The application relates to a method for generating a control program for controlling an automation system, the method comprising:
The application relates to a method for generating a control program for controlling an automation system, the method comprising:
generating a graphical diagram of the control program according to the graphical programming language ladder diagram LD for Programmable Logic Controllers in a diagram generating step;
generating a data flow graph as a representation of the graphical diagram in a graph generating step, wherein elements of the graphical diagram are represented as nodes and connecting lines between elements of the graphical diagram are represented as edges of the data flow graph; and
generating a version of the control program executable by a programmable logic controller based on the data flow graph in a program generating step.
The application relates to a method for generating a control program for controlling an automation system, the method comprising:
generating a graphical diagram of the control program according to the graphical programming language ladder diagram LD for Programmable Logic Controllers in a diagram generating step;
generating a data flow graph as a representation of the graphical diagram in a graph generating step, wherein elements of the graphical diagram are represented as nodes and connecting lines between elements of the graphical diagram are represented as edges of the data flow graph; and
generating a version of the control program executable by a programmable logic controller based on the data flow graph in a program generating step.
The application further relates to a programming tool for carrying out the method.
A linear transport system comprises a first carriage and a second carriage, a linear motor for driving the first carriage and the second carriage and a guide rail. The linear motor comprises a stator and a first and a second rotor. The stator has a plurality of drive coils that are arranged along the guide rail individual motor modules comprise a plurality of drive coils. The first rotor is arranged on the first carriage and the second rotor is arranged on the second carriage. The first carriage has a first magnetic field generator. The second carriage has a second magnetic field generator. The first magnetic field generator differs from the second magnetic field generator at least in terms of its magnetic vector field, wherein the magnetic fields of the magnetic field generators are detected to identify the corresponding carriage.
A rotor for a planar drive system comprises a housing and at least one magnet arrangement. The housing comprises a basic housing body and a cover. The magnet arrangement is arranged in a recess of the basic housing body. The cover is attached to the basic housing body in such a way that the housing is configured to be fluid-tight, the cover covers the recess, and the magnet arrangement is arranged in an interior of the fluid-tight housing.
H02K 5/10 - Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. of water or fingers
A method is provided for processing an object using a planar drive system having at least one stator assembly with a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator assembly, and at least one rotor with a plurality of magnet units for generating a rotor magnetic field. A processing element is arranged above the stator surface. The planar drive system has at least one rotational position, where the rotor can be rotated about an axis perpendicular to the stator surface. A spatial arrangement of the processing element is predetermined by the rotational position. The method comprises energizing the coil groups so a rotor with the object arranged on the rotor moves to the rotational position, energizing the coil groups so the rotor rotates, and processing the object with the aid of the rotor rotation, where the processing element acts upon the object.
A method is provided for processing an object with the aid of a planar drive system. The planar drive system comprises at least one stator assembly, each having a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator assembly, and at least one rotor comprising a plurality of magnet units for generating a rotor magnetic field. The planar drive system further comprises at least one rotational position, where the rotor is rotatable about a rotational axis perpendicular to the stator surface in the rotational position. The rotational position is determined based on a point of contact of four stator assemblies. The method comprises energizing the coil groups in such a way that the rotor moves to the rotational position, energizing the coil groups in such a way that the rotor rotates, and processing of the object with the aid of the rotor rotation.
B01F 29/31 - Mixing the contents of individual packages or containers, e.g. by rotating tins or bottles the containers being supported by driving means, e.g. by rotating rollers
A system includes a plurality of field devices electrically connected to a feed-in device configured to provide an electrical energy supply to the field devices. The feed-in device has a monitoring device configured to detect spark generation in the energy supply and, based on this, to switch off the electrical energy supply. The field devices each have an input terminal for connecting a supply line. At least one field device is configured for electrical energy supply to at least one subsequent field device, and for monitoring. The monitoring field device has at least one output terminal for connecting a further supply line, via which the electrical energy can be forwarded to the subsequent field device. The monitoring field device has a monitoring device configured to detect spark generation in the energy supply to the subsequent field device and, based on this, to switch off the electrical energy supply.
H02H 3/44 - Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition, with or without subsequent reconnection responsive to the rate of change of electrical quantities
H02H 1/04 - Arrangements for preventing response to transient abnormal conditions, e.g. to lightning
H02H 3/08 - Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition, with or without subsequent reconnection responsive to excess current
A system includes a plurality of field devices electrically connected to a feed-in device configured to supply electrical energy. The feed-in device has a monitoring device to detect spark generation in the electrical energy supply, and, based on this, to switch off the supply. The field devices have a first section with an input terminal for connecting a supply line, and a second section. The electrical energy provided by the feed-in device can be supplied to the first section via the input terminal, and transmitted from the first section to the second section via an electrical energy supply connection. The second section has a terminal device with at least one output line terminal for connecting at least one output line to forward the electrical energy. The electrical energy supply connection has a power limiting device to limit the electrical power transmittable from the first section to the second section.
A method for transferring an object from a first rotor to a second rotor in a linear transport system is provided in a transfer region between a first drive unit and a second drive unit. The rotors move along the drive units due to a magnetic field generated by respective coil units, and the object is initially attached to the first rotor with the aid of a first connection. The method includes synchronizing movements of the first and second rotor so that the first and second rotor move with coordinated trajectories in the transfer region, forming a second connection between the object and the second rotor in the transfer region, and releasing the first connection. The first connection is created with the aid of a first retaining element, and the second connection is created with the aid of a second retaining element.
A method for controlling a planar drive system with a stator unit and a rotor includes moving the rotor to a rotational position on the stator unit. In the rotational position, each magnet unit of the rotor covers a coil group of the stator unit which is not covered by any other magnet unit of the rotor, in each orientation of the rotor relative to the stator unit. The method includes actuating the coil groups which are covered by the magnet units of the rotor in the rotational position, generating a stator magnetic field by each actuated coil group, and rotating the rotor about an axis oriented perpendicular to a surface of the stator unit by a predetermined angle, by way of the stator magnetic fields of the actuated coil groups covered by the magnet units of the rotor. A planar drive system is adapted to perform the method.
A linear transport system comprises a stationary unit and a movable unit. The linear transport system also comprises a drive for driving the movable unit, the drive comprising a linear motor, the linear motor comprising a stator and a rotor. The stator comprises the one or the plurality of stationary units, and the rotor is arranged on the movable unit and comprises one or a plurality of magnets. The stationary unit comprises an energy sending coil. The movable unit comprises an energy receiving coil. The movable unit comprises a fixing device, where the fixing device is set up to fix the movable unit in the linear transport system. The fixing device comprises a movable element, where the movable element can be moved between a first position and a second position, where in the first position the movable element initiates a mechanical fixing of the movable unit.
This application provides a method for controlling a planar drive system, where the planar drive system comprises at least a controller, a stator module having a stator surface, and a rotor that may is positionable and movable on the stator surface. The method comprises positioning an object on a rotor in a first arrangement state of the object in a positioning step, carrying out an accelerating movement of a defined movement pattern of the rotor; and, by the accelerating movement, arranging the object positioned on the rotor in the first arrangement state in a second arrangement state relative to the rotor, in an arranging step. The application further provides a planar drive system.
