 14 and 14, 17 in the respective group, there is a considerable risk of undesirable collisions between the machine elements 12, 14 and 14, 17 during such an alignment process.

[0049] In order to enable the machine elements 12, 14 and 14, 17 to be transferred into their synchronous positions as reliably as possible, the packaging machine 10 is therefore controlled in a special way in a separate, automatic synchronization mode before the regular normal operation of the packaging machine 10.

[0050] Based on the actual positions, the controller 25 checks whether the drives A, B, and C are already in a synchronous position by comparing them with the synchronous positions stored in a data memory 25a assigned to a controller 25 of the packaging machine 10 (these represent target positions or target angles of rotation for the drives A, B, and C). If this is the case, normal operation of the packaging machine 10 can begin immediately.

[0051] If not, it is intended to determine a collision-free travel path for the drives A, B and C, along which the drives A, B and C can be brought into the synchronous position by moving at least one of the drives.

[0052] For this purpose, according to the invention, a set of data covering the working space of the machine elements 12, 14, 17 or the drives A, B, C is first generated (in particular, but not necessarily before commissioning of the device 10), namely a data space 23.

[0053] This data space 23 represents the possible relative positions of the drives A, B, C. In the present case, for example, by means of combinations of rotational angle positions of the shafts of the drives A, B, C, which are preferably designed as servo motors and which drive the machine elements 12, 14, 17, respectively, wherein the rotational angles form the coordinates in the data space 23.

[0054] The data space 23 can, for example, be stored as a (possibly also multidimensional, in particular three-dimensional) table in the control of the machine or in a data memory assigned to the control, cf. Fig. 4 - 7. The data space 23 also indirectly describes the corresponding relative positions of the machine elements 12, 14, 17 in their working space to one another.

[0055] As a subset of the data space 23 or the data stored in the corresponding table, it is known in the prior art (see Figs. 4 and 5), to define a table or data space area 23.1—a non-collision zone—in which it is ensured that, for the combinations of rotation angles or positions of the drive shafts assigned to the table area 23.1, the machine elements 12, 14, 17 or the products (cigarette groups) handled by them do not assume collision positions. For example, because the machine elements 12, 14, 17, as well as the handled cigarette groups, are safely disengaged or at appropriate distances from one another at these rotation angle combinations.

[0056] As a further subset, a data space area 23.3 is defined - product collision zone - in which it is certain that, given the combinations of rotation angles contained therein, a collision of the products handled by the machine element 12, in this case the pusher, i.e. the cigarette groups, with a pocket 14 occurs.

[0057] As a further subset, a data space area 23.4 is defined as a machine organ collision zone - in which it is certain that, given the combinations of rotation angles present there, a collision of the driver 17 with a pocket 14 occurs (as would be the case in the constellation of Fig. 3).

[0058] Finally, a further subset is defined as a data space area 23.2 - collision-prone zone - in which, given the combinations of rotation angles present there, a collision is not certain but is acutely threatened, since the corresponding values ​​are close to combinations of values ​​from either the data space area 23.3 or 23.4.

[0059] From the values ​​of the data space 23, one or more travel paths for the machine elements 12, 14, 17 from the actual relative position to a synchronous relative position can then be generated or calculated directly with computer support, for example, where it is ensured that no collisions should occur if these travel paths only include value combinations that lie in the non-collision zone 23.1 or no value combinations that lie in the product or machine element collision zone 23.3 or 23.4 or in the near-collision zone 23.2.

[0060] The amount of data and the computing power required to calculate the travel path is considerable.

[0061] Therefore, the invention provides, among other things, for different subset definitions within the data space 23, see Figs. 6 and 7.

[0062] In the present example, three data space areas are defined: first, a collision zone 23.5, in which collisions are likely to occur. Furthermore, a boundary area 24—data contour—in this case, a boundary line, which delimits the collision zone 23.5 in the manner of a contour line and, in this case, encloses a non-collision zone 23.6 forming a third data space area. The data contour 24 delimits the collision zone 23.5 from the non-collision zone 23.6, in which, at least in the present example, it is ensured that no collisions can occur.

