The invention relates to a transport system (335), to a transport device (100) and to a running rail (105). The transport system (335) comprises a running rail (105) having a running-rail portion (110), and the movable transport device (100). A first running surface (115) of the running-rail portion (110) has a substantially rounded surface (130) and comprises a guide center (135). The guide center (135) substantially forms a geometric center of a circle (140), the circular area (145) of which approximately includes the rounded surface (130) of the first running surface (115). A first roller (155) of the transport device (100) rests rotatably against the first running surface (115). The first roller (155) is rotatably (175) mounted on a movable element (170) of the transport device (100). The first roller (155) is designed to perform a pivoting movement (185) along the rounded surface (130) of the first running surface (115). An axis of rotation (190) of the movable element (170) and the guide center (135) are substantially arranged at the same height (195).
In an automation system, a replacement server unit is designed to receive the normal messages exchanged between a main server unit and a client unit. At the same time, the functional capability of the main server unit is continually monitored. If a failure event of the main server unit is detected, the replacement server unit is designed to activate a failure operating mode; in the failure operating mode, the replacement server unit and the client unit exchange failure messages. In the failure messages, the predefined payload structure of the normal messages is divided into relevant data elements and optional data elements. The replacement server unit is designed to use, for the relevant data elements of the first failure message, the data values of the relevant data elements of the currently available normal message and, for the optional data elements of the first failure message, predefined default data values.
The invention relates to a method for operating a modular robot (1), wherein the modular robot (1) has a robot base (2), at least one robot arm (10) arranged on the robot base (2), and a control unit (3), wherein the robot arm has a plurality of arm modules (11) which can be arranged in a modular manner. The control unit (3) carries out the steps described in the following text. First of all, an assignment information item (for example, serial number, manufacturer identification number, product number, version number) is received from each of the arm modules (11) in an assignment detection step 200. In an arm module base data determination step 220, arm module base data (for example, kinematic data) are determined on the basis of the assignment information for each arm module (11). Furthermore, a configuration of the modular robot 1 is produced from the assignment information and the arm module base data of the individual arm modules (11) in a configuration step (240), wherein the configuration is used to actuate the robot arm (10). A wear information item of the arm modules (11) can also be calculated, and a replacement recommendation can be output, or the robot (1) can be operated correspondingly.
The invention relates to a machine automation system comprising a server module and a plurality of client modules. Each client module comprises a client module housing having: a first client module connection side, which has a first client signal transfer unit with a first client signal transmission unit and a first client signal receiving unit; a second client module connection side, which has a second client signal transmission unit and a second client signal receiving unit; and a client bus switch-on unit. A client signal coupling unit in the client bus switch-on unit of the client module is designed to determine, in an initialisation mode, which client module connection side is connected to a server module connection side directly or via one or more further client modules, in order to switch into a first operating mode if the first client module connection side is coupled to the server module connection side directly or via one or more further client modules and to switch into a second operating mode if the second client module connection side is coupled to the server module connection side directly or via one or more further client modules
A base module (2) has a base-connection surface (13) with a first opening (22), wherein a protrusion (49) is formed so as to run around the first opening (22). A function module (3) has a function-connection surface (15) with a second opening (23), also has an engagement element (34), arranged on the second opening (23) and having an aperture (45), and additionally has a sealing stub (35), which runs around the second opening (23) An edge of the aperture (45) forms a stop (47). A hard component (38) of a cap structure (37) has a frame (40), which runs around the second opening (23), and also has a plug-in mount (41), which is connected to the frame (40) and has a latching hook (43). A soft component (39) of the cap structure (37) is arranged on the frame (40) so as to face the function-connection surface (15). The engagement element (34) is pushed into the plug-in mount (41) such that the soft component (39) butts against the sealing stub (35) and the latching hook (43) engages in the aperture (45). With the connecting device (16) between the function module (3) and base module (2) open, the soft component (39) arranges the hard component (38) on the function-connection surface (15) such that the latching hook (43) strikes against the stop (47) and the sealing stub (35) is supported on the soft component (39) such that the connection surfaces (13, 15) are at a distance from one another. With the connecting device (16) closed, the connection surfaces (13, 15) are pressed against one another, so that the soft component (39) is compressed between the protrusion (49) and the sealing stub (35) and the engagement element (34) is pushed into the plug-in mount (41) such that the latching hook (43) is at a distance from the stop (47).
The invention relates to a method for operating an automation system (1). This comprises a drive system and an optical projection unit (100). The drive system comprises a movable slider (50), wherein the slider (50) can be driven by means of a drive (6). A control system (30) of the automation system (1) performs the following steps: • determining position information for a slider (50); • associating an object to be displayed with the slider (50); • rendering a projection to be displayed by the optical projection unit (100) based on the position information of the slider (50) and the object to be displayed; • outputting the rendered projection to the optical projection unit (100) so that the optical projection unit (100) outputs the rendered projection on a surface (7) and/or on the slider (50) or its superstructures and/or transport goods of the drive system. The invention also relates to the automation system (1) and the control system (30).
The invention relates to a method (100) for controlling a planar drive system (200), the method (100) comprising: transmitting a communication message by the main control unit (201) to the subordinate control unit (401) via the communication system (500) in a transmission step (101), wherein the communication message contains a start command for starting the automation process to be carried out by the rotor (400) and is configured to drive the subordinate control unit (401) for controlling the automation process; and receiving a response message in a receiving step (103), which response message is transmitted by the subordinate control unit (401) to the main control unit (201) via the communication system (500), wherein the response message contains state information regarding a state of the automation process controlled by the subordinate control unit (401). The invention also relates to a rotor (400), a stator unit (300) and a planar drive system (200).
The invention relates to a planar drive system (1) comprising at least one stator unit (3) with in each case a plurality of coil groups (4) for generating a stator magnetic field, a stator surface (5) above the stator unit (3), and a rotor (100). The rotor (100) has a plurality of magnet units (105) for generating a rotor magnetic field. In a first operating state, the rotor (100) can be moved above the stator surface (5) by means of an interaction of the stator magnetic field with the rotor magnetic field parallel to the stator surface (5). In a second operating state, the rotor (100) is at least limited in terms of its mobility parallel and perpendicular to the stator surface (5) by a safety system (20).
The invention relates to a method for machining a flat object 30 by means of a planar drive system 1, the planar drive system 1 comprising at least one stator unit 3, each having a plurality of coil groups 4 for generating a stator magnetic field, a stator surface 5 above the stator unit 3, and a rotor 100, wherein the rotor 100 has a plurality of magnet units 105 for generating a rotor magnetic field, wherein the rotor 100, above the stator surface 5, is movable in a first direction 21 and/or a second direction 22 parallel to the stator surface 5 and/or in a third direction 23 perpendicular to the stator surface 5 by means of interaction between the stator magnetic field and the rotor magnetic field, wherein a tool 120 is arranged on the rotor 100, wherein the flat object 30 is arranged between the stator surface 5 and the rotor 100, the method comprising the following steps: - energizing the coil groups 4 in such a way that the rotor 100 is at a predefined height above the stator surface 5 in the third direction 23; - energizing the coil groups 4 in such a way that the rotor 100 moves on a predefined trajectory, wherein the tool 120 and the flat object 30 are in mechanical contact in the process and as a result the flat object 30 is machined.
