Method for monitoring an automatic machine for producing or packaging smoking, hygiene, food or pharmaceutical products

Abstract

The invention relates to a method and to a device for monitoring an automatic machine (10) for producing or packaging smoking, hygiene, food or pharmaceutical products, which machine comprises at least one drive (A, B, C), which moves at least one machine element of the machine (10) in each case, wherein, during operation of the machine (10), actual torques or actual current values of the drive (A, B, C) that are proportional thereto are each compared with an upper and / or lower limit value, and wherein, in the event that an actual torque value and / or actual current value of the drive exceeds the upper limit value or falls below the lower limit value with which it is compared, an error signal is generated. The invention is characterised in that a) during operation of the machine (10), the upper and / or the lower limit value is / are each currently calculated according to the relevant actual position of the drive (A, B, C) detected during operation of the machine (10), or in that b) during operation of the machine (10), the upper and / or the lower limit value is / are each selected from a data memory according to the relevant actual position of the drive detected during operation of the machine (10), in which data memory an upper and / or a lower limit value is / are each stored in a selectable manner for a plurality of possible actual positions of the drive of the machine (10) or for each possible actual position of the drive of the machine.

Description

[0001] Method for monitoring an automatic machine for the manufacture or packaging of smoking, hygiene, food or pharmaceutical products

[0002] Description

[0003] The present invention relates to a method for monitoring an automatic machine for the manufacture or packaging of smoking, hygiene, food or pharmaceutical products having the features of the preamble of claim 1 and an automatic machine for the manufacture or packaging of smoking, hygiene, food or pharmaceutical products having the features of the preamble of claim 12.

[0004] Machines in which servo drives power individual machine elements, such as folding turrets, folding fingers, conveyors, etc., are known. To detect faults during machine operation, for example, during setup or normal operation, that are related to the drives or to the machine elements they drive—such as collisions of these machine elements or material jamming of materials handled by the machine elements—it is known to record the actual torques or proportional current values ​​of the servo drives and compare them with an upper and / or lower limit value. If an actual torque or current value of the drive exceeds the upper limit or falls below the lower limit value against which it is being compared, an error signal is generated.

[0005] One disadvantage of this approach is that the limit values ​​are typically set for the machine's nominal operating cycle, in which the machine operates at a specific rate, for example, 500 ppm. If the machine is then operated at a different cycle rate outside of normal operation, the limit values ​​will no longer be appropriate, and any resulting errors may go undetected. Another disadvantage is that the limit values ​​are often rigidly defined or set as a percentage safety margin around the measured current or torque value. This can also lead to undetected errors or false error signals. This is because, as a rule, different drive positions require the drive to overcome different moments of inertia, meaning that actual torques which might be acceptable in one drive position under the given circumstances may not be acceptable in a second.

[0006] The object of the present invention is to further develop the aforementioned method and the aforementioned automatic machine.

[0007] This problem is solved by a method having the features of claim 1 and an automatic machine having the features of claim 12.

[0008] The monitoring method according to the invention is characterized in that, preferably with a monitoring device of the machine, a) during operation of the machine, in particular during setup or normal operation, the upper and / or the lower limit value used for comparison is calculated in real time according to, namely directly dependent on, the respective actual position of the drive detected during operation of the machine, in particular the actual angular position of the drive, or that b) during operation of the machine, in particular during setup or normal operation, the upper and / or the lower limit value used for comparison is selected from a data storage device in which,Preferably in tabular form, an upper and / or a lower limit value is stored for several possible or for each possible actual position of the machine's drive, wherein several of the stored upper limits differ from each other and / or several of the stored lower limits differ from each other. Advantageously, several of the stored upper limits differ from each other and / or several of the stored lower limits differ from each other. According to the invention, dynamic limit values, directly dependent on the respective detected, current actual position (and optionally other parameters) of the drive, are advantageously used for monitoring the machine or its drive during machine operation.

[0009] If, in the above procedure variant a), the machine is switched from a first operating state to a second operating state, in which it has a higher speed or cycle rate, for example, the limit values ​​can be used accordingly for the second operating state due to the respective current recalculation of the limit values, which is at least implicitly influenced by the respective current operating state. This makes it possible to detect the aforementioned faults related to the drive or to the at least one machine element driven by it.