B01F 31/00 - Mixers with shaking, oscillating, or vibrating mechanisms
B01F 31/22 - Mixing the contents of independent containers, e.g. test tubes with supporting means moving in a horizontal plane, e.g. describing an orbital path for moving the containers about an axis which intersects the receptacle axis at an angle
B01F 31/20 - Mixing the contents of independent containers, e.g. test tubes
B01F 35/213 - Measuring of the properties of the mixtures, e.g. temperature, density or colour
A method for controlling an automation system having control redundancy is provided. The automation system has at least a first controller, a second controller and a plurality of field devices connected to the first and second controller via a data bus, with the first and second controller configured to cyclically control an automation process of the automation system. The method comprises cyclically controlling the automation process via the first controller, determining a malfunction of the first controller during an (n+x)-th control cycle, where the (n+x)-th control cycle is carried out x control cycles later in time than the n-th control cycle, and sending out an n-th set of output data via a second input-output unit of the second controller to the plurality of field devices in the (n+x)-th control cycle, for controlling the automation process. An automation system is configured to carry out the method.
An automation system has a plurality of subscribers including a first master unit, first distributor, second master unit, second distributor, and at least another subscriber unit. First and second transmitting/receiving devices of the first and second distributor are connected via a ring-shaped data bus. In a first mode, the first distributor forwards telegrams received from the first master unit to the first transmitting/receiving device, and forwards telegrams received by the second transmitting/receiving device to the first master unit. The second distributor also forwards first telegrams received by the first transmitting/receiving device to the second transmitting/receiving device. In a second mode, the second distributor forwards telegrams received by the second master unit to the second transmitting/receiving device, and the second distributor forwards telegrams received by the first transmitting/receiving device to the second master unit. The first distributor also forwards telegrams received by the second transmitting/receiving device to the first transmitting/receiving device.
A method is provided for communicating between passive subscribers of a bus system. A first passive subscriber encodes an original static pattern in a first transmit SERDES element and encodes original user data in a time-synchronized manner with the original static pattern in a second transmit SERDES element. The second passive subscriber receives the encoded static pattern and user data, and generates a sampling clock having a first phase offset and a clock synchronous with a transmit-receive clock having a second phase offset, from the encoded static pattern. The second passive subscriber decodes the encoded static pattern using a first receive SERDES element and the encoded user data, using a second receive SERDES element to obtain a receive data word. The first receive SERDES element and the second receive SERDES element are operated based on the sampling clock, and the receive data word is output synchronously with the synchronous clock.
A stator module of a linear transport system includes a plurality of drive coils, which are energizable and form part of a stator of a linear motor. The stator module also includes actuation electronics, where the drive coils are actuatable by the actuation electronics. The actuation electronics includes at least an actuation element, which is arranged to energize a number of drive coils. The actuation element has a number of half bridges, each comprising a first half-bridge connection, a second half-bridge connection, and a half-bridge center. The first half-bridge connections of the half bridges are connected to one another, and the second half-bridge connections of the half bridges are connected to one another. The half bridges and the drive coils form a chain, with the half-bridge centers and drive coils arranged alternately within the chain, at least one half-bridge center being connected to two drive coils.
H02P 25/064 - Linear motors of the synchronous type
18.
METHOD FOR CONTROLLING AN AUTOMATION SYSTEM HAVING VISUALIZATION OF PROGRAM OBJECTS OF A CONTROL PROGRAM OF THE AUTOMATION SYSTEM, AND AUTOMATION SYSTEM
A method for controlling an automation system with visualization of program objects of a control program of the automation system, comprises determining a pointer address of the pointer element, determining a first address offset of the pointer address, identifying a program object that is spaced apart from the first memory location of the program state by the first address offset according to the arrangement structure of the program state as a first program object, the memory address of which in the first memory area corresponds to the pointer address of the pointer element, identifying the first program object with the pointer object referenced by the pointer element, determining a fully qualified designation of the identified pointer element, and displaying the fully qualified designation of the pointer object referenced by the pointer element on a display element connected to the controller. An automation system carries out the method.
A control-cabinet system has a base module and at least one functional module. The base module has a base housing with a first housing face and a second housing face. The functional module has a functional housing with a housing underside, where a circulation channel is arranged. Air flow may be circulated in the circulation channel, where each base connection element comprises circulation openings which are fluidically connected to the circulation channel. The functional connection element comprises coupling openings fluidically connected to an interior of the functional housing. The coupling openings are coupleable to the circulation openings, in which a fluidic connection exists between the circulation channel and the interior of the functional housing. A fluidically closed circulation circuit comprising the circulation channel and the interior of the functional housing is formed, in which air flow may be circulated.
A driven linear axis includes a housing which has a linear rail guide on which a carriage is arranged such that it can be moved back and forth linearly with the aid of a transport device. The transport device comprises a belt which circulates in the housing and is guided over two gears, at least one gear being configured as a drive gear. Furthermore, a drive device is arranged within the drive gear and is in a torque-locking rotary connection with the drive gear.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
21.
METHOD FOR CONTROLLING A PLANAR DRIVE SYSTEM, AND PLANAR DRIVE SYSTEM
A method for controlling a planar drive system includes controlling a rotor along a control path starting from a first position on a stator module, and determining a sensor pattern for magnetic field sensors of a sensor module. The sensor pattern includes a subset of the magnetic field sensors with at least one of the magnetic field sensors not comprised by the sensor pattern, and an area of the sensor pattern is at least partially covered by the rotor in a position along the control path. The method includes measuring values of the rotor magnetic field with the aid of the magnetic field sensors of the sensor pattern, detecting the rotor, and determining a second position of the rotor based on the measured values. The invention further relates to a planar drive system.
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
A method is provided for creating and executing a control program for controlling an automation system having a controller and a web server connected to the controller. The method includes creating a first version of a program code of a control program for the automation system in an input module of a web-based development environment executed in a web browser, in a code creating step; executing a translation module of the web-based development environment on the web server and translating the program code into a program code of a binary language, in a translating step; and executing the program code in the binary language with the aid of the controller of the automation system, in an executing step. An automation system is also provided.
A method for operating a planar drive system is specified. The planar drive system comprises a stator, a plurality of rotors and a main controller. The stator comprises a plurality of energizable stator conductors. Energizing of stator conductors of the stator can be controlled via the main controller. Each rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet devices of the rotors in order to drive the rotors. At least one individual rotor identifier is assigned to each rotor. An identification of the rotors is carried out by providing position information of the rotors and rotor identifiers of the rotors and linking the provided position information of the rotors to the provided rotor identifiers of the rotors via the main controller.
An arm module includes a housing with a first connection side controllably rotatable relative to a second connection side, about an axis of rotation. The first connection side has a rotatable first connection device. The second connection side has a second connection device fixed to the housing, with a rotation-compatible data transmission device for transmitting data signals along at least one transmission path between the first and second connection sides. The transmission path includes at least one wireless transmission sub-path for wireless transmission of data signals, and at least one wire-guided transmission sub-path for wire-guided transmission of data signals. The rotation-compatible data transmission device includes at least one first wireless transmission unit and at least one second wireless transmission unit, interconnected via the transmission path and arranged to wirelessly transmit and receive data signals along the wireless transmission sub-path. An industrial robot can have a plurality of such arm modules.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
A planar drive system comprises a stator and a rotor. The stator comprises a plurality of energizable stator conductors. The rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet device in order to drive the rotor. The stator is configured to carry out energization of the stator conductors so that an alternating magnetic field can be generated via the energized stator conductors. The rotor comprises at least one rotor coil in which an alternating voltage can be induced due to the alternating magnetic field. The planar drive system is configured to transmit data from the rotor to the stator, and the rotor is configured to temporarily load the at least one rotor coil to temporarily cause increased current consumption of the energized stator conductors of the stator.