The invention relates to a method for operating a linear drive system. The linear drive system has a primary part and a secondary part which can be moved relative to each other in a translational manner. The primary part has an electromagnetic device which can be energized, and the secondary part has a magnet assembly consisting of permanent magnets arranged next to one another. By energizing the electromagnetic device of the primary part, a magnetic interaction can be produced between the electromagnetic device and the magnet assembly of the secondary part in order to move the primary part and the secondary part relative to each other. The primary part has a sensor device consisting of magnetic field sensors in order to detect a magnetic field generated by the magnet assembly of the secondary part. In an initial measurement, the magnetic field of the magnet assembly of the secondary part is detected at different positions of the primary part with respect to the secondary part using the sensor device, and position-dependent reference magnetic field data is provided. Furthermore, the position of the primary part is determined. For this purpose, the magnetic field of the magnet assembly of the secondary part is detected at a current position of the primary part with respect to the secondary part using the sensor device, and current magnetic field data is provided. The current position of the primary part with respect the secondary part is determined on the basis of the reference magnetic field data and the current magnetic field data. The invention additionally relates to a linear drive system.
G01D 5/14 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
G01D 5/244 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means generating pulses or pulse trains
G01D 18/00 - Testing or calibrating apparatus or arrangements provided for in groups
11.
METHOD FOR OPERATING A PLANAR DRIVE SYSTEM, AND PLANAR DRIVE SYSTEM
The invention relates to a planar drive system (1) comprising at least one stator module (10) and a rotor (100), wherein: the stator module (10) comprises at least one stator unit (11) having at least one coil arrangement (12); the coil arrangement (12) can be energized and is designed to generate a stator magnetic field above a stator surface (13) as a result of energization; the stator module comprises at least one magnetic field sensor (14); the rotor (100) has a magnet arrangement (114) and can be moved by means of interaction between the stator magnetic field and a rotor magnetic field of the magnet arrangement (114) above the stator surface (13); the rotor (100) can be used as an input instrument and/or output instrument; a control unit (20) is designed to compare a position of the rotor magnetic field sensed by means of the magnetic field sensor with a position expected on the basis of energization of the coil arrangements (12A) and to determine a deviation of the position from the expected position as external movement and to thereby recognize an input, and/or the control unit (20) is designed to control an output by means of a specified movement of the rotor (100) and, for this purpose, to energize the coil arrangements (12) such that the rotor (100) moves as defined by the specified movement.
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
H02P 25/064 - Linear motors of the synchronous type
The invention relates to a method for transferring energy from a stationary unit (111) to a movable unit (103) of a linear transport system (101). The linear transport system (101) comprises a guide rail (105) for guiding the movable unit (103), a plurality of stationary units (111), and a linear motor (107) for driving the movable unit (103) along the guide rail (105). The linear motor (107) comprises a stator (109) and a rotor (113), the stator (109) comprising the stationary units (111) which each have one or more drive coils (135). The rotor (113) is positioned on the movable unit (103) and comprises one or more magnets (117). The stationary units (111) each comprise one or more energy-transmitting coils (125), each energy-transmitting coil (125) having a control electronic system (123). The movable unit (103) comprises at least one energy-receiving coil (127). The control electronic systems (123) of the energy-transmitting coils (125) perform the following steps: - reading in an energy quantity signal for the energy-transmitting coil (125) in question; - converting the energy quantity signal into a pulse-pause ratio in order to control the energy-transmitting coil (125); - controlling the energy-transmitting coil (125) on the basis of the pulse-pause ratio.
The invention relates to a method for transmitting energy from a stationary unit (111) of a linear transport system (101) to a movable unit (103) of the linear transport system (101), the linear transport system (101) comprising a movable unit (103) and at least one additional movable unit (104), a guide rail (105) and a linear motor (107), the movable units (103, 104) comprising energy transmission elements (115) for transmitting energy, wherein the following steps are carried out by a control unit (133) of the linear transport system (101): - determining that, for the execution of an application (137), the movable unit (103) needs an amount of energy which cannot be provided by means of an energy transmission from energy-transmitting coils (125) of at least one stationary unit (105) to the at least one energy-receiving coil (127) of the movable unit (103); and - outputting control signals to at least one stationary unit for the positioning of the additional movable unit (104) in a transmission position on the guide rail (105) immediately in front of or behind the movable unit (103) and for the coupling of energy transmission elements of the additional movable unit (104) to energy transmission elements of the movable unit (103).
The invention relates to a linear transport system (101), in which at least one magnetically driven carriage (103) moves along a carriage guide (102) having a motor module device, said system having an inductive energy transmission device which comprises an energy transmitting coil (125) having a primary winding (126) for applying an input voltage and an energy receiving coil (127) having a secondary winding (128) for tapping an output voltage. The secondary winding (128) of the energy receiving coil (127) has a control voltage winding portion (146) and a load voltage winding portion (147), the control voltage winding portion (146) and the load voltage winding portion (147) comprising winding conductor tracks which are separate from one another. The control voltage winding portion (146) supplies a control voltage for tapping by a carriage guide control unit (133) on the carriage (103) and the load voltage winding portion (147) supplies a load voltage for tapping by a load (137) on the carriage (103).
B60L 15/00 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
H02J 50/10 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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
H02J 50/40 - Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
The invention relates to a planar drive system (1) comprising at least one stator unit (3) each with a plurality of coil groups (4) for generating a stator magnetic field, a stator surface (5) above the stator unit (3) and comprising a first rotor (101) and a second rotor (102). The first rotor (101) and the second rotor (102) each have a plurality of magnet units (105) for generating a rotor magnetic field, wherein the first rotor (101) and the second rotor (102) can be moved at least in a first direction (21) and a second direction (22) above the stator surface (5) by means of interaction between the stator magnetic field and the rotor magnetic field. A coupling device (110) is arranged between the first rotor (101) and the second rotor (102), wherein a connection can be formed between the first rotor (101) and the second rotor (102) by means of the coupling device (110). The planar drive system (1) also has a control unit (10) which is designed to output control signals to the stator unit (3). The stator unit (3) is designed to energize the coil groups (4) on the basis of the control signals in such a way that movements of the first rotor (101) and the second rotor (102) coordinated with one another with respect to the coupling device (110) are executed by means of the stator magnetic field.
The invention relates to a method (100) for generating a control program for controlling an automation system, the method (100) comprising: generating a graphical diagram (200) of the control program according to the graphical programming language Ladder Diagram (LD) for programmable logic controllers in a diagram generation step (101); generating a data flow graph (300) as a representation of the graphical diagram (200) in a graph generation step (103), wherein elements (201) of the graphical diagram (200) are represented as nodes (301) and connecting lines (203) between elements (201) of the graphical diagram (200) are represented as edges (303) of the data flow graph (300); and generating a version of the control program, which can be executed by a programmable logic controller based on the data flow graph (200) in a program generation step (105). The invention also relates to a programming tool (500) for carrying out the method (100).
The invention relates to a rotor (100) for a planar drive system (1) with a housing (110) and at least one magnet assembly (114). The housing (110) comprises a housing base body (111) and a cover (112). The magnet assembly (114) is arranged in a recess (113) of the housing base body (111). The cover (112) is attached to the housing base body (111) in such a manner that the housing (110) has a fluid-tight design, that the cover (112) covers the recess (113) and the magnet assembly (114) is arranged in an interior (115) of the fluid-tight housing (110). The invention also relates to a production method for such a rotor (100) and to a planar drive system (1) comprising such a rotor (100).