[0010] With method variant b), the use of dynamic limit values ​​according to the invention can be implemented in a particularly simple manner by selecting a corresponding stored upper or lower limit value directly depending on the current actual drive position. In other words, different upper and lower limit values ​​can be selected depending on the drive position and stored in a corresponding data memory, preferably assigned to the monitoring device, for example in tabular form. In this way, even with drive position-dependent differences in moments of inertia that a drive may have to overcome during operation, suitable limit values ​​can be used for monitoring the drive.

[0011] It can also be provided that a separate set of drive-position-dependent upper and lower limit values ​​is stored for different possible actual operating states of the machine, for example, for different possible actual machine cycle rates or different possible actual machine speeds. Thus, for example, a first set of drive-position-dependent upper and lower limit values ​​is defined for a first operating state, and a second set is defined for a second operating state. Depending on the current actual operating state of the machine, either the first or the second set can then be selected and used to choose the respective upper and / or lower limit value, based on the current position of the drive, which is then used for comparison with the actual torque or...the actual current value is used.

[0012] Regarding the different operating states, these can be defined, as mentioned, by different machine cycle rates or different possible actual machine speeds. Alternatively or additionally, different operating phases, such as the machine's setup phase, rated or normal operation, or a machine stop phase, can also constitute such different operating states.

[0013] According to a first preferred embodiment of variant a) of the invention, it can be provided that the upper and / or the lower limit value is calculated using a respective moment of inertia J, which the drive has to overcome in the respective actual position of the drive when its speed of movement, in particular its angular velocity, changes, preferably with the additional use of the respective frictional torque M. r, which the drive has to overcome in the respective position of the drive.

[0014] In particular, it may be provided that for the respective position of the drive, the respective moment of inertia J, and possibly additionally the respective frictional torque M, are used. r , a torque M erwa The calculated value is expected to provide the respective moment of inertia J and, if applicable, the respective frictional torque M. r can overcome, and that the upper and / or lower limit is calculated using this expected torque Merwartet.

[0015] The moment of inertia J, which the respective drive has to overcome (theoretically) in its respective position, can advantageously be calculated using a digital simulation, in particular a digital twin, of the machine and / or the drive with the machine element(s) to be moved by it, preferably with one, the, or each component moved by the drive and / or with one, the, or each gear part moved by it, and / or with one or the drive shaft of the drive. The simulation can use, among other things, the theoretical masses of the machine elements to be driven by the drive, including any conceivable gear parts.

[0016] This calculation of the moments of inertia J can preferably be performed before the machine is operated, whereby the calculated moments of inertia J can then be stored in a data storage device, preferably assigned to the monitoring device, for example in tabular form. During machine operation, the stored moments of inertia J can then be read from the data storage device, particularly by the monitoring device, and used in the calculation of the currently expected torque M. erwa rtet should be used accordingly.

[0017] Furthermore, it may be provided that the upper and / or lower limit is based on the sum of the expected torque M. erwa rtet and an offset of + / - X is calculated, where X can be an absolute value dependent on the drive position or independent of the drive position, or a relative, in particular percentage, share of the expected torque M erwa rtet.

[0018] Generally speaking, the calculation of the upper and / or lower limit can be carried out using motion-dependent actual values ​​of the drive, which are preferably recorded by measurement during the operation of the machine, in particular using the angular velocity. of the drive and the angular acceleration <p des Antriebs.

[0019] The frictional torque M also r can be recorded as an actual value during the operation of the machine, in particular measured.

[0020] Regarding the expected torque M erwa As far as rtet is concerned, this can be calculated using a numerical model.

[0021] The expected torque M erwa rtet can be determined, for example, using the equation of motion be calculated or under

[0022] Using the equation of motion M swartet = J + D <p + K where corresponds to the actual angular position of the drive, the actual angular velocity of the drive, the actual angular acceleration of the drive, J the inertia matrix of the machine element(s) driven by the drive, D the damping matrix of the machine element(s) driven by the drive, K the stiffness matrix of the machine element(s) driven by the drive, and M r ( <p) dem Reibmoment des oder der von dem Antrieb angetriebenen Maschinenelemente(s).