[0063] The data contour 24 is an (outer) component of the non-collision zone 23.6, but it can theoretically also be an (outer) component of the collision zone 23.5.

[0064] Based on this, it is possible to use only a small part of the data of the data space 23 for determining the travel paths and accordingly also for controlling the machine elements 12, 14, 17, namely the data of the data contour 24, which are then extracted for this purpose from the data space 23 generated as described above and stored, for example, as rotation angle coordinate pairs 36 in the memory 25a, see Fig. 2.

[0065] Accordingly, by means of sensors known in the art, such as rotary angle sensors, the current actual relative position (as a combination of the respective actual angles of rotation) of the drives A, B, C can first be queried, and then, in the event that the actual relative position deviates from a predetermined synchronous position of the drives A, B, C, which may also be stored in the memory 25a, a collision-free travel path can be automatically calculated, along which the drives A, B, C can be transferred from the actual relative position into a synchronous relative position corresponding to a synchronous position of the drives A, B, C by moving one or more of the drives A, B, C, with the proviso that the current relative positions of the drives do not touch the data contour 24 or do not assume a value that lies on the data contour.

[0066] The drives A, B, C can then be moved into the synchronous relative position by moving one or more drives A, B, C along this travel path.

[0067] In the simplest form, the calculation of the travel path (using suitable algorithms), particularly computer-aided, can be performed almost exclusively on the basis of data contour 24, without requiring at least additional data about the non-collision zone 23.6 or the collision zone 23.5. During the calculation, the data located on data contour 24 would be evaluated as inadmissible or blocked / not released.

[0068] As regards the generation of the data of the data space 23, the definition of the collision zone 23.5, the definition of the non-collision zone 23.6 and the derivation of the data contour 24 therefrom (or the definition or placement of the boundary contour around the collision zone), these measures can generally be carried out automatically or semi-automatically, for example by means of a simulation program running on a computer, which can, among other things, simulate the movements or positions of the moving machine elements 12, 14, 17 or the products handled by them in the work space.

[0069] The control 25 of the machine 10 or corresponding other / further controls of the drives A, B, C of the machine elements 12, 14, 17 can then either access this data or this data is transmitted to them.

[0070] It is also conceivable for the simulation program to create a digital image (digital twin) of the machine 10 or of a device area comprising at least the moving machine elements 12, 14, 17. The energy supply to the packaging machine 10, and in particular to the servo motors that drive the machine elements 12, 14, 17, is implemented in a special manner. It is understood that such an energy supply is not limited to the present case, but can also be used in other configurations, in particular for other machines and machine types, etc.

[0071] Fundamentally, every machine requires a power supply that is as stable as possible. However, the general mains / supply voltage 27 is known to fluctuate unfavorably.

[0072] For this reason, it is intended to convert the mains / supply voltage 27 into a constant AC operating voltage (alternating voltage), for example 3 x 400 V, by means of a matching transformer 26, see Fig. 8.

[0073] This constant AC operating voltage is then made available in a main circuit 37, to which one or more machine modules 33 of a machine, such as the packaging machine 10, can be connected.

[0074] Each machine module 33 can, for example, comprise, among other things, servo systems 28, each with one or more servo motors 29, servo controllers 30 and power supply or power pack 31, as well as optionally further consumers 32.

[0075] The power supply 31 of the respective servo system 28 generally converts the AC voltage provided to it into a DC voltage for the respective servo controller 30. However, especially when the servo systems 28 are so-called multi-axis servo systems with multiple servo motors 29, there is a risk that the DC voltage will collapse or collapse under the high loads during operation. This would cause a shift in the motor characteristics of the respective servo motor 29 connected to the servo controller 30, so that the peak torque would only be available up to a reduced speed of the servo motor 29.