H02K 5/128 - Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas using air-gap sleeves or air-gap discs
H02K 5/22 - Auxiliary parts of casings not covered by groups , e.g. shaped to form connection boxes or terminal boxes
The invention relates to a method for machining an object (20) by means of a planar drive system (1), the planar drive system (1) comprising: - at least one stator unit (3), each having a plurality of coil groups (4) for generating a stator magnetic field; - a stator surface (5) above the stator unit (3); and - at least one rotor (10) having a plurality of magnet units (11) for generating a rotor magnetic field. The planar drive system (1) also has at least one rotational position (7), it being possible for the rotor (10) to be rotated perpendicularly to the stator surface (5) about an axis of rotation (13) in the rotational position (7). The rotational position (7) is determined on the basis of a contact point of four stator units (3). The method comprises the following steps: - energising the coil groups (4) such that the rotor (10) moves into the rotational position (7); - energising the coil groups (4) such that the rotor (10) rotates; and - machining the object (20) by means 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
B01F 29/80 - Mixers with rotating receptacles rotating about a substantially vertical axis
B01F 29/83 - Mixers with rotating receptacles rotating about a substantially vertical axis with rotary paddles or arms, e.g. movable out of the receptacle
The invention relates to a method for processing an object (20) by means of a planar drive system (1). The planar drive system (1) has - at least one stator unit (3), each unit having a plurality of coil groups (4) for generating a stator magnetic field; - a stator surface (5) above the stator unit (3); and - at least one rotor (10) having a plurality of magnet units (11) for generating a rotor magnetic field. A processing element (100) is positioned above the stator surface (5). The planar drive system (1) has at least one rotation position (7), the rotor (10) being rotatable in the rotation position (7) about an axis of rotation (13) perpendicular to the stator surface (5). A spatial arrangement of the processing element (100) is predetermined by the rotation position (7). The method comprises the following steps: - energising the coil groups (4) in such a way that the rotor (10) moves with the object (20) located on the rotor (10) into the rotation position (7); - energising the coil groups (4) in such a way that the rotor (20) rotates; - processing the object (20) by means of the rotor rotation, the processing element (100) acting on the object (20).
The invention relates to a system comprising a feed-in device and a plurality of field devices electrically connected to the feed-in device. The feed-in device is designed to provide electrical energy for an electrical energy supply to the field devices. The feed-in device has a feed-in device monitoring unit which is designed to detect spark production in the electrical energy supply and, on the basis thereof, to disconnect the electrical energy supply. The field devices have in each case an input connection for connecting a supply line. At least one field device has a connection device for connecting at least one output line. At least one field device is a monitoring field device which is designed for the electrical energy supply of at least one field device arranged downstream thereof and for monitoring. The monitoring field device has at least one output connection for connecting an additional supply line, by which the electrical energy of at least one field device arranged downstream thereof can be forwarded for electric energy supply. The feed-in device has a monitoring device which is designed to detect spark production in the electrical energy supply and, on the basis thereof, to disconnect the electrical energy supply. The invention further relates to a monitoring field device for a system.
H02H 7/26 - Sectionalised protection of cable or line systems, e.g. for disconnecting a section on which a short-circuit, earth fault, or arc discharge has occurred
The invention relates to a system comprising a feed-in device (400) and a plurality of field devices (100) electrically connected to the feed-in device. The feed-in device (400) is designed to provide electrical energy for an electrical energy supply to the field devices (100). The feed-in device has a monitoring unit (410) which is designed to detect spark production in the electrical energy supply and, on the basis thereof, to disconnect the electrical energy supply. The field devices each have a first device region (101) having an input connection (110) for connection of a supply line and a second device region (102). The electrical energy provided by the feed-in device (400) can be supplied via the input connection (110) to the first device region and can be transmitted via an electrical energy supply connection (170) from the first device region (101) to the second device region (102). The second device region (102) has a connector (160) having at least one output line connection (165) for connecting at least one output line, in order to relay the electrical energy transmitted to the second device region. The electrical energy supply connection (170) of the first and second device regions has a power limiting unit (300) which is designed to limit electrical power which can be transmitted from the first device region (101) to the second device region (102) in the context of the transmission of energy. The invention further relates to a field device for such a system.
The invention relates to a method for transferring an object (2) from a first rotor (100) to a second rotor (200) in a linear transport system (1) in a transfer region (4) between a first drive unit (10) and a second drive unit (20). The first drive unit (10) has a first coil unit (11), and the second drive unit (20) has a second coil unit (21). Each rotor (100, 200) moves along the drive unit (10, 20) in question as a result of a magnetic field produced by the coil unit (11, 12) in question. The object (2) is initially fastened to the first rotor (100) by means of a first connection. The method comprises the following steps: - synchronizing movements of the first rotor (100) and of the second rotor (200) such that the first rotor (100) and the second rotor (200) move with mutually coordinated movement paths in the transfer region (4); - forming a second connection between the object (2) and the second rotor (200) in the transfer region (4); - releasing the first connection. The first connection between the first rotor (100) and the object (2) is produced by means of a first retaining element (110). The second connection between the second rotor (200) and the object (2) is produced by means of a second retaining element (210).
The invention relates to a method (100) for controlling a planar drive system (200) having a stator unit (300) and a rotor (400), comprising: moving the rotor (400) into a rotational position (RP) of the rotor (400) on the stator unit (300) in a movement step (101), wherein each magnet unit (407) of the rotor (400) covers a coil group (321) of the stator unit (300), which is not covered by any further magnet unit (407) of the rotor (400), in the rotational position (RP) in each orientation of the rotor (400) relative to the stator unit (300); actuating the coil groups (321) which are covered by the magnet units (407) of the rotor (400) in the rotational position (RP), and generating a stator magnetic field by way of each actuated coil group (321) in an actuation step (103); and rotating the rotor (400) about an axis of rotation oriented perpendicular to a stator surface (303) of the stator unit (300) by a predetermined angle of rotation (α) by way of the stator magnetic fields of the actuated coil groups (321) covered by the magnet units (407) of the rotor (400) in a rotation step (105). The invention also relates to a planar drive system (200).
The invention relates to an automation system having a plurality of subscribers which are connected via a data bus, said system comprising a first master unit (1), a first distributor (3), a second master unit (2), a second distributor (4), and at least one slave unit (5) as subscribers. First transceivers (31, 41) of the first distributor (3) and of the second distributor (4) are connected via an annular data bus (6). Second transceivers (32, 42) of the first distributor (3) and of the second distributor (4) are connected via the annular data bus (6). In a first operating mode, the first distributor (3) forwards telegrams received by the first master unit (1) to the first transceiver (31). The first distributor (3) also forwards telegrams received by the second transceiver (32) to the first master unit (1). Furthermore, the second distributor (4) forwards first telegrams received by the first transceiver (41) to the second transceiver (42). In a second operating mode, the second distributor (4) forwards telegrams received by the second master unit (2) to the second transceiver (42). The second distributor (4) also forwards telegrams received by the first transceiver (41) to the second master unit (2). Furthermore, the first distributor (3) forwards telegrams received by the second transceiver (32) to the first transceiver (31).