[0023] Regarding the calculation(s) mentioned above, in particular the calculation of the expected torque M erwa If the upper and / or lower limit and / or the moment of inertia J are to be determined, some, all or any calculations may be carried out according to the invention by a monitoring device which may be designed accordingly for this purpose, in particular comprising a corresponding computing device.

[0024] The monitoring device can also be part of the machine's control system.

[0025] As regards the automatic machine according to the invention, it accordingly has a drive, in particular designed as a servo drive, which moves the at least one machine element of the machine, and has a monitoring device which, during operation of the machine, compares actual torques or proportional actual current values ​​of the drive with an upper and / or a lower limit value and generates an error signal if an actual torque or actual current value of the drive exceeds the upper limit value or falls below the lower limit value with which it is compared.According to the invention, the monitoring device is designed and configured such that it a) during machine operation, it calculates the upper and / or lower limit value in real time according to the respective actual position of the drive detected during machine operation, in particular the actual angular position of the drive, or that it b) during machine operation, it selects the upper and / or lower limit value from a data storage device in which, preferably in tabular form, an upper and / or a lower limit value is stored for several possible or for each possible actual position of the drive of the machine, wherein several of the stored upper limit values ​​differ from each other and / or several of the stored lower limit values ​​differ from each other.

[0026] Further features of the invention will become apparent from the attached claims, the following description of a preferred embodiment of the invention, and the attached drawings. These show:

[0027] Fig. 1 shows a section of an automatic cigarette packaging machine, the drives of which can be monitored using the inventive method, in oblique view.

[0028] Fig. 2 shows a section through the machine from Fig. 1 along the section plane II - II in Fig. 1,

[0029] Fig. 3 shows an actual drive angle / actual torque diagram of a drive of the machine from Fig. 1 with rigid limit values ​​for monitoring as is customary in the prior art, wherein the machine is in a first main operating state Bz 1 and passes through various sub-operating states, namely a start-up phase, a nominal operating phase and a stop-down phase, and wherein at a certain actual drive angle the actual torque exceeds the upper limit value,

[0030] Fig. 4 shows the actual drive angle / actual torque diagram from Fig. 3, where the machine is in a second, different main operating state Bz 2, in which the actual torque does not exceed the upper limit at the determined actual drive angle.

[0031] Fig. 5 shows an actual drive angle / actual torque diagram of the drive of the machine from Fig. 3 in an (arbitrary) main operating state Bz of the machine, whereby dynamic limit values ​​for the actual torque are used to monitor the drive, Fig. 6 shows the drive angle / actual torque diagram from Fig. 3, in which the actual torque exceeds the associated upper dynamic limit value at the determined actual drive angle.

[0032] The relationships according to the invention are first shown below with reference to a special automatic machine (Figs. 1-2), namely a machine 10 for packaging cigarettes 11 or for producing cigarette packs containing cigarettes 11, which is shown only in part for this purpose. Such machines 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 is also applicable to other types of machines for the production or packaging of smoking, hygiene, food, or pharmaceutical products.

[0033] Furthermore, it is understood that the method according to the invention can be applied in all areas of such a machine in which one or more (electromotive) drives with machine components driven by these are located.

[0034] Figure 1 shows a section of the packaging machine 10 in which, in a first section, cigarettes 11 are pushed or pushed in groups and incrementally from a cigarette magazine 13 into precisely positioned machine elements, which are moved (further) incrementally by a drive C at the machine cycle and are designed here as pushers 12. The movement path of the cigarette groups and the movement path of the pockets 14 intersect in an overlap and transfer area 18, in which, for example, if the pockets 14 are incorrectly aligned, for instance, too far laterally, a collision of the respective cigarette group with one of the pocket walls of the pockets 14 can occur.

[0035] The pocket conveyor 15 then conveys the cigarette groups in a staggered manner towards a circulating carrier conveyor 16, which has individual machine elements, in this case designed as carriers 17, which are moved by a drive B and move on a conveyor track running transversely to the conveying plane of the pockets 14.