[0076] The goal, however, is naturally for the respective servo motors 29 to reach their maximum speed even under peak load. To solve this problem, the DC voltage of the intermediate or working circuit 38, which is provided to the servo systems 28, is deliberately increased compared to the operating voltage of the main circuit 37, which is provided by the matching transformer 26. For this purpose, a second transformer 34 (autotransformer) is provided, which increases the AC operating voltage of the main circuit 37, for example, 3 x 400 V (see above), to, for example, 3 x 460 V.

[0077] Accordingly, an increased AC voltage is available at the input of the servo system 28 to the power supply 31, which the power supply 31 converts into an increased DC voltage. By the servo controller 30 or the

[0078] The higher DC voltage provided by the servomotors 29 shifts the respective motor characteristic curve of the respective servomotor 29, so that the peak load can be reached even at maximum speed. Alternatively to the second transformer 34 or in combination with it, a choke 35 can also be used.

[0079] *****

[0080] List of reference symbols

[0081] 10 Packaging machine 35 Throttle

[0082] 11 cigarettes 36 rotation angle coordinate pairs

[0083] 12 inbounders 37 main circle

[0084] 13 Cigarette magazine 38 Intermediate circle / working group

[0085] 14 pockets

[0086] 15 pocket conveyors

[0087] 16 flight conveyors

[0088] 17 drivers

[0089] 18 Overlap area

[0090] 19 changing station

[0091] 20 Internal cutting

[0092] 21 Driving part

[0093] 22 Overlap area

[0094] 23 Data room

[0095] 23.1 Non-collision zone

[0096] 23.2 near-collision zone

[0097] 23.3 Product collision zone

[0098] 23.4 Machine organ collision zone

[0099] 23.5 Collision zone

[0100] 23.6 Non-collision zone

[0101] 24 Data contour

[0102] 25 Control

[0103] 25a Data storage

[0104] 26 Matching transformer

[0105] 27 Mains / supply voltage

[0106] 28 servo systems

[0107] 29 servo motors

[0108] 30 servo controllers

[0109] 31 Power Supply

[0110] 32 consumers

[0111] 33 machine modules

[0112] 34 T ransformer

Claims

Patent claims 1. A method for the (automatic) control of a packaging machine for the production of packaging, preferably for the production of packaging for smokable products of the tobacco industry, with at least two independently controllable drives (A, B, C), preferably designed as servo drives, each of which drives a machine component of the packaging machine and intersects in an overlap area in which the machine components (12, 14, 17) could collide with each other or with products handled by the machine components (12, 14, 17), characterized in that, within the framework of the control of the packaging machine, in particular the control of the movement of the machine components (12, 14, 17), preferably for collision-free synchronization of the machine components (12, 14, 17) with each other in a synchronization mode, a data contour (24) is used which is stored in a data space (23) that contains (in particular all) possible relative positions of the drives (A, B,C) maps, defines a collision zone which in the data space (23) includes those relative positions of the drives (A, B, C) in which the machine parts (12, 14, 17) can collide with each other and / or with products handled by the machine parts (12, 14, 17).

2. Method according to claim 1, characterized in that the data contour (24) in the data space (23) forms a boundary, in particular a boundary line, between the collision zone and a non-collision zone located in the data space (23) includes those relative positions of the drives (A, B, C) in which the machine parts (12, 14, 17) cannot collide with each other and / or with products handled by the machine parts (12, 14, 17), in particular a boundary surrounding or enclosing the collision zone and / or the non-collision zone.

3. Method according to claim 2, characterized in that the data contour (24) is part of the non-collision zone and forms the outer boundary of the non-collision zone to the collision zone, or that the data contour (24) is part of the collision zone and forms the outer boundary of the collision zone to the non-collision zone.

4. Method according to one or more of the preceding claims, characterized in that the current actual relative position of the drives (A, B, C) is queried, in particular by means of suitable sensors, preferably continuously or periodically, and that it is checked whether this actual relative position corresponds to a relative position that lies on the data contour (24).

5. Method according to claim 4, characterized in that in the event that this actual relative position corresponds to a relative position which lies on the data contour (24), a signal is generated, in particular an error signal.