The invention relates to a linear transport system (1), wherein the linear transport system (1) has at least one stationary unit (10) and at least one movable unit (100). The linear transport system (1) has a drive (20) for driving the movable unit (100), the drive (20) comprising a linear motor (21), the linear motor (21) comprising a stator (22) and a rotor (110). The stator (22) comprises the one stationary unit (10) or the plurality of stationary units (10). The rotor (110) is arranged on the movable unit (100) and comprises one or more magnets. The stationary unit (10) has an energy transmitter coil (30). The movable unit (100) has an energy receiver coil (103). The movable unit (100) has a fixing device (120), wherein the fixing device (120) is designed to fix the movable unit (100) in the linear transport system (1). The fixing device (120) comprises a movable element (121), wherein the movable element (121) can be moved between a first position and a second position, the movable element (121) in the first position triggering mechanical fixing of the movable unit (100).
The invention relates to a method (100) for controlling an automation system (200) with control redundancy, the automation system (200) comprising at least a first control unit (201), a second control unit (203) and a plurality of field devices (205) which are connected to the first control unit (201) and to the second control unit (203) via a databus (207), the first control unit (201) and the second control unit (203) being designed to cyclically control an automation process of the automation system (200), wherein the method (100) comprises: cyclically controlling the automation process of the automation system (200) by means of the first control unit (201) in a first control step (101); determining an error function of the first control unit (201) during an (n+x)th control cycle in an error determination step (113), the (n+x)th control cycle being carried out later in time by x control cycles than the nth control cycle; and transmitting the nth set of output data (On), via the second input-output unit (217) of the second control unit (203), to the plurality of field devices in the (n+x)th control cycle in order to control the automation process in an additional output transmission step (115). The invention also relates to an automation system (200) which is designed to carry out the method (100).
The invention relates to a method (100) for controlling a planar drive system (200), wherein the planar drive system (200) comprises at least one control unit (201), at least one stator module (300) with a stator surface (303), and at least one shuttle (400) which can be positioned and moved on the stator surface (303), comprising: positioning an object (600) on a shuttle (400) in a first arrangement state of the object (600) in a positioning step (101); executing an acceleration movement of a defined movement pattern of the shuttle (400) and, by means of the acceleration movement, arranging the object (600) positioned in the first arrangement state on the shuttle (400) in a second arrangement state relative to the shuttle (400) in an arrangement step (103). The invention also relates to a planar drive system (200).
H02K 33/16 - Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with polarised armatures moving in alternate directions by reversal or energisation of a single coil system
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
The invention relates to a stator module (100) of a linear transport system, comprising a plurality of drive coils (110), wherein the drive coils (110) can be energized and form part of a stator (121) of a linear motor (120). The stator module also has control electronics (130). The drive coils (110) can be controlled by means of the control electronics (130). The control electronics (130) have at least one control element (140), the control element (140) being designed to energize a number of drive coils (110). The control element (140) has a number of half bridges. The half bridges each comprise a first half bridge terminal, a second half bridge terminal and a half bridge center point. The first half bridge terminals of the half bridges are interconnected, and the second half bridge terminals of the half bridges are interconnected. The half bridges and the drive coils (110) form a chain, within which chain half bridge center points and drive coils (110) are arranged in alternation, at least one half bridge center point being connected to two drive coils (110).
The invention relates to a method for communication between passive subscribers (100, 200) of a bus system (1). A first passive subscriber (100) encodes an original static pattern (306) in a first transmitting SERDES element (111) and transmits it as an encoded static pattern (307) to a second passive subscriber (200) and encodes original user data (312) temporally synchronously with the original static pattern (306) in a second transmitting SERDES element (112) and transmits them as encoded user data (314) to the second passive subscriber (200). The second passive subscriber (200) receives the encoded static pattern (307) and the encoded user data (314) and, from the encoded static pattern (307), generates a sampling clock pulse (302) with a first clock pulse and a clock pulse (303) which is synchronous with the transmit-receive clock pulse (301) with a second phase offset. The second passive subscriber (200) decodes the encoded static pattern (307) by means of a first receiving SERDES element (211) and decodes the encoded user data (314) by means of a second receiving SERDES element (212) and thus obtains a received data word. The first receiving SERDES element (211) and the second receiving SERDES element (212) are operated based on the sampling clock pulse (302) and the received data word is output synchronously with the synchronous clock pulse (303).
The invention relates to a control cabinet system (100) comprising a base module (200) and at least one functional module (300), wherein: the base module (200) comprises a base housing (201) having a first housing face (202) and a second housing face (204); the functional module (300) comprises a functional housing (301) having a lower housing face (302); a circulation duct (215) is located in the base housing (201); an air flow can be circulated in the circulation duct (215); each base connection element (203) comprises circulation openings (217) which are fluidically connected to the circulation duct (215); the functional connection element (303) has coupling openings (309) which are fluidically connected to an interior of the functional housing (301); the coupling openings (309) can be coupled to the circulation openings (217); and, when the coupling openings (309) are coupled to the circulation openings (217), a fluid connection is established between the circulation duct (215) and the interior of the functional housing (301), and a fluidically closed circulation circuit (101) is formed which comprises the circulation duct (215) and the interior of the functional housing (301), in which circulation circuit an air flow can be circulated. The invention also relates to a base module (200) and a functional module (300).
The invention relates to a method (100) for controlling an automation system (200) with visualisation of program objects of a control program of an automation system (200), the method comprising: • ascertaining a pointer address (ZA) of the pointer element in a pointer address determination step (103); • determining a first address offset (A01) of the pointer address (ZA) of the pointer element; • identifying a program object (PO), which, in accordance with the arrangement structure of the program state (PZ), is distanced by the first address offset (A01) to the first memory point of the program state (PZ), as a first program object (P01), the memory address of which in the first memory region (SP1) corresponds to the pointer address (ZA) of the pointer element; • identifying the first program object with the pointer object (ZO) referenced by the pointer element; • determining a fully qualified name of the identified pointer element; and • displaying the fully qualified name of the pointer object (ZO) referenced by the pointer element on a display element connected to the controller. The invention furthermore relates to an automation system (200) for carrying out the method (100).
The invention relates to a driven linear axle (1) as a robot base for a robot arm of an industrial robot, the axle comprising a housing (20) that has a linear rail guide on which a carriage (11) is situated so as to be movable linearly back and forth by means of a transport device. The transport device comprises a belt (15) circulating in the housing (20), which belt is guided over two wheels, wherein at least one wheel is a drive wheel (153). Furthermore, a drive device (14) is installed within the drive wheel (153) and is in a torque-locked rotary connection with the drive wheel (153).
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
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
33.
METHOD FOR OPERATING A PLANAR DRIVE SYSTEM, AND PLANAR DRIVE SYSTEM
The invention relates to a method for operating a planar drive system. The planar drive system comprises a stator, a plurality of rotors and a main control device. The stator has a plurality of energizable stator conductors. An energization of the stator conductors of the stator is controllable by means of the main control device. Each rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be generated between the energized stator conductors of the stator and the magnet devices of the rotor in order to drive the rotor. Each rotor is assigned at least one dedicated rotor identification. An identification of the rotors is carried out by providing position information of the rotors and rotor identifications of the rotors, and the provided position information of the rotors and the provided rotor identifications of the rotors are linked with one another. The invention also relates to a planar drive system..
G05B 19/19 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
An arm module (4) having a housing (10) which has a first connection side (11) and a second connection side (12) is provided, wherein the first connection side (11) is designed to be controllably rotatable about an axis of rotation relative to the second connection side (12), wherein the first connection side (11) has a rotatable first connection device (30) and the second connection side (12) has a second connection device (40) which is fixed to the housing, and having a rotation-compatible data transmission device (20) for transmitting data signals along at least one transmission path (2000) between the first connection side (11) and the second connection side (12), wherein the transmission path (2000) comprises at least one wireless partial transmission path (2020) for wirelessly transmitting data signals and at least one wired partial transmission path (2010) for the wired transmission of data signals, wherein the rotation-compatible data transmission device (20) has at least one first wireless transceiver unit (201) and at least one second wireless transceiver unit (202) which are each connected to one another via the transmission path (2000) and are configured to wirelessly emit and receive data signals along the at least one wireless partial transmission path (2020). An industrial robot (1) having a plurality of arm modules (4) is also provided.