H02P 25/064 - Linear motors of the synchronous type
H02P 27/08 - Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
A planar drive system comprises a stator and a rotor. The stator comprises a plurality of energizable stator conductors. The rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet device to drive the rotor. The stator is configured to carry out energization of the stator conductors so that an alternating magnetic field can be generated via the energized stator conductors. The rotor comprises at least one rotor coil in which an alternating voltage can be induced due to the alternating magnetic field. The planar drive system is configured to transmit data from the stator to the rotor, and the stator is configured to temporarily influence the energization of the stator conductors in order to temporarily cause a change with respect to the alternating voltage induced in the at least one rotor coil.
H02P 6/10 - Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
H02P 25/064 - Linear motors of the synchronous type
28.
METHOD FOR CONTROLLING A PLANAR DRIVE SYSTEM AND PLANAR DRIVE SYSTEM
A method for controlling a planar drive system includes identifying a preferred stator module direction with a preferred magnetic field or sensor direction, and identifying a preferred mover direction with a respective other of the preferred magnetic field or sensor direction; setting a magnetic orientation field with a magnet device; recording at least a measurement value of the magnetic orientation field with a magnetic field sensor device; determining an alignment of the preferred mover direction relative to the preferred stator module direction based on the measurement value of the component of the magnetic orientation field parallel to the preferred sensor direction; and determining a first orientation of the mover on the stator module, on the basis of the alignment of the preferred mover direction relative to the preferred stator module direction. The application also relates to a planar drive system.
In an automation system, a protocol converter is provided between a first network and a second network for converting safety-related messages between the first and second networks that use different network protocols for message exchange. In the protocol converter, a single-channel filter connected to a single-channel interface determines messages having a first safety communication protocol from messages received from the interface over the first network and messages having a second safety communication protocol received over the second network. An at least dual-channel safety module connected to the single-channel filter then converts the messages with the first safety communication protocol determined by the single-channel filter into messages with the second safety communication protocol, or converts the messages with the second safety communication protocol determined by the single-channel filter into messages with the first safety communication protocol.
A switch-on unit for a tool of a movable unit of a linear transport system can be fastened to the movable unit. The switch-on unit includes a housing, an energy-receiving coil with energy-receiving electronics, and a movable antenna with communication electronics. The energy-receiving electronics and the communication electronics are disposed on at least a first circuit board within the housing. The housing has an opening for connections of the tool and an installation space for application electronics. A first circuit board has a first interface for the application electronics, with a power supply and communication link. The communication electronics are arranged to receive a first data signal via the movable antenna, to calculate a second data signal from information about a data structure of the first data signal and the first data signal, and to provide the second data signal at the communication link.
B65G 17/12 - Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
H02K 11/35 - Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
A method for transferring data between movable and stationary units of a linear transport system having a controller and linear motor with stator and rotor for driving the movable unit along a guide rail. The stator includes the stationary units, each with one or more drive coils. The rotor is arranged on the movable unit, with one or more magnets. The stationary units each have at least one stationary antenna, and the movable unit has a movable antenna. The controller selects a stationary antenna based on position data of the moveable antenna and outputs a data packet to the stationary unit, with control and data signals transmitted via the selected stationary antenna. The control signal includes identification information to identify the stationary antenna. The data signal includes a communication frame with a start bit and user data following a start sequence arranged to trigger data receipt of the movable unit.
H04B 7/06 - Diversity systems; Multi-antenna systems, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
H04B 5/00 - Near-field transmission systems, e.g. inductive loop type
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
A method for controlling a planar drive system includes generating a position allocating function, in an allocation generating step; measuring a plurality of measuring values of the magnetic rotor field by magnetic field sensors for a position of the rotor relative to the stator module, in a magnetic rotor field determining step; applying the position determination function to the plurality of measuring values of the magnetic rotor field of the plurality of magnetic field sensors, in a measuring value analysis step; and determining the position of the rotor relative to the stator module on the basis of the measurements of the magnetic rotor field measured by the plurality of magnetic field sensors and based on the allocations of the position allocating function, in a position determining step. The application further relates to such a planar drive system.
A method for controlling a planar drive system includes determining values of magnetic stator fields for different energizing currents and spatial regions in a two-dimensional array of magnetic field sensors, generating at least one magnetic stator field by applying energizing currents to stator conductors to electrically control a rotor, determining measured values of a total magnetic field via the magnetic field sensors for a plurality of the spatial regions to determine a position of the rotor, compensating contributions of the magnetic stator fields to the measured values of the total magnetic field determined by the magnetic field sensors, generating measured values of the magnetic field determined by the respective magnetic field sensors for the respective space regions, and determining a position of the rotor based on the generated measured values of the magnetic fields. The planar drive system includes at least a controller, a stator module, and a rotor.
H02K 11/20 - Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
An active arm module and modular robot arm for an industrial robot comprises a housing, a heat exchanger, a drive device, and a connecting side with a connecting plate. The connecting plate can be mechanically connected to a further arm module or to a robot base for transmitting drive and support forces. The housing defines an interior space for receiving the drive device. The heat exchanger accommodates the drive device at least in sections, and is thermally coupled to the drive device. The heat exchanger has a fluid channel and can exchange heat between the drive device and the fluid. The arm module comprises a fluid contact device arranged at the connecting plate. Fluid can be exchanged with the further arm module or robot base via the fluid contact device; e.g., the fluid channel can be filled with the fluid for exchanging the fluid with the first fluid contact device.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A method is provided for transferring energy from a stationary unit to a movable unit of a linear transport system. The system includes a guide rail for guiding the movable unit, a plurality of stationary units, a controller, and a linear motor for driving the movable unit along the guide rail. The linear motor includes a stator and a rotor. The stator comprises the stationary units, each having one or more drive coils. The rotor is arranged on the movable unit, and has one or a more magnets. In addition, the stationary units each have one or more energy-transmitting coils, and the movable unit has at least one energy-receiving coil. The controller determines position data for the energy-receiving coil, selects at least one energy-transmitting coil based on the position data, and outputs a control signal to the stationary unit, with identification information for identifying the energy-transmitting coil.
A safety module for a secured drive control of an automated drive system is configured to receive encoder data sent from an encoder unit to a drive unit, based on an encoder protocol via a protocol active unit. The safety module is configured to forward the encoder data from the protocol active unit to a safety logic and a protocol passive unit, check the forwarded encoder data with the aid of the safety logic for correspondence with predetermined safety criteria relating to operation of a motor unit, and transmit the forwarded encoder data via the protocol passive unit to the drive unit, in respective data packets based on the encoder protocol. The safety module can stop operation of the motor unit with the aid of the safety logic, if the encoder data does not correspond to the predetermined safety criteria. A corresponding drive system and automation system are also provided.
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
B60W 40/12 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to parameters of the vehicle itself
42.