6. Method according to one or more of the preceding claims, characterized in that the current actual relative position of the drives (A, B, C) is queried, in particular by means of suitable sensors, and that in the event that the actual relative position deviates from a predetermined, in particular stored in a memory, synchronous position of the drives (A, B, C), a collision-free travel path is automatically calculated along which the drives (A, B, C) can be moved from the actual relative position to a synchronous relative position corresponding to a synchronous position of the drives (A, B, C) by moving one or more of the drives (A, B, C), without the current relative positions of the drives (A, B, C) touching the data contour (24).assume a value that lies on the data contour (24), and that the drives (A, B, C) are brought into the synchronous relative position by moving one or more drives (A, B, C) along this travel path.

7. Method according to claim 6, characterized in that the machine components (12, 14, 17), when the drives (A, B, C) driving them are in the synchronous-relative position, in particular before or at the start of normal operation of the drives (A, B, C) and / or the machine, are aligned to each other in such a way that, during subsequent synchronized control of the drives (A, B, C), in particular during normal operation of the drives (A, B, C) and / or the machine, collision-free operation is possible even in the overlap area of ​​the machine components (12, 14, 17).

8. Method according to one or more of the preceding claims 6 or 7, characterized in that the drives (A, B, C), after the drives (A, B, C) are in the synchronous-relative position, are put into normal operation in which they are preferably controlled synchronously in accordance with predetermined motion laws stored in a memory, in particular in a clockwise or continuous manner.

9. Method according to one or more of the preceding claims, characterized in that the data space (23), which maps the possible relative positions of the drives (A, B, C), is generated, in particular by computer, wherein the collision zone and / or the non-collision zone are defined as respective subsets of the data space (23), and that the data contour (24) bounding the collision zone or the data belonging to the data contour (24) are also derived, extracted, and then stored in an electronic memory preferably associated with a controller of the packaging machine.

10. Method according to one or more of the preceding claims, characterized in that a digital simulation model of the packaging machine, depicting (at least) the drives (A, B, C) and the machine components (12, 14, 17), is created, in particular by means of a simulation program, and / or is used to simulate different relative positions of the drives (A, B, C) and the states of the packaging machine resulting from these relative positions, preferably by means of the simulation program, in particular of the machine components (12, 14, 17), and that the data space (23) as well as the definition of the collision zone, the non-collision zone and the data contour (24) in the data space (23) is based on these simulations.

11. Method according to one or more of the preceding claims, characterized in that the data contour (24) and / or the data space (23) maps the relative positions of the drives (A, B, C) via coordinates preferably based on rotation angles of the drives (A, B, C), preferably as one or more tables, lists, arrays, convex hulls and / or Fourier parameters.

12. Method according to one or more of the preceding claims, characterized in that the data contour (24) maps the relative positions of each pair of drives (A, B, C) via fixed coordinate pairs of coordinates preferably based on rotation angles of these drives (A, B, C).

13. Method according to claim 12, characterized in that no coordinate pairs lying on the data contour (24) are released for the control of the drives (A, B, C) and / or for the calculation of the collision-free travel path, or that the coordinate pairs lying on the data contour (24) are blocked for this purpose, so that the drives (A, B, C) cannot assume relative positions corresponding to blocked coordinate pairs within the scope of the control and / or within the scope of the calculation of the collision-free travel path.

14. Method according to one or more of the preceding claims, characterized in that the data contour (24) maps the relative positions of the drives (A, B, C) via mathematical function equations preferably based on rotation angles of these drives (A, B, C).

15. Device for the production of packaging, preferably a packaging machine for carrying out the method according to one or more of the preceding claims, in particular for the production of packaging for smokable products of the tobacco industry, with at least two independently controllable drives (A, B, C) for driving and moving one machine element of the packaging machine along intersecting paths of motion which intersect in an overlap area in which the machine elements (12, 14, 17) could collide with each other or with products handled by the machine elements (12, 14, 17), wherein the device is associated with a control device or wherein the device has such a device, and wherein the control device is designed and configured in such a way that it can carry out the control method according to one or more of the preceding claims.

16. Device according to claim 15, characterized by one or more features of claims 1-14.

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