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
The invention relates to a method (100) for controlling a planar drive system (200), comprising: controlling the rotor along a control path starting from a first position (P1) on the stator module (300), in a control step (101); determining a sensor pattern (SM) of the magnetic field sensors of the sensor module in a sensor pattern determining step (103), wherein a sensor pattern (SM) comprises a partial quantity of the magnetic field sensors of the sensor module of the stator module, wherein the sensor module comprises at least one magnetic field sensor that is not comprised by the sensor pattern (SM), and wherein a surface of the sensor pattern (SM) is at least partially covered by the stator in a position along the control path; measuring measurement values of the rotor magnetic field using the magnetic field sensors (501) of the sensor pattern (SM) in a rotor magnetic field determining step (105); detecting the rotor (400) and determining a second position (P2) of the rotor (400) based on the measurement values of the rotor magnetic field measured by the magnetic field sensors (501) of the sensor pattern (SM) in a position determining step (107). The invention also relates to a planar drive system (200).
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
H01L 21/68 - Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components for positioning, orientation or alignment
36.
METHOD FOR CREATING AND EXECUTING A CONTROL PROGRAM FOR CONTROLLING AN AUTOMATION SYSTEM, AND AUTOMATION SYSTEM
The invention relates to a method (100) for creating and executing a control program for controlling an automation system (200) comprising a controller (201) and a web server (203) connected to the controller (201), the method comprising: in a code creation step (105), creating a first version of a program code (V1) of a control program for the automation system (200) in an input module of a web-based development environment (300), which input module is executed in a web browser (206); in a translation step (111), executing a translation module (303) of the web-based development environment (300) on the web server (201) and translating the program code into a program code of a binary language; and, in an execution step (115), executing the program code in the binary language by means of the controller (201) of the automation system. The invention also relates to an automation system (200).
The invention relates to a planar drive system. The planar drive system comprises a stator and a rotor. The stator has a plurality of energizable stator conductors. The rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be generated between the energized stator conductors of the stator and the magnet device of the rotor in order to drive the rotor. The stator is designed to carry out the energization of the stator conductors such that an alternating magnetic field can be generated with the aid of the energized stator conductors. The rotor comprises at least one rotor coil, in which an alternating voltage can be induced on account of the alternating magnetic field. The planar drive system is designed for data transmission from the rotor to the stator, wherein the rotor is designed to temporarily load the at least one rotor coil in order to temporarily cause an increased current consumption of energized stator conductors of the stator. The invention also relates to a method for operating a planar drive system.
H02J 50/10 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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
H02P 29/40 - Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
H02K 11/00 - Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
H02K 11/35 - Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
H02J 7/02 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
38.
PLANAR DRIVE SYSTEM AND METHOD FOR OPERATING A PLANAR DRIVE SYSTEM
The invention relates to a planar drive system. The planar drive system has a stator and a rotor. The stator has a plurality of stator conductors which can be energized. The rotor has a magnet device with at least one rotor magnet. A magnetic interaction can be produced between the energized stator conductors of the stator and the magnet device of the rotor in order to drive the rotor. The stator is designed to energize stator conductors such that an alternating magnetic field can be generated using the energized stator conductors. The rotor has at least one rotor coil, in which an AC voltage can be induced on account of the alternating magnetic field. The planar drive system is designed to transmit data from the stator to the rotor in that the stator is designed to temporarily influence the process of energizing stator conductors in order to thereby temporarily produce a change in the AC voltage which can be induced in the at least one rotor coil of the rotor. The invention also relates to a method for operating a planar drive system.
H02P 6/10 - Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
H02J 50/10 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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
H02K 11/042 - Rectifiers associated with rotating parts, e.g. rotor cores or rotary shafts
H02K 11/35 - Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
B65G 49/08 - Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for ceramic mouldings
An automation system has provision between a first network (10) and a second network (20) for a protocol converter (30) for converting security-relevant messages between the first and second networks (10, 20), which use different network protocols for message exchange. In the protocol converter (30), a single-channel filter module device connected to a single-channel interface device ascertains messages using a first security communication protocol from messages received by the interface device via the first network (10), and messages using a second security communication protocol from messages received via the second network (20). An at least two-channel security module connected to the filter module device then converts the messages using the first security communication protocol that have been ascertained by the filter module device into messages using the second security communication protocol, and the messages using the second security communication protocol that have been ascertained by the filter module device into messages using the first security communication protocol.
The invention relates to a switch-on unit (100) for a tool (300) of a movable unit (20) of a linear transport system (1), which switch-on unit (100) can be fastened to the movable unit (20). The switch-on unit (100) has a housing (101), an energy-receiving coil (105) having energy-receiving electronics (121), and a movable antenna (110) having communication electronics (122). The energy-receiving electronics (121) and the communication electronics (122) are disposed on at least one first circuit board (120) within the housing (101). The housing (101) ha an opening (190) for connections of the tool (300) and an installation space (130) for application electronics (200). The first circuit board (120) has a first interface (124) for the application electronics (200), the first interface comprising a voltage supply and a communication connection. The communication electronics (122) are designed to receive a first data signal by means of the movable antenna (110), to calculate a second data signal from information about a data structure of the first data signal and from the first data signal, and to provide the second data signal at the communication connection.
The invention relates to a method (100) for controlling a planar drive system (200), comprising: in a preferred direction identification step (101), identifying a stator module preferred direction (315) of the stator module (300) together with the magnetic field preferred direction (319) or the sensor preferred direction (443) and identifying a rotor preferred direction (441) of the rotor (400) together with the other of the magnetic field preferred direction (319) or the sensor preferred direction (443) respectively; in a magnetic field setting step (103), setting the orientation magnetic field by means of the magnet device (419); in a magnetic field determining step (105), receiving at least one measured value of the orientation magnetic field by means of the magnetic field sensor device; in an alignment determining step (107), determining an alignment of the rotor preferred direction (441) relative to the stator module preferred direction (315) on the basis of the measured value of the component of the orientation magnetic field parallel to the sensor preferred direction (443); in an orientation determining step (109), determining a first orientation of the rotor (400) on the stator module (300) on the basis of the alignment of the rotor preferred direction (441) relative to the stator module preferred direction (315). The invention further relates to a planar drive system (200).
The invention relates to a method (100) for controlling a planar drive system (200), having the steps of: generating a position assigning function (205) in an assignment generating step (101); measuring a plurality of measurement values of the rotor magnetic field (402) for the position of the rotor (400) relative to the stator module (300) by means of magnetic field sensors (501) in a rotor magnetic field determining step (103); using the position determining function (205) on the plurality of measurement values of the rotor magnetic field (402) from the plurality of magnetic field sensors (501) in a measurement value analysis step (105); and determining the position of the rotor (400) relative to the stator module (300) on the basis of the measurement values, measured by the plurality of magnetic field sensors (501), of the rotor magnetic field and on the basis of the assignments of the position assigning function (205) in a position determining step (107). The invention additionally relates to a planar drive system (200).
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
G01D 5/14 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
43.