PLANAR DRIVE SYSTEM, METHOD FOR OPERATING A PLANAR DRIVE SYSTEM, AND STATOR FOR DRIVING A ROTOR
A planar drive system comprises a stator and a rotor. The stator comprises a plurality of stator conductors. The rotor comprises a magnet device comprising at least one rotor magnet. The stator is configured to energize the stator conductors. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet device of the rotor in order to drive the rotor. The stator is configured to carry out the energizing of the stator conductors by a current control based on a pulse-width modulation. Due to the current control, a ripple current in energized stator conductors of the stator and thereby an alternating magnetic field can be generated. The rotor comprises at least one rotor coil in which an alternating voltage can be induced due to the alternating magnetic field.
A method for data communication between subscribers of an automation system includes a first passive subscriber and a second passive subscriber receiving a write request sent by an active subscriber, determining a first transmission time point for transmitting a first reply message by the first passive subscriber, transmitting the first reply message at the first transmission time, and receiving the first reply message. The method also includes determining a second transmission time for transmitting a second reply message by the second passive subscriber, transmitting the second reply message at the second transmission time, receiving the second reply message, and interpreting the first reply message and the second reply message as segments of a data packet.
In a data-transmission system, a first amount of data can be transmitted in each transmission cycle. A data generator provides a second amount of data for each transmission cycle. The first amount of data exceeds the second amount of data by a percentage. The data generator transmits the data provided by the data generator to a data processor at the data transmission rate of the data-transmission channel. The data processor processes the data received from the data generator on the data-transmission channel, delayed by the number of transmission cycles required for the data generator to respond to a command from the data processor. The data processor indicates a transmission cycle as faulty with the aid of a repeat command if an error has occurred in the data transmission, and the data generator repeats the transmission of the data of the cycle indicated as faulty upon receiving the repeat command.
A method for updating a control program of an automation system with data migration of a program state of the control program is provided. The method comprises generating a first migration function for mapping a first data element to a second data element, interrupting a cyclic execution of a first control program, determining a value of the first data element, where the determined value of the first data element describes a program state of the first control program at the time of the interruption, and mapping the value of the first data element to the second data element by executing a migration function.
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
46.
METHOD FOR SYNCHRONIZING TIME IN AN ETHERNET-BASED NETWORK
A method for synchronizing time in an Ethernet-based network having a master network subscriber and a slave network subscriber includes sending out a first telegram via the master network subscriber, where the slave subscriber receives the first telegram at a first receipt time value of a local system time and stores the first receipt time value. The method can also include reading out the first receipt time value via the master subscriber, sending out a second telegram by the master subscriber, where the slave subscriber receives the second telegram at a second receipt time value of the local system time and stores the second receipt time value, and reading out the second receipt time value via the master network subscriber. A speed parameter of the local system time can be calculated from the receipt time values via the master network subscriber, and transmitted to the slave subscriber.
A method is provided for operating an automation system having a first controller and a second controller and an external data infrastructure with a message-distributing module. The method includes defining a first communication network and identifying the first controller and the second controller as first communication subscribers of the first communication network via the message-distributing module, sending out a first network message via the first controller to the message-distributing module of the external data infrastructure, identifying the second controller as the first communication subscriber of the first communication network addressed via the first controller using the message-distributing module, forwarding the first network message sent out by the first controller to the second controller via the message-distributing module, and receiving the forwarded first network message via the second controller. Further, a data infrastructure system for execution of the method for operating an automation system is provided.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
48.
Method for data communication between subscribers in an automation network, master subscriber for an automation network, and automation network
A method for real-time data communication between subscribers in an automation network is provided. The automation network includes an active subscriber, a plurality of passive subscribers and at least a connecting unit. The method includes the active subscriber arranging n data packets to be transmitted in a transmission order with a total occupancy time duration of the transmission order, performing an optimizing procedure for determining an optimized transmission order with minimum total occupancy time, and transmitting the n data packets in the optimized transmission order to the passive subscribers. An active subscriber for carrying out the method and an automation network comprising an active subscriber are also provided.
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
G05B 19/05 - Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
49.
Method for data migration of a pointer element in the course of data migration of a program state of a control program of an automation system
A method for data migration of a pointer element in the course of data migration of a program state of a control program of an automation system comprises identifying the first pointer element and the second pointer element as pointer elements associated with each other via a first relation in a pointer-identifying step, and mapping the first pointer element to the second pointer element in a pointer migration step. The pointer migration step comprises identifying the first pointer object referenced by the first pointer element, identifying an object associated with the first pointer object as the second pointer object, determining an absolute memory address of the second pointer object, and writing the determined memory address of the second pointer object as a value of the second pointer element into the second pointer element.
A method is provided for linking objects of an open platform communication unified architecture (OPC UA) data communication standard with objects of a programmable logic controller (PLC) code of a controller of an automation system is provided. The method comprises reading an OPC UA node set of a companion specification, generating OPC UA instances of the OPC UA object types of the OPC UA node set for the automation system, combining the OPC UA instances in an OPC UA instance node set, generating PLC objects in a PLC code of a control program of the automation system, and linking the OPC UA instances of the OPC UA instance node set with PLC objects of the PLC code of the control program. A development environment for carrying out the method is also provided.
A method for processing telegrams in an automation network provides a master subscriber to at least partially encrypt and output telegrams, respectively, to another subscriber. The other subscriber comprises an input port, a receiving logic connected to the input port, a decryption unit connected to the receiving logic, and a processing unit connected to the decryption unit and the receiving logic. The receiving logic is configured, when a telegram at least partially encrypted by the master subscriber is present at the input port, to forward an encrypted portion of the telegram to the decryption unit. The decryption unit is configured to decrypt the encrypted portion of the telegram with a key, and to forward the encrypted portion to the processing unit for processing. If an unencrypted telegram is present at the input port, the receiving logic is configured to forward the unencrypted telegram to the processing unit for processing.
An automation network comprises at least one master subscriber, at least one switch, and at least one subscriber. The master subscriber comprises master ports, the switch comprises switching ports, and the subscriber comprises ports, each comprising a transmitter and a receiver. The master subscriber is configured to output first and second telegrams to first and second switching ports via first and second master ports and first and second master communication paths. The switch is configured to forward the first telegram to a first port of a subscriber via a first communication path, and to forward the second telegram to a second port of a subscriber via a second communication path. In error mode, the switch and the subscriber are configured to return the first telegram to the master subscriber via the first master port, and/or to return the second telegram to the master subscriber via the second master port.
In a method for operating a device comprising an internal clock generator and an internal clock and being connected to a network, the internal clock is incremented by the internal clock generator. Moreover, the internal clock is synchronized with a network frequency of the network.
In an automation communication network, a distribution node is provided with a plurality of input/output interfaces, each connected to a network segment having at least one subscriber. The network segments are each assigned segment telegrams for processing by the subscriber. The segment telegrams have a data field with sequence information indicating the priority of a subsequent segment telegram. The distribution node is configured to receive the segment telegram on an input/output interface and transmit it according to a routing specification on a further input/output interface. The distribution node blocks the input/output interface on which the segment telegram has been transmitted for further transmission if the telegram sequence information indicates a priority for the subsequent segment telegram with the same routing specification, which is higher than the priority of other telegrams intended for transmission on the input/output interface, in order to send the subsequent segment telegram on the blocked input/output interface.