[0036] In a further overlap and transfer area 22, where the conveying or movement path of the pockets 14 and the conveying or movement path of the carriers 17 intersect, an upper carrier part 21 of one of the carriers 17, adapted to the inner contour of the respective pocket 14, is moved lengthwise through a waiting pocket 14 and conveys the cigarette group located in the pocket 14 (carrying it along with the cigarettes) transversely to the conveying plane of the pockets 14 from the pocket 14 towards a subsequent winding station 25, where an inner blank 26 is then placed on the cigarette group and folded around it. Collisions can also occur in the overlap and transfer area 22, for example, a collision of a carrier 17 with a waiting pocket 14 or a pocket wall thereof if the pockets 14 are incorrectly aligned relative to the carriers 17 or the pocket wall.the upper drive parts 21.

[0037] Drives A, B, and C can be individually controlled and are each designed as servo drives with servo motors and corresponding position control.

[0038] The pushers 12, the pockets 14 (possibly also the entire pocket conveyor 15) and the carriers 17 (possibly also the entire carrier conveyor 16) together with any intermediate levers, gears etc. form the machine elements moved by the drives C, A or B.

[0039] Naturally, the invention is not limited to the aforementioned machine elements moved by drives A, B, and C. Rather, the invention can encompass all conceivable machine elements moved by drives.

[0040] During machine operation, errors related to drives A, B, and C may occur, such as the collisions mentioned above between the machine elements driven by drives A, B, and C or between the products handled by the machine components in their respective overlapping areas. To monitor drives A, B, and C for such collisions or other errors, it is known in the prior art, among other methods, to record the actual torques or proportional current values ​​of the servo drives A, B, and C and compare them with an upper and / or lower limit value.

[0041] If the actual torque or current value of drive A, B, C exceeds the upper limit or falls below the lower limit against which it is compared, an error signal is generated. This monitoring can be carried out by means of a monitoring device MS, which can also be part of the machine control of machine 10 or be formed by it, see Fig. 2.

[0042] Such a state-of-the-art monitoring method is described in more detail below using examples from Figures 3 and 4.

[0043] Figure 3 shows, by way of example, the torque curve of the actual torque M (ordinate) for a first main operating state Bz 1 of the machine 10 in a diagram for drive A, namely as a function of or dependent on the respective actual position of drive A (abscissa), namely in this case on the actual rotation angle or the actual rotation angle position. of drive A. The depicted first operating state Bz 1 can, for example, correspond to a first operating or production speed of machine 10 in normal or nominal operation, for example, 500 ppm (pieces or packages per minute). All relationships described below also apply analogously to drives B and C, unless explicitly stated otherwise.

[0044] As can be seen, the actual torque M initially increases continuously in a first sub-operating state of machine 10, namely in a start-up phase in which the speed of machine 10, or the actual clock rate of machine 10, and thus the angular velocity of the drives A, B, C, which are generally dependent on the speed of the machine, is slowly increased. The start-up phase corresponds to a specific initial rotational angular range of the actual rotational angle cp of drive A, in which drive A first starts moving from rest, in a known manner by overcoming a moment of inertia J of the cigarette inserter 12, the other drive components, such as any gear components of drive A and the drive shaft of drive A, etc., and by overcoming a corresponding frictional torque M. r .

[0045] In a second sub-operating state, namely a phase in which the machine 10 is in its continuous operation or rated operation (normal operation) at rated speed / rated cycle rate, the dynamic actual torque curve shown results, which is explained, among other things, by the back-and-forth movement of the pusher 12 or, more generally, by the fact that when the drive shaft of the drive A rotates, variable moments of inertia J arise due to the displacement of the centers of mass of the machine elements driven by the drive A relative to the drive shaft of the drive A, which must be overcome by a corresponding variable or dynamic torque M.

[0046] In a third sub-operating state, namely a stop phase, the machine 10 is stopped or shut down, in which the torque M continuously decreases.

[0047] The monitoring device MS, which is connected to drive A (and naturally also to drives B and C) via a data and / or power line, monitors the course of the actual torque M. It compares the respective actual torque M, cf. reference 23, of drive A in the entire operating state Bz 1 or in each sub-operational phase across the entire actual rotation angle. with an upper limit + lim and a lower limit - lim.

[0048] These limit values ​​+l im and - lim are, within the framework of the described embodiment of the prior art, fixed, constant values ​​which are derived, for example, from a previously defined, predicted average torque Morchschnitt, from which the actual actual torque M of the drive A is expected to fluctuate approximately symmetrically around this value during operation Bz 1.