METHOD FOR CONTROLLING A PLANAR DRIVE SYSTEM, AND PLANAR DRIVE SYSTEM
The invention relates to a method (100) for controlling a planar drive system (200), comprising: in a first stator magnetic field determining step (101), determining a plurality of values of stator magnetic fields for a plurality of different excitation currents and for a plurality of spatial regions (502) in the two-dimensional arrangement of the magnetic field sensors (501); in a stator magnetic field generating step (103), generating at least one stator magnetic field by applying corresponding excitation currents to corresponding stator conductors (309) in order to electrically control the rotor (400); in a total magnetic field determining step (105), determining a plurality of measured values of a total magnetic field by means of a plurality of magnetic field sensors (501) for a plurality of spatial regions (502) of the sensor module (500) in order to calculate a position of the rotor (400); in a compensation step (107), compensating for contributions from the stator magnetic fields to the measured values of the total magnetic field, which measured values are determined by the magnetic field sensors (501), and generating measured values of the rotor magnetic field, which measured values are determined by the corresponding magnetic field sensors (501) for the corresponding spatial region (502); and in a position determining step (109), calculating a position of the rotor (400) on the basis of the generated measured values of the rotor magnetic field . The invention also relates to a planar drive system (200).
G05D 3/12 - Control of position or direction using feedback
H02P 23/00 - Arrangements or methods for the control of AC motors characterised by a control method other than vector control
G01D 5/14 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
H02K 29/08 - Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates or magneto-resistors
The invention relates to a planar drive system (1). The planar drive system (1) comprises a stator (5) and a rotor (200). The stator (5) comprises a plurality of stator conductors (125). The rotor (200) comprises a magnet device having at least one rotor magnet. The stator (5) is designed to energize the stator conductors (125). A magnetic interaction can be generated between the energized stator conductors (125) of the stator (5) and the magnet device of the rotor (200) in order to drive the rotor (200). The stator (5) is designed to perform the energization of the stator conductors (125) by way of current control based on pulse width modulation. On account of the current control, a ripple current can be generated in energized stator conductors (125) of the stator (5) and as a result an alternating magnetic field can be generated. The rotor (200) comprises at least one rotor coil, in which an AC voltage can be induced on account of the alternating magnetic field. The invention furthermore relates to a method for operating a planar drive system (1) and to a stator (5) for a planar drive system (1) for driving a rotor (200).
The invention relates to a method for transmitting energy from a stationary unit (111) of a linear transport system (101) to a movable unit (103) of a linear transport system (101). The linear transport system (101) has a guide rail (105) for guiding the movable unit (103), multiple stationary units (111), a control unit (133), and a linear motor (107) for driving the movable unit (103) along the guide rail (105). The linear motor (107) comprises a stator (109) and a rotor (113), wherein the stator (109) comprises the stationary units (111), each of which comprises one or more drive coils, and the rotor (113) is arranged on the movable unit (103) and comprises one or more magnets. Each of the stationary units (111) comprises one or more energy transmission coils (125), and the movable unit (103) comprises at least one energy receiving coil (127). The method has the following steps which are carried out by the control unit (133): ascertaining positional data of the energy receiving coils (127) of the movable unit (103); selecting at least one energy transmission coil (125) within the linear transport system (101) using the positional data of the energy receiving coil (127); and outputting a control signal to the stationary unit (111), said control signal comprising identification information by means of which the at least one energy transmission coil (125) can be identified.
The invention relates to a method for transmitting data between a movable unit (103) and a stationary unit (111) of a linear transport system (101). The linear transport system (101) has a guide rail (105) for guiding the movable unit (103), multiple stationary units (111), a control unit (133), and a linear motor (107) for driving the movable unit (103) along the guide rail (105). The linear motor (107) comprises a stator (109) and a rotor (113), wherein the stator (109) comprises the stationary units (111), each of which comprises one or more drive coils, and the rotor (113) is arranged on the movable unit (103) and comprises one or more magnets (117). Each of the stationary units (111) has at least one stationary antenna (129), and the movable unit (103) has a movable antenna (131). The method has the following steps which are carried out by the control unit (133): ascertaining positional data of the movable antenna (131) of the movable unit (103); selecting a stationary antenna (129) within the linear transport system (101) using the positional data of the movable antenna (131); and outputting a data packet to the stationary unit (111), said data packet comprising a control signal and a data signal (300) to be transmitted via the selected stationary antenna (129). The control signal contains identification information, by means of which the selected stationary antenna (129) can be identified. The data signal (300) contains a start sequence (301) and a first communication frame (341) which is attached to the start sequence (301). The start sequence (301) is designed to trigger the process of receiving data of the movable unit (103). The first communication frame (341) comprises a start bit (311) and useful data (302) to be transmitted.
The invention relates to a safety module (100) for safe drive control of a drive system (107) in an automation system (200), said safety module (100) being designed for: receiving, by means of the protocol master (101), encoder data transmitted by the encoder unit (111) to the drive unit (109) on the basis of an encoder protocol; relaying the received encoder data from the protocol master (101) to the safety logic (105) and to the protocol slave (103); checking the relayed encoder data by the safety logic (105) for compliance with predetermined safety criteria relating to the operation of the motor unit (113); transmitting the relayed encoder data by the protocol slave (103) on the basis of the encoder protocol in corresponding data packets to the drive unit (109); and stopping the operation of the motor unit (113) by the safety logic (105), if the encoder data are recognised by the safety logic (105) as not complying with the predetermined safety criteria. The invention further relates to a drive system (107) and an automation system (200).
H02P 3/08 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
H02P 29/024 - Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
The invention relates to an active arm module (25), a modular robot arm (20), and an industrial robot (10), the active arm module (25) having a first housing (60), a heat exchanger (355), a drive device (240), and a first connection side (40) with a first connection plate (95) and a first fluid contact device (130) arranged on the first connection plate (95). The first connection plate (40) is mechanically connectable to a further arm module (18) or a robot base (15) of the robot arm (20) for the transfer of drive and support forces, the first housing (60) extending along a rotation axis (Ran) and delimiting an interior (235) receiving the drive device (240), a fluid (51) being exchangeable with the further arm module (18) or the robot base (15) via the first fluid contact device (130). The heat exchanger (355) receives the drive device (240) at least in some sections and is thermally coupled to the drive device (240), the heat exchanger (355) having at least one heat exchanger fluid channel (380), the heat exchanger fluid channel (380) being fillable with a fluid (51) for exchange of the fluid (51) with the first fluid contact device (130), the heat exchanger (355) being designed to exchange heat between the drive device (240) and the fluid (51).
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
The invention relates to a method (100) for data communication between participants of an automation system (200), comprising: in a first receiving step (103), a first passive participant (203) and a second passive participant (205) receiving a write request (217) transmitted by an active participant (201); in a first determination step (105), determining a first transmission time (T1) for transmitting the first reply message (219) by the first passive participant (203); in a first reply step (107), transmitting the first reply message (219) at the first transmission time (T1); in a second receiving step (109), receiving the first reply message (219); in a second determination step (111), determining the second transmission time (T2) for transmitting the second reply message (221) by the second passive participant (205); in a second reply step (113), transmitting the second reply message (221) at the second transmission time (T2); in a third receiving step (115), receiving the second reply message (221); and, in an interpretation step (117), interpreting the first reply message (219) and the second reply message (221) as segments of a data packet (227).