An arm module, modular robot arm or industrial robot has a housing with first and second connection sides. The first connection side has a first connection plate, a first fluid contact device and a first contact device. The second connection side is mechanically connected to the housing in a torque-proof manner, and has a second connection plate. The first fluid contact device and first contact device are arranged on the first connection plate, parallel to a mounting axis. The first connection side is connectable to another arm module. An external thread is arranged about the first mounting axis, on an outer circumferential side of the first connection plate. The second connection plate is circumferentially embraced by a fastening ring with an internal thread corresponding to the external thread. The fastening ring is connected to the housing in an axially fixed manner, rotatable about a second mounting axis.
B25J 9/08 - Programme-controlled manipulators characterised by modular constructions
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
An arm module has a housing with a first connection side and a second connection side. The first connection side is embodied to be controllably rotatable about an axis of rotation relative to the second connection side. The first connection side has a rotatable first connection device and the second connection side has a second connection device fixed to the housing. A multifunctional rotation transfer system is provided for rotational transmission of data signals, electrical energy and fluid. A drive device is provided comprising a shaft assembly having an output shaft, which is connected to the rotatable first connection device of the first connection side in a torque-proof manner, wherein the shaft assembly forms a section of the multifunctional rotation transfer system.
B25J 9/08 - Programme-controlled manipulators characterised by modular constructions
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 9/14 - Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
An industrial robot comprises a modular robot arm having a plurality of arm modules, where a rotation transfer device for optical signal transmission is provided in an arm module or between a first and a second arm module. The rotation transfer device comprises an optomechanical rotation interface having a first interface side and a second interface side, which face each other and are substantially rotationally symmetrical and complementary. The first and second interface sides are configured to rotate relative to each other. The first and second interface sides are mechanically mounted with respect to each other, with a radial plain bearing on one interface side and a slide bearing shell complementary thereto on the other interface side. A gap is formed between the first and second interface sides, in the axial direction of the rotation transfer device, across which the optical signal transmission takes place.
B25J 9/08 - Programme-controlled manipulators characterised by modular constructions
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
58.
ASSEMBLY OF STATOR MODULES FOR A PLANAR DRIVE SYSTEM
An assembly of stator modules for a planar drive system comprises a first stator module and a second stator module, The first stator module and/or the second stator module each comprise stator segments with a segment width, the stator segments being energizable, where the stator segments can provide a magnetic field in order to interact with the magnet arrangements of a rotor for driving and/or holding the rotor of the planar drive system. The first stator module and the second stator module are arranged spaced apart from each other and thereby form a gap, where the gap has a gap width, and where the gap width is smaller than or equal to the segment width.
H02K 11/33 - Drive circuits, e.g. power electronics
H02K 29/10 - Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using light effect devices
59.
METHOD FOR WIRELESSLY INTEGRATING A RADIO SUBSCRIBER INTO AN AUTOMATION SYSTEM
An automation system has a master control unit, a first radio subscriber, a first radio device and a clock master. The first radio device has a first synchronization element, a first radio module and a first connection for the bus system. The first radio module can establish a radio connection to the first radio subscriber for data exchange with a bus system provided by the master control unit. The first radio connection has a first radio channel with a first frequency range. The first synchronization element is set up to output a synchronization signal to the first radio module, based on a signal received from the clock master via the first connection. The first radio module is set up to change a frequency of the first radio channel based on the synchronization signal, within the first frequency range, on the basis of a first hopping table.
An active arm module for the robot arm of a modular industrial robot has a first housing, first and connection sides arranged at an offset, and a drive device. The first connection side is mounted rotatably relative to the first housing, and is connected to the drive device in a torque-locking manner. The second connection side is connected to the first housing in a torque-proof manner, the drive device being arranged in the first housing and configured to rotate the first connection side relative to the first housing. A further module can be connected to the first and/or second connection side, where the first connection side is optically, electrically, power-electrically and/or fluidically connected to the second connection side, and an optical signal, electrical signal, electrical power, and/or a fluid can be exchanged with the further module via the and/or second connection side.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
A runtime server includes a plurality of simultaneously executing runtime systems, which are configured for real-time execution of a control program for an automation system. At least two of the runtime systems execute application modules of the control program, with at least one module executing an application of the control program being installed on each runtime system. Each runtime system has a data transmission interface for transmitting data between the runtime systems and/or application modules, an I/O configuration which defines an allocation between at least one variable of the application modules and at least one hardware address of a hardware component of the automation system, an I/O interface for data exchange between the runtime systems and hardware components, and an intermediate I/O mapping layer. The I/O configurations are mapped in the intermediate I/O mapping layer.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
62.
METHOD FOR OPERATING A COMMUNICATION NETWORK, COMMUNICATION NETWORK AND SUBSCRIBER FOR A COMMUNICATION NETWORK
A method is described for operating a communication network with a plurality of subscribers. Data exchange between the subscribers takes place in the form of telegrams, which comprise data sections. The subscribers interpret an end portion of the telegrams as a check value for the absence of errors in preceding data sections. The telegrams are processed in pass-through, so that the telegrams are forwarded to a respective next subscriber while being received. If an error is detected when receiving a telegram, the subscribers send the telegram to the next subscriber with a characterizing data section at the end, so that the telegram has an end portion representing an invalid check value. The telegram is characterized by the characterizing data section, which is part of the end portion, so that the telegram is not to be considered as an initial error but as a subsequent error.
A method for synchronizing time in an Ethernet-based network having a master network subscriber, a first segment and a second segment. Each segment has at least one network subscriber. The second segment is connected to the first segment by a first network distributor, arranged in the second segment. The method comprises steps for sending out a synchronization telegram addressed to the second segment by the master network subscriber, the synchronization telegram being of the first type; receiving the synchronization telegram by the first network distributor, for conversion into a second type; forwarding the synchronization telegram to a network distributor of the second segment, by the first network distributor; reading out a synchronization value stored in the synchronization telegram by the first network distributor of the second segment; and adjusting a speed of a local system time of the network distributor of the second segment, using the synchronization value.
A receiving logic of a network subscriber can be configured in a first filter setting to forward telegrams having first and second addressing techniques to first and second processing units, with a transmitting logic configured to forward the telegrams to a transmitting port. In a second filter setting, the receiving logic can be configured to duplicate the telegrams and forward to the first and second processing units, with the first processing unit configured to discard telegrams using the second addressing technique and the second processing unit configured to discard telegrams using the first addressing technique. The receiving logic of a third filter setting can be configured to duplicate telegrams and forward to the first and second processing units, with the transmitting logic configured to forward only telegrams using the first addressing technique from the first processing unit, and only telegrams using the second addressing technique from the second processing unit.
G06F 15/16 - Combinations of two or more digital computers each having at least an arithmetic unit, a program unit and a register, e.g. for a simultaneous processing of several programs
H04L 51/48 - Message addressing, e.g. address format or anonymous messages, aliases
H04L 51/212 - Monitoring or handling of messages using filtering or selective blocking
65.