[0049] + lim can then be calculated, for example, as the sum of the predicted average torque (Mourch cut) and a percentage of the average. - lim can be calculated, similarly, as the difference between the predicted average torque (Mourch cut) and such a percentage of the Mourch cut.

[0050] If, during operation of machine 10, the drive A exhibits an actual torque M (or an actual current value) that is above + lim, cf. reference numeral 19 in Fig. 3, for example due to a collision between the cigarette group moved by the pusher 12 and a pocket 14 of the pocket conveyor 15, this is detected by the monitoring device MS as an error and a suitable error signal is generated, which can then, for example, trigger a stop of drive A and / or machine 10. Similarly, falling below the lower limit - lim would naturally also trigger such an error signal.

[0051] Disadvantageously, the fixed limit values ​​+lim and +lim, based on the predicted average torque Morch section of drive A, may no longer be suitable if the main operating state Bz 1 of machine 10 is changed. Figure 4 shows such a different, namely second, main operating state Bz 2, in which the limit values ​​+lim and -lim according to main operating state Bz 1 from Figure 3 are still used. In the second main operating state Bz 2, machine 10 may, for example, have a different machine or production speed than in operating state Bz 1, such as 400 ppm. As can be seen, in this case the limit values ​​+ lim and - lim are no longer arranged symmetrically to the actual average actual torque of the Morch section in the operating state Bz 2, cf. reference numeral 20, which leads to the excessively high torque 19 no longer being detected in this case, since it is + lim, unlike in Bz 1, cf. Fig.3, does not exceed.

[0052] Incidentally, regardless of this example, it is also conceivable that the rigid upper and / or lower limit values ​​may not be suitable for each of the three sub-operating states in the same way, even within one and the same main operating state Bz 1 or Bz 2, and that certain faulty torque under- or over-incidents may be detected in one sub-operating state but not in another.

[0053] This is where the present invention comes in. In order to continue to reliably detect such errors even in such cases, the invention provides that, for monitoring the machine 10 or the drive A (just as for the drives B and C) during machine operation, fixed limit values ​​+ lim and - lim, which are completely independent of the actual operating state and in particular fixed before the machine 10 is operated, are no longer used, but rather dynamic limit values ​​+ lim and - lim, which depend directly on the respective current actual drive position of the drive A or the actual rotation angle (and possibly other parameters) of the drive A, cf. Figs. 5 and 6.

[0054] According to the invention, such a dynamic calculation of the limit values ​​+ lim and - lim during the operation of machine 10 enables the limit values ​​+ lim and - lim to correspond in their course to the expected torque M. erwartet follow, so that they are automatically optimally adapted to the current operating state Bz and accordingly the erroneously high torque 19 of the actual actual torque M can be detected in each operating state Bz, since in this case + lim is exceeded again, as in Fig. 3, cf. Fig. 6.

[0055] In the present case, the monitoring device MS calculates the upper and lower limit values ​​+ lim and - lim respectively during the operation of machine 10, in each case according to the respective actual angular position of drive A recorded during the operation of machine 10.

[0056] The monitoring device MS, in this case using numerical methods, first calculates a torque M for each position of the drive A, or - based on the rotational angle resolution of the drive A - for each position of the drive A. erwartet, cf. reference numeral 24 in Fig. 5, where it is expected that with this the drive A at least the respective moment of inertia J and in this case the respective frictional torque M r can overcome the force that is applied to or acts upon drive A.

[0057] The rotation-angle-dependent moment of inertia J is largely determined by the pusher 12 and additionally by the drive shaft of the drive A and, if applicable, by any gearbox or its gear elements between the drive shaft and the pusher 12. It can, for example, be calculated before the operation of the machine 10 using a digital simulation of the machine 10 and / or the drive A and stored, as a function of the rotation angle, in a data storage device assigned to the monitoring device MS, preferably in tabular form, so that the monitoring device MS can then, within the scope of the current calculation of M erwa rtet can draw on this during the operation of machine 10.

[0058] The upper and lower limits + lim and - lim, respectively, are then calculated based on the sum of this calculated and expected torque M. erwa rtet and an offset of + / - X is calculated, where X can be an absolute value dependent on the drive position or independent of the drive position, or a relative, in particular percentage, share of the expected torque M. erwa rtet.