The invention relates to a data transmission system, in which a first amount of data can be transmitted in each transmission cycle. A data producer (3) 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 producer (3) transmits the data provided by the data producer (3) to a data processor (2) at the data transmission rate of the data transmission channel (1). The data processor (2) processes the data received on the data transmission channel (1) from the data producer (3) at a delay of the number of transmission cycles that the data producer (3) needs in order to react to a command of the data processor (2). The data processor (2) indicates a transmission cycle as erroneous to the data producer (3) by means of a repeat command if an error occurred in the data transmission in the transmission cycle, and the data producer (3) repeats the data transmission of the data of the transmission cycle indicated as erroneous by the data processor (2) when the data producer receives the repeat command.
The invention relates to a method (200) for data migration for a pointer element in the course of a data migration for a program state of a control program of an automation system (100), comprising: identifying the first pointer element (Z1) and the second pointer element (Z2) as pointer elements associated with one another via a first relation (R1) in a first pointer identification step (201), and mapping the first pointer element (Z1) to the second pointer element (Z2) in a pointer migration step (203), wherein the pointer migration step (203) comprises: identifying the first pointer object (ZO1) referenced by the first pointer element (Z1) in a first object identification step (205), identifying an object associated with the first pointer object (ZO1) as the second pointer object (ZO2) in a second object identification step (207), ascertaining an absolute memory address of the second pointer object (ZO2) in a first address ascertainment step (209), and writing the ascertained memory address of the second pointer object (ZO2) as value of the second pointer element (Z2) to the second pointer element (Z2) in a first pointer storage step (211).
The invention relates to a method (200) for updating a control program of an automation system (100) with data migration for a program state of the control program, comprising: generating a first migration function (MIG1) for mapping a first data element (GA) to a second data element (GB) in a first generation step (201), interrupting cyclic execution of a first control program (A) in an interruption step (203), determining a value of the first data element (GA) in a first determination step (205), wherein the determined value of the first data element (GA) describes a program state of the first control program (A) at the time of the interruption, and mapping the value of the first data element (GA) to the second data element (GB) by performing a first migration function (MIG1) in a migration step (207).
The invention relates to a method (100) for linking objects of the data communications standard Open Platform Communication Unified Architecture OPC UA with objects of a PLC code of a control unit (201) of an automation system (200), comprising: importing an OPC UA node set of a companion specification in an import step (101); generating OPC UA instances of the OPC UA object types of the OPC UA node sets for the automation system (200) and combining the OPC UA instances in an OPC UA instance node set in an instancing step (103); generating PLC objects in a PLC code of a control program of the automation system (200) in an object generating step (105); and linking the OPC UA instances of the OPC UA instance node sets with PLC objects of the PLC code of the control program in a linking step (107). The invention furthermore relates to a development environment (211) for carrying out the method (100).
The invention relates to a method for operating a device (100) comprising an internal clock generator (110) and an internal clock (120) and connected to a network (200). The internal clock (120) is incremented using the internal clock generator (110). Furthermore, the internal clock (120) is synchronised with a network frequency (230) of the network (200).
The invention relates to a method (200) for real-time-compatible data communication between subscribers in an automation network (100), wherein the automation network (100) comprises a master subscriber (101), multiple slave subscribers (103) and at least one connecting unit (A), the method (200) comprising the method steps of: the master subscriber (101) arranging n data packets that are to be transmitted in an order of transmission with a total allocation period for the order of transmission in a first arrangement step (201), the master subscriber (101) performing an optimization method for determining an optimized order of transmission with a minimum total allocation period in an optimization step (203), and the master subscriber (101) transmitting the n data packets to the slave subscribers (103) in the optimized order of transmission in a transmission step (205). The invention also relates to a master subscriber (101) for carrying out the method (200) and to an automation network (100) having a master subscriber (101).
An automation network (100) has at least one master station (205), at least one switching device (210) and at least one slave station (215). The master station (205) has master ports, the switching device (210) has switching ports, and the slave station (215) has slave ports, which each comprise a transmitting unit TX and a receiving unit RX. The master station (205) is configured to output a first telegram (220) to a first switching port (500) via a first master port (400) and a first master communication path (310) and to output a second telegram (225) to a second switching port (515) via a second master port (415) and a second master communication path (315). The switching device (210) is configured to forward the first telegram (220) to a first slave port (600) of a slave station (215) via a first slave communication path (320) and to forward the second telegram (225) to a second slave port (620) of a slave station (215) via a second slave communication path (325). When in fault mode, the switching device (210) and the slave station (215) are configured to send the first telegram (220) back to the master station (205) so that it receives the first telegram (220) via the first master port (400) and/or to send the second telegram (225) back to the master station (205) so that it receives the second telegram (225) via the second master port (415).
The invention relates to methods (200) for operating an automation system (100) that has a first control unit (101) and a second control unit (103), and an external data infrastructure (300), that has a message distribution module (301), the methods comprising: defining a first communication network (109) and identifying the first control unit (101) and the second control unit (103) as being first communication subscribers (111) of the first communication network (109) by means of the message distribution module (301) in a first identification step (201); transmitting a first network message by means of the first control unit (101) to the message distribution module (301) of the external data infrastructure (300) in a first transmission step (203); identifying, by means of the message distribution module (301), the second control unit (103) of the first communication network (109) as being the first communication subscriber (111) addressed by the first control unit (101) in a second identification step (205); forwarding the first network message, transmitted by the first control unit (101), to the second control unit (103) by means of the message distribution module (301) in a forwarding step; and receiving the forwarded first network message by means of the second control unit (103) in a receiving step (209). The invention further relates to a data infrastructure (300).
The invention relates to a method for time synchronization in an Ethernet-based network, which comprises a master network subscriber, a first segment and a second segment, each segment having at least one network subscriber, the second segment being connected to the first segment by means of a first network distributor arranged in the first segment, which method comprises steps: for sending out a synchronization telegram by means of the master network subscriber, which synchronization telegram is addressed to the second segment, the synchronization telegram having a first type; for receiving the synchronization telegram by means of the first network distributor; for converting the synchronization telegram into a second type by means of the first network distributor; for forwarding the synchronization telegram to a network subscriber of the second segment by means of the first network distributor; for reading out a synchronization value stored in the synchronization telegram, by means of the network subscriber of the second segment; and for adjusting the rate of change of a local system time of the network subscriber of the second segment using the synchronization value.
The invention relates to a method for time synchronization in an Ethernet-based network, which has at least one master network subscriber and one slave network subscriber, which method comprises steps for the sending out of a first telegram by the master network subscriber, the slave network subscriber receiving the first telegram at a first reception time value of a local system time of the slave network subscriber and storing the first receiving time value; for the reading out of the first reception time value by the master network; for the sending out of a second telegram by the master network subscriber, the slave network subscriber receiving the second telegram at a second reception time value of the local system time of the slave network subscriber and storing the second reception time value; for the reading out of the second reception time value by the master network subscriber; for the calculation of a speed parameter of the local system time of the slave network subscriber from the reception time values by the master network subscriber; and for the transfer of the speed parameter to the slave network subscriber.