NETWORK DISTRIBUTOR, AUTOMATION NETWORK AND METHOD FOR TRANSMITTING DATA IN AN AUTOMATION NETWORK
A network distributor comprises a plurality of input/output ports, a processor unit, and a memory unit. The input/output ports are configured to connect network subscribers via a data line network, where the network subscribers comprise protocol subscribers configured to process telegrams configured as protocol telegrams. The processor unit is configured to receive telegrams via one input/output port and to output telegrams via another input/output port, which is stored in a routing table in the memory unit. The processor unit is further configured to determine whether a telegram is a protocol telegram received via an input/output port for which it is preset that no protocol subscriber is connected, and to discard the telegram if so. Checking and discarding of telegrams can be subject to a precondition, where fulfillment of the precondition leads to an exception from discarding the telegram.
A switch-cabinet system comprises a base module with a base housing and at least one functional module with a functional housing. A functional connection element is arranged in the functional housing in the area of a first through-opening on a bottom side of the functional housing. A base connection element is arranged in the base housing in the area of a second through opening on a top side of the base housing. The bottom side of the functional housing rests against the top side of the base housing. The functional and base connection elements engage and form an interface. The system also includes a sealing insert having a frame with a functional section engaging the functional housing and a base section engaging the base housing. The functional section abuts an inner wall of the functional housing. The base section abuts a wall of the base housing defining the second through-opening.
A method for modifying control software of an automation system having a controller and a plurality of subscribers, where the subscribers are connected to the controller via a data bus and communicate via a data exchange, at least one subscriber is a software subscriber for modifying control software of the controller, and the software subscriber comprises a memory unit on which at least one modification instruction for modifying the control software is stored. The controller sends an individual query message to the software subscriber for querying the modification instruction, the software subscriber sends a response to the controller providing the modification instruction, and the controller verifies whether the modification instruction is compatible with the control software, modifying the control software according if the modification instruction is compatible with the control software, and discarding the modification instruction if not compatible with the control software.
An automation network with network subscribers is provided, in which the network subscribers are interconnected via a data line network. At least one network subscriber is configured as a master subscriber, which is adapted to send telegrams via the data line network. At least one network subscriber is configured as a network distributor, which is adapted to route telegrams. The network distributor has a plurality of input/output ports, and is connected to the master subscriber via a first input/output and data line network. The master subscriber is configured to use a telegram element to indicate that the telegram is enabled for processing by the network subscribers. In addition, the network distributor is configured to process a telegram received via the first input/output port when the telegram element indicates enablement of processing of the telegram by the network subscribers.
A method for distributed electrical power determination of at least one consumer connected to a voltage source via a voltage path, where a voltage measurement device determines a supply voltage of the voltage source at a voltage measurement point and at least one current measurement device determines a consumer current of the consumer at a current measurement point. The method comprises recording measured values of the supply voltage to determine a voltage curve of the supply voltage, recording measured values of the consumer current to determine a current curve of the consumer current, analyzing the measured values of the supply voltage and/or the measured values of the consumer current with an analysis function to determine voltage characteristics of the voltage curve and/or current characteristics of the current curve, and determining at least one power value taking into account the voltage and/or current characteristics.
A method for routing telegrams in an automation network with network subscribers interconnected via a data line network. At least network subscriber is a master subscriber, which sends telegrams to the network subscribers via the data line network. At least one network subscriber is a network distributor having a plurality of input/output ports, where input/output ports to which segments with further network subscribers are connected are designated as end ports. The master subscriber assigns a port address to each end port, and assigns the port address as an identifier to a telegram intended for processing for a segment with further network subscribers. If the network distributor receives a telegram with a port address of an end port of the network distributor as an identifier, the network distributor outputs the telegram directly via the input/output port of the network distributor corresponding to the end port of the port address.
A method for driving at least one rotor in a planar drive system. The rotor has a device for generating a magnetic field. The rotor can be moved on a drive surface formed by stator modules comprising a magnetic field generator. A virtual two-dimensional potential curve is determined for the rotor, with a target point having an attractive potential. A virtual force vector is determined with a vector direction and a vector length at a first position of the rotor, which is determined from the virtual two-dimensional potential curve. A magnetic drive field interacting with the magnetic field of the rotor is generated by the magnetic field generator such that a resulting force is applied to the rotor by interaction of the magnetic drive field with the magnetic field. The direction of the resulting force is based on the vector direction, and the strength is based on the vector length.
A method for controlling an automation process in real time based on a change profile of at least one process variable, comprises determining a first change profile by a real-time-capable recognition method based on a non-linear optimization process taking into consideration at least one boundary condition of the process variable, determining a second change profile by a numerical algorithm based on the first change profile, including adapting a selected profile function to the first change profile by a numerical adaptation process and identifying the adapted profile function as a second change profile, checking whether the second change profile satisfies at least one secondary condition of the process variable, controlling the automation process based on the second change profile if the second change profile satisfies the secondary condition, and controlling the automation process based on a predetermined fallback profile if the second change profile does not satisfy the secondary condition.
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
73.
Base module and functional module for a switch-cabinet system, and switch-cabinet system
A base module for a switch-cabinet system, having a plurality of communication units and connection elements for a plurality of functional modules. The connection elements are configured to engage in module-connection elements of functional modules. Each connection element has at least one data connection. Each communication unit is in each case connected to at least one data connection of a connection element. The communication units are connected to one another by a data bus. The base module has a first field-bus connection. The data bus is connected to the first field-bus connection to connect the communication units to a field-bus.
A base module for a control-cabinet system includes a housing with a first housing face and further housing faces, the first housing face having a grid of openings. The housing has connection elements for functional modules, the connection elements each being arranged in the region of the openings of the first housing face, the connection elements comprising data connections, extra-low voltage connections and low-voltage connections. The data connections are interconnected by a data line of the base module and a field-bus connection is provided for the data line, where the data line is arranged within the housing. An extra-low voltage line and a low voltage line are arranged within the housing, where the extra-low voltage line is connected to the extra-low voltage connections and the low voltage line is connected to the low voltage connections.
A control-cabinet system includes a base module and a plurality of functional modules. The base module housing has a face with openings, first connection elements and second connection elements. The first connection elements provide data and extra-low voltage connections, and the second connection elements provide low voltage connections. The first connection elements are arranged within the housing, in the area of the openings. The data connections are connected to a data line, the extra-low voltage connections are connected to an extra-low voltage line, and the low voltage connections are connected to a low voltage line. The functional modules each have a housing, an electronic circuit, and a module connection element connected to the electronic circuit. The module housing has a face with an opening. The module connection element comprises a first plug-in element extending through the opening, and adapted to engage the first connection elements of the base module.
A device and method for preventing a collision when determining travel paths for at least two movers on a drive surface, each mover comprising at least a second magnetic field generator, the device comprising a plurality of sectors, the sectors comprising magnetic field generators for generating magnetic fields, the sectors forming the drive surface. A path planning for at least two movers is carried out, at least the two movers being assigned a priority, the priorities of the movers being taken into account in the path planning such that a path of a mover is assigned a priority in the path planning of the travel paths of the movers, and a travel path of a mover with a higher priority takes precedence over a travel path of a mover with a lower priority, so that a collision of the movers is prevented.
G05D 1/02 - Control of position or course in two dimensions
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
77.
DEVICE FOR DRIVING AT LEAST ONE MOVER OVER A DRIVE AREA
A device and a method for determining a travel path for at least one mover on a drive surface, the mover comprising at least one second magnetic field generator, the device comprising a plurality of plate-shaped sectors, where the sectors comprise magnetic field generators for generating magnetic fields, and where the sectors form the drive surface. At least one virtual path network is provided on the drive surface, where a travel path for a mover is determined on the path network.