[0059] The expected torque M erwa The monitoring device MS can determine the current state, for example, using a known mechanical equation of motion. will be calculated. As already described, this corresponds to the actual angular position of drive A, the actual angular velocity of drive A, the actual angular acceleration of drive A, J the inertia matrix of the machine element(s) driven by drive A (see above: largely determined by the pusher 12 and additionally by the drive shaft of drive A and, if applicable, by any gearbox or its gearbox elements between the drive shaft and pusher 12), D the damping matrix of the machine element(s) driven by drive A, K the stiffness matrix of the machine element(s) driven by drive A, and M r ( <p) dem Reibmoment des oder der von dem Antrieb angetriebenen Maschinenelemente(s).

[0060] As explained at the beginning, as an alternative to the concept of calculating the limit values ​​+ lim and - lim in each current state, it is also conceivable that a first set of drive-position-dependent upper and lower limit values ​​+ lim and - lim is stored in a data memory for a first possible actual operating state of machine 10, such as a first possible machine speed or a first possible machine cycle rate (the different actual operating states can also be sub-operating states of a main operating state, cf. above), and that a second set of drive-position-dependent upper and lower limit values ​​+ lim and - lim is stored for a second possible actual operating state of machine 10, in particular for a second possible machine speed or a second possible machine section.During operation of machine 10, depending on the current actual operating state of machine 10, either the first or the second set can be selected and used to select the respective upper and lower limit values ​​+ lim and - lim from this set according to the respective actual position of drive A, B or C.

[0061] It goes without saying that such sets of limit values ​​could also be stored for (far) more than two possible (different) actual operating states or machine speeds or machine cycle rates.

[0062] Reference symbol list

[0063] 10 packaging machines

[0064] 11 cigarettes

[0065] 12 pushers

[0066] 13 Cigarette magazine

[0067] 14 bags

[0068] 15 pocket conveyors

[0069] 16 conveyor belts

[0070] 17 drivers

[0071] 18 Takeover area

[0072] 19 Faulty high torque

[0073] 20 Actual torque M D average

[0074] 21 Drive part

[0075] 22 Takeover area

[0076] 23 Actual torque M

[0077] 24 Expected torque M erwa rtet

[0078] 25 changing stations

[0079] 26 Internal cut

[0080] Bz 1 Operating state

[0081] Bz 2 Operating state

[0082] MS monitoring device

[0083] A / B / C drives

Claims

Patent claims 1. A method for monitoring an automatic machine (10) for the manufacture or packaging of smoking, hygiene, food or pharmaceutical products, the machine having at least one drive (A, B, C) which each moves at least one machine element of the machine (10), wherein, preferably with a monitoring device (MS) of the machine (10), actual torques or proportional actual current values ​​of the drive (A, B, C) are compared with an upper and / or a lower limit value during operation of the machine (10), in particular during setup or normal operation, and wherein an error signal is generated if an actual torque value or actual current value of the drive exceeds the upper limit value or falls below the lower limit value with which it is compared, characterized in that, in particular with the monitoring device (MS),a) during operation of the machine (10), the upper and / or the lower limit value is calculated in real time according to the respective actual position of the drive (A, B, C) recorded during operation of the machine (10), in particular the actual angular position of the drive (A, B, C), or b) during operation of the machine (10), the upper and / or the lower limit value is selected from a data storage device in which, preferably in tabular form, an upper and / or a lower limit value is selectable for several possible or for each possible actual position of the drive of the machine (10).

2. Method according to claim 1, characterized in that the upper and / or the lower limit is calculated using a respective moment of inertia J that the drive (A, B, C) has to overcome in the respective actual position of the drive (A, B, C) when its speed of movement changes, in particular its angular velocity, preferably with additional use of the respective frictional torque M r , which the drive (A, B, C) has to overcome in the respective position of the drive (A, B, C).

3. Method according to claim 1 or 2, characterized in that for the respective position of the drive (A, B, C) using the respective moment of inertia J, optionally additionally using the respective frictional torque M r , a torque M erwa rtet is calculated, where it is expected that with this the drive (A, B, C) the respective moment of inertia J and possibly additionally the respective frictional torque Mr can overcome, and that the upper and / or lower limit can be reached using this expected torque M erwa rtet is calculated.