In an automation network comprising a plurality of network segments, fragmenting subscribers that support a fragmentation method as well as standard subscribers that do not support the fragmentation method can be provided for in the network. A distribution node in the automation network has at least one input/output interface that is in communication with a network segment. The switching unit in the distribution node checks whether a subscriber in a network segment to which a telegram is to be sent supports the fragmentation method, and whether the telegram to be sent is fragmented. If the subscriber does not support the fragmentation procedure and the telegram to be sent is fragmented, the switching unit in the distribution node assembles the telegram fragments to form the telegram and then sends the assembled telegram on to the subscriber.
A method for preventing collisions when driving at least two movers on a drive surface, each mover comprising at least one magnetic field generator, with a device comprising a plurality of plate-shaped sectors, the sectors each comprising at least one electric magnetic field generator. The sectors form the drive surface, generating magnetic fields via control of a power supply of the electric magnetic field generators such that the movers are movable over the drive surface in at least one direction. A first path planning for the first mover is carried out, an estimated second travel path of the second mover is determined or received, and the estimated second travel path of the second mover is taken into account in the first path planning of the first mover to determine a first travel path for the first mover such that collision of the first mover with the second mover is prevented.
A method for driving at least one mover is specified, wherein the mover comprises at least a second magnetic field generator, wherein the mover is movable on a drive surface comprising a plurality of sectors, wherein the sectors comprise magnetic field generators for generating at least one magnetic field, wherein path planning is carried out for the mover from a starting point to a target point on the drive surface, wherein at least one graph with nodes and edges is used for the path planning, wherein a path for the mover is determined on the basis of the graph.
A network subscriber of an automation communication network is provided to exchange data with further network subscribers in the automation communication network at a predetermined clock frequency. The network subscriber has an internal clock for synchronizing the data exchange with at least one other network subscriber. The internal clock is embodied to provide a time as an integer count value. The clock frequency is determined in such a way that a period duration per clock pulse cannot be represented as an integer count value by the internal clock. A method of operating the network subscriber in the automation communication network comprises the following method step: the internal clock is incremented with a predetermined sequence of integer increments. The sequence of integer increments is predetermined such that a sum of the integer increments corresponds to an integer multiple of the period duration.
A method for determining a rotor position of a BLDC motor with a magnetic rotor and stator having at least one exciter coil to which an exciter voltage is applied in accordance with a commutation process, comprises: interrupting the exciter voltage applied to the exciter coil, wherein the exciter voltage has a profile with at least one first section in which the profile of the exciter voltage has a non-vanishing finite gradient, wherein the exciter voltage in the first section is interrupted, and wherein at the time of interruption the exciter voltage has a value different from zero; capturing a voltage induced in the exciter coil by the magnetic rotor; restoring the exciter voltage to a value different from zero; and determining a rotor position of the rotor with respect to the exciter coil on the basis of the captured induced voltage.
H02P 27/08 - Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
H02P 6/182 - Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
A linear transport system comprising a linear motor with at least a motor module and at least a conveyor driven by the linear motor along a path of motion is described. The motor module thereby comprises a stator magnetically interacting with a magnet device of the conveyor and having a plurality of stator teeth arranged side by side along the path of motion and a plurality of electric coils each wound around a stator tooth. The linear transport system further comprises a fluid system comprising at least a fluid channel passing through a stator tooth of the stator of the motor module.
B05B 3/18 - Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with elements moving in a straight line, e.g. along a track; Mobile sprinklers
B65G 35/06 - Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
84.
Method for detecting network subscribers in an automation network and automation network
A method for detecting network subscribers in an automation network by query telegrams provides that a protocol-network subscriber enters network-subscriber information into a query telegram and sends the query telegram to a subsequent network subscriber. If no subsequent network subscriber is connected to a data line, other than the receiving data line, it sends the query telegram back to the configuration subscriber. A network distributor enters port information on the further input/output ports of the network distributor, to which further data lines are connected into the query telegram, and returns it to the configuration subscriber. The configuration subscriber subsequently generates further query telegrams, each with routing information on the basis of the port information, and sends them to the network distributor. The network distributor outputs them on the further input/output port assigned to the respective routing information, in order to detect network subscribers connected to the respective further input/output ports.
A method for data processing on a programmable logic controller (PLC) having a control task comprising a plurality of executable programs, where at least two programs of the control task each have at least one parallel processing section comprising a work package having a plurality of subtasks. The parallel processing sections in the respective programs are assigned predetermined priority levels, which are inserted into a data structure once execution has reached the parallel processing section. At least one parallel processor core checks whether there are entries in the data structure, and, if so, processes subtasks from the work package of the program the priority level at the top of the entries. An expected computational throughput of the control task is continuously evaluated, and at least one of the priority levels is dynamically adjusted if the computational throughput of the control task increases as a result.
At least one distribution node with a plurality of input/output interfaces is provided in an automation communication network. Data is exchanged via telegrams with priority levels. The distribution node interrupts transmission of a telegram having a first priority level if a telegram with a second, higher priority level is received. The distribution node terminates the interrupted telegram, which forms a first fragment defined by sending first fragmentation information at the end of the first fragment. A part that has not been sent forms a second fragment. The distribution node stores the second fragment together with second fragmentation information. After sending the telegram having the second, higher priority level, the distribution node sends the second fragment together with the second fragmentation information. A node, for which the telegram having the first priority level is intended, assembles the first and second fragments on the basis of the first and second fragmentation information.
A method for moving a rotor in a planar drive system having a first and second stator modules and a rotor. The stator modules are arranged at a distance, forming a gap. First and second magnetic fields are generated by the first and stator modules. The first and second magnetic fields hold the rotor in a vertical position, at a distance from a surface of the first and/or second stator module. The first and/or second magnetic fields have a first magnetic field strength to maintain the rotor in the vertical position, and may be used to change a horizontal position of the rotor. The first stator module has a first close range adjacent the gap, where the first magnetic field has a second field strength when the rotor is moved across the gap, greater than the first magnetic field strength.
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
H02P 25/064 - Linear motors of the synchronous type
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
In a circuit arrangement for determining a resistance change, a measuring resistor can be connected by first and second supply leads and first and second sensor leads in a four-wire arrangement, such that the first supply lead and the measuring resistor form a first resistor of a first voltage divider, and the second supply lead and a supplementary resistor form a second resistor of the first voltage divider. The circuit arrangement has a second voltage divider with third and fourth resistors. The first and second voltage dividers form a Wheatstone bridge. The circuit arrangement is configured to apply a supply voltage across the Wheatstone bridge, to determine first and second supply voltage drops across the first and second supply leads, and to determine an ascertainment voltage in proportion to a reference voltage. The ascertainment voltage depends on a bridge voltage applied between the first and second voltage dividers.
A linear transport system comprises a first carriage and a second carriage, a linear motor for driving the first carriage and the second carriage and a guide rail. The linear motor comprises a stator and a first and a second rotor. The stator has a plurality of drive coils that are arranged along the guide rail individual motor modules comprise a plurality of drive coils. The first rotor is arranged on the first carriage and the second rotor is arranged on the second carriage. The first carriage has a first magnetic field generator. The second carriage has a second magnetic field generator. The first magnetic field generator differs from the second magnetic field generator at least in terms of its magnetic vector field, wherein the magnetic fields of the magnetic field generators are detected to identify the corresponding carriage.
A method for transmitting data in an automation network by telegrams, where the automation network comprises a master subscriber, slave subscribers and at least one unlocker, connected to each other via a data-line network. The slave subscribers are divided into segments. The master subscriber sends locked telegrams for processing by the slave subscribers, each having a telegram identifier used to assign a locked telegram to a segment. At least one segment is assigned to at least one unlocker. If the unlocker receives a locked telegram, the unlocker checks, by the telegram identifier in the locked telegram, whether the locked telegram for the assigned segment is intended to release the locked telegram, as an unlocked telegram for processing by the slave subscribers, provided that the locked telegram is intended for the segment assigned to the unlocker.
A transport system and transport device guided via a plurality of rollers in a running direction along a running rail. The transport system has a curved running rail with first and second running surfaces at a first running rail side flank. First and second rollers form a first roller unit for the first running surface, and third and fourth rollers form a second roller unit for the second running surface. The first and/or second roller unit has a rocker unit with a rigid connection of the rotation axles of the first and second rollers of the first roller unit, and/or the rotation axles of the third and fourth rollers of the second roller unit, and a rocker axle. The rigid connection is pivotably supported about the rocker axle, arranged transversely to the running direction of the first and/or second roller unit, which has the rocker unit.
B65G 19/02 - Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors for articles, e.g. for containers
B65G 39/12 - Arrangements of rollers mounted on framework
92.
Stator and conductor connections for a planar motor
A stator assembly for a planar electrical motor includes coil conductors arranged in a stator layer, elongated in a first direction and arranged side by side in a second direction perpendicular to the first direction. The coil conductors are connected to form a three-phase system, with a first forward conductor and first return conductor of the first phase connected in series to the first forward conductor, a second forward conductor and second return conductor of the second phase connected in series with the second forward conductor, and a third forward conductor and third return conductor of the third phase connected in series with the third forward conductor. The three-phase system has first and second opposite sides. The first forward conductor and the first return conductor are electroconductively connected in series by first and second horizontal connecting conductors arranged in the stator layer on the second and first side, respectively.
A stator assembly for driving a rotor of an electrical planar motor includes a first arrangement of longitudinal stator layers and a second arrangement of oblique stator layers. The longitudinal stator layers comprise first coil conductors and the oblique stator layers comprise second coil conductors. The second coil conductors interact with second drive magnets to drive the rotor in a first direction, and the first coil conductors interact with first drive magnets to drive the rotor in a second direction, different from the first direction. The longitudinal and oblique stator layers are arranged on top of one another in a third direction, perpendicular to the first and second directions, where the first arrangement of longitudinal stator layers and the second arrangement of oblique stator layers have a shared central plane, each being symmetrically arranged with regard to the shared central plane, in the third direction.
A stator assembly for driving a rotor of a planar electrical motor includes longitudinal stator layers with first coil conductors and inclined stator layers with second coil conductors. The first coil conductors extend in an elongated manner in a first direction, and the second coil conductors extend in an elongated manner in a second direction, different from the first direction. The longitudinal and inclined stator layers are arranged on top of one another in a third direction, oriented perpendicularly to the first and second direction. An uppermost and lowermost stator layer of the stator assembly are each formed as a longitudinal stator layer with first coil conductors. The longitudinal stator layers are arranged in the third direction at most on one side next to an inclined stator layer, and the inclined stator layers are arranged in the third direction at most on one side next to a longitudinal stator layer.
A linear transport system includes a movable carriage, a guide rail for guiding the carriage, and a linear motor for driving the carriage along the guide rail. A system is provided for contactless power and data transmission; e.g., where power and data are each sent inductively via separate coils to the carriage of the linear transport system and/or received by the carriage of a linear transport system. A method of operating such a linear transport system and a contactless power and data transmission system are also included.
B60L 9/16 - Electric propulsion with power supply external to the vehicle using ac induction motors
H02J 50/10 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
H02J 50/40 - Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
H02J 50/80 - Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
A wind-turbine-blade-pitch system for a wind turbine comprises at least one electric motor which can be addressed by an inverter. The inverter can be addressed by a rectifier. The rectifier and the inverters are arranged locally separated from each other in the wind-turbine-blade-pitch system.
A method for data communication between fieldbus devices and a control desk of an automation system by way of a data communication unit includes a first transmission step of the control desk transmitting data communication objects on the basis of the OPC UA protocol to first and/or second fieldbus device, and a first reception step of receiving the data communication objects on the basis of the OPC UA protocol. The data communication unit maps the data communication objects on the basis of the OPC UA protocol on first data communication objects on the basis of the fieldbus protocol. In a second transmission step, the data communication unit transmits the data communication objects on the basis of the fieldbus protocol to the first and/or second fieldbus device. In a second reception step, the first and/or the second fieldbus device receives the data communication objects on the basis of the fieldbus protocol.
H04L 29/06 - Communication control; Communication processing characterised by a protocol
H04L 69/00 - Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
H04L 69/08 - Protocols for interworking; Protocol conversion
A method of operating a network subscriber comprises receiving an input-data stream containing an input-transmission frame according to a field-bus protocol, where the input-data stream is received in chronologically successive data units having a defined processing width, decoding fields of the input-transmission frame by a plurality of field-processing units arranged in series, each field-processing unit decoding a predetermined field of the input-transmission frame, and generating an output-data stream comprising an output transmission frame according to the field-bus protocol from the input-data stream.
A stator module is disclosed, and a planar drive system with a stator module. The stator module has a lower face opposite an upper face, a stator unit situated on the upper face, and a cooling unit. The stator unit has a coil to which current can be supplied to generate a magnetic field to drive a mover, positionable on the upper face of the stator module. The cooling unit has a cover thermally connected to a lower face of the stator unit and to the bottom of the housing. The bottom of the housing has a first fastening section on the lower face of the stator module, thermally connectable to a heat sink. The cover is designed to conduct heat out of the stator unit to the bottom of the housing, which is designed to conduct the heat at least partially to the first fastening section.
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
H02K 5/18 - Casings or enclosures characterised by the shape, form or construction thereof with ribs or fins for improving heat transfer
H02K 9/18 - Arrangements for cooling or ventilating wherein gaseous cooling medium circulates between the machine casing and a surrounding mantle wherein the external part of the closed circuit comprises a heat exchanger structurally associated with the machine casing
H02K 9/22 - Arrangements for cooling or ventilating by solid heat conducting material embedded in, or arranged in contact with, the stator or rotor, e.g. heat bridges
A stator module for two-dimensionally driving a rotor having first and second magnet units includes a stator assembly with first and second stator segments configured for interacting with drive magnets of the first and second magnet units. The individual stator segments can each be energized independently from the remaining stator segments. The stator assembly includes first, second, third and fourth stator sectors. The first stator segments of the individual stator sectors each extend in a second direction over all second stator segments of the relevant stator sector, arranged side by side, and the second stator segments of the individual stator sectors each extend in a first direction over all first stator segments of the relevant stator sector arranged side by side. Extensions of the stator sectors in the first and second directions are respectively smaller than extensions of a magnet arrangement including the first and second magnet units.
patents