4. Method according to claim 3, characterized in that the upper and / or lower limit value is based on the sum of the expected torque M erwa rtet and an offset of + / - X is calculated, where X can be an absolute value dependent on the drive position or independent of the drive position, or a relative, in particular percentage, share of the expected torque M erwa rtet.

5. Method according to claim 3 or 4, characterized in that the moment of inertia J, which the respective drive (A, B, C) has to overcome in its respective position, is calculated using a digital simulation, in particular a digital twin, of the machine (10) and / or the drive (A, B, C) with the machine element(s) to be moved by it, in particular with one, the or each of the components moved by the drive (A, B, C) and / or with one, the or each of the gear part moved by it and / or with one or the drive shaft of the drive (A, B, C).

6. Method according to one or more of the preceding claims, characterized in that the calculation of the upper and / or lower limit value is carried out using motion-dependent actual values ​​of the drive (A, B, C), which are preferably recorded by measurement during the operation of the machine (10), in particular using the angular velocity tp of the drive (A, B, C) and the angular acceleration of the drive (A, B, C).

7. Method according to one or more of the preceding claims, characterized in that the frictional torque M r as an actual value during the operation of the machine (10), in particular during setup operation or during normal operation, preferably measured.

8. Method according to one or more of the preceding claims, characterized in that the calculation of the expected torque M erwartet and / or the upper and / or lower limit value and / or the moment of inertia J during the operation of the machine (10) by the monitoring device (MS) which in particular includes a computing device.

9. Method according to one or more of the preceding claims, characterized in that the expected torque M erwa rtet is calculated using a numerical model.

10. Method according to one or more of the preceding claims, characterized in that the expected torque M erwa rtet, in particular by means of a numerical model, using the equation of motion is calculated or using the Equation of motion where corresponds to the actual rotational angle position of the drive (A, B, C), the actual angular velocity of the drive (A, B, C), the actual angular acceleration of the drive (A, B, C), J the inertia matrix of the machine element(s) driven by the drive (A, B, C), D the damping matrix of the machine element(s) driven by the drive (A, B, C), K the stiffness matrix of the machine element(s) driven by the drive (A, B, C) and M r ( <p) dem reibmoment des oder der von antrieb (a, b, c) angetriebenen maschinenelemente(s).

11. Method according to one or more of the preceding claims, characterized in that a first set of drive-position-dependent upper and lower limit values ​​is selectably stored in the data storage for a first possible actual operating state of the machine (10), in particular for a first possible machine speed or for a first possible machine cycle rate, and a second set of drive-position-dependent upper and lower limit values ​​is stored for a second possible actual operating state of the machine (10), in particular for a second possible machine speed or for a second possible machine section, and that, depending on the current actual operating state of the machine (10), either the first or the second set is selected and used to determine the to select the respective upper and / or lower limit value according to the current position of the drive.

12. Automatic machine for the manufacture or packaging of smoking, hygiene, food or pharmaceutical products, comprising a drive (A, B, C) designed in particular as a servo drive, which moves at least one machine element of the machine (10), with a monitoring device, in particular for carrying out the method according to one or more of the preceding claims, wherein the monitoring device, during operation of the machine (10), compares actual torques or proportional actual current values ​​of the drive (A, B, C) with an upper and / or a lower limit value and generates an error signal if an actual torque or actual current value of the drive (A, B, C) exceeds the upper limit value or falls below the lower limit value with which it is compared, characterized in that the monitoring device is designed and configured in such a way as tothat a) during operation of the machine (10) it calculates the upper and / or the lower limit value in real time according to the respective actual position of the drive (A, B, C) recorded during operation of the machine (10), in particular the actual angular position of the drive (A, B, C), or that b) during operation of the machine (10) it selects the upper and / or the lower limit value from a data storage device in which, preferably in tabular form, an upper and / or a lower limit value is stored for several possible or for each possible actual position of the drive (A, B, C) of the machine (10), wherein several of the stored upper limit values ​​differ from each other and / or several of the stored lower limit values ​​differ from each other.

13. Automatic machine according to claim 12, characterized by one or more features of claims 1 - 11.

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