The invention relates to an automation communication network (100) having at least one distribution node (VK) which has a plurality of input/output interfaces (PX), each connected to a network segment (NX), wherein each network segment (NX) has at least one subscriber (TN). Segment telegrams for processing by the subscriber (TN) in the network segment (NX) are assigned to the individual network segments (NX), wherein the segment telegrams have priorities. The segment telegrams additionally have a data field which is designed to contain a piece of telegram sequence information which indicates the priority that a subsequent segment telegram from the network segment (NX) has. The distribution node (VK) in the automation communication network (100) is designed to receive the segment telegram on an input/output interface (PX) and to transmit it on an additional input/output interface (PX) according to a routing specification, wherein the distribution node (VK) blocks the input/output interface (PX) on which the segment telegram was transmitted with respect to a further transmitting process if the telegram sequence information assigned to the transmitted segment telegram indicates a priority of a higher value for the subsequent segment telegram from the network segment (NX) having the same routing specification, than the priority value of telegrams present in the distribution node (VK) and designated for transmission on the input/output interface (PX), in order to send the subsequent segment telegram on the blocked input/output interface (PX) after receiving the subsequent segment telegram from the network segment (NX) having the same routing specification.
The invention relates to a method for operating a communication network. The communication network comprises a plurality of subscribers. An exchange of data in the communication network between the subscribers takes place in the form of telegrams which comprise a plurality of data portions. The subscribers interpret an end region of the telegrams as a test value for monitoring the accuracy of preceding data portions of the telegrams. The telegrams are processed as they pass by means of the subscribers, such that the telegrams are received by the subscribers and, during the receiving process, are forwarded to a corresponding nearest subscriber. If an error in the telegram is detected when receiving a telegram, the subscribers send the telegram in question to a nearest subscriber together with an identifying data portion of the telegram at the end thereof, and so the telegram sent to the nearest subscriber comprises an end region that represents an invalid test value. Using the identifying data portion, which is a component of the end region of the telegram, the telegram is identified for the nearest subscriber such that the telegram should not be considered as an initial error but rather as a sequence error. The invention also relates to a communication network and to a subscriber for a communication network.
The invention relates to a method for processing telegrams in an automation network (100), wherein a master subscriber (105) is designed to encrypt telegrams at least in part in each case and to output said telegrams to a slave subscriber (110). The slave subscriber (110) has an input port (400), a receiving logical unit (410), which is connected to the input port (400), a decryption unit (415), which is connected to the receiving logical unit (410), and a processing unit (425), which is connected to the decryption unit (415) and the receiving logical unit (410). The receiving logical unit (410) is designed to forward an encrypted part of the telegram, which is encrypted at least in part, to the decryption unit (415) when there is a telegram, which is encrypted at least in part by the master subscriber, on the input port (400) of the slave subscriber (110). The decryption unit (415) is designed to decrypt the encrypted part of the telegram, which is encrypted at least in part, using a key during pass-through and to forward it to the processing unit (425). The processing unit (425) is designed to process the decrypted part of the telegram which is encrypted at least in part. If there is a telegram on the input port (400) which is unencrypted by the master subscriber (105), the receiving logical unit (410) is designed to forward the unencrypted telegram to the processing unit (425) and the processing unit (425) is designed to process the unencrypted telegram.
H04L 9/06 - Arrangements for secret or secure communications; Network security protocols the encryption apparatus using shift registers or memories for blockwise coding, e.g. D.E.S. systems
The invention relates to an automation system (1) having at least one master control unit (2), at least one radio client (51), a first radio apparatus (11) and a clock master (3), which can output signals. A bus system (4) is provided by means of the master control unit (2), wherein communication occurs within the automation system (1) by means of the bus system (4). The first radio apparatus (1) has a first synchronization element (31), a first radio module (41) and a first connection (21) for the bus system (4), wherein the first radio module (41) can establish a first radio connection (61) to the first radio client (51) and, as a result, data can be exchanged between the first radio client (51) and the bus system (4). The first radio connection (61) has a first radio channel (K1), wherein the first radio channel (K1) comprises a first frequency range. The first radio module (41) has a first synchronization input (71), wherein the first synchronization element (31) is designed to output a first synchronization signal (S1) to the first synchronization input (71) of the first radio module (41) on the basis of 15 a signal received from the clock master (3) via the first connection (21) for the bus system (4). The first radio module (41) is designed, on the basis of the first synchronization signal (S1), to be able to change a frequency within the first frequency range of the first radio channel (K1), wherein the changing of the frequency within the first frequency range occurs on the basis of a first hopping table (H1).
The invention relates to a network distributor (115) having a plurality of input/output ports PX, a processor unit (400) and a memory unit (405). The plurality of input/output ports PX are each designed to connect network subscribers (300) via a data line network (200). The network subscribers (300) can include protocol subscribers (101), which are designed to process telegrams in the form of protocol telegrams. The processor unit (400) is designed to receive telegrams by means of one input/output port PX and to output said telegrams by means of another input/output port PX, which is stored in a routing table in the memory unit (405). The processor unit (400) is also designed to check a telegram with respect to whether the telegram is a protocol telegram and has been received by means of an input/output port PX for which it is preset that no protocol subscriber (101) is connected, and to discard the telegram in the case of a positive check. The checking and discarding of the telegram can be made subject to a precondition to be taken into account by the processor unit (400). In particular, the fulfillment of the precondition can lead to an exception to the discarding of the telegram.
The invention relates to an active arm module (25), a passive arm module (30), an end module (410), a modular robotic arm (20) and an industrial robot (10), said active arm module (25) having a first housing (60), a first connection side (40), a second connection side (45) that is offset relative to the first connection side (40), and a drive device (210), said first connection side (40) being rotatably mounted about an axis of rotation (Ran) relative to the first housing (60) and being torque-transmittingly connected to the drive device (210), said second connection side (45) being non-rotationally connected to the first housing (60), said drive device (210) being disposed in the first housing (60) and designed to controllably rotate the first connection side (40) about the axis of rotation (Ran) relative to the first housing (60) , wherein an additional module (25, 30, 410) can be connected to the first and/or second connection side (40, 45), and the first connection side (40) is optically and/or electrically and/or power-transmittingly and/or fluidically connected to the second connection side (45), and an optical signal and/or an electrical signal and/or electric power and/or a fluid (51) can be exchanged with the additional module (18) via the first connection side (40) and/or via the second connection side (45).
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
The invention relates to an arm module (18), to a modular robotic arm (20) and to an industrial robot (10). The arm module comprises a first housing (60), a first connection side (40) and a second connection side (45). The first connection side (40) has a first connection plate (95), a first fluid contact device (180) and a first contact device (220). The second connection side (45) is mechanically connected to the first housing (60) for conjoint rotation and has a second connection plate (300). The first fluid contact device (180) and the first contact device (220) are arranged on the first connection plate (95) and extend parallel to a first mounting axis (100). The first connection side (40) can be connected to an additional arm module (18) of the robotic arm (20). An screw external thread (110) extending around the first mounting axis (100) is arranged on a first outer peripheral side (105) of the first connection plate (95). The second connection plate (300) is surrounded peripherally by a fastening ring (340). The fastening ring (340) has, on an inner peripheral side (345), an internal screw thread (350) corresponding to the external screw thread (110). The fastening ring (340) is connected, axially fixedly and for rotation about the second mounting axis (325), to a first housing (60) of the arm module (18).
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 15/04 - Gripping heads with provision for the remote detachment or exchange of the head or parts thereof
The invention relates to an industrial robot with a modular robot arm which has a plurality of arm modules. A rotation transmission device for optically transmitting a signal is provided in an arm module or between a first and a second arm module, said transmission device having an optomechanical rotation interface with a first interface side (56) and a second interface side (57) which face each other and which are designed to complement each other and to be substantially rotationally symmetrical. The first interface side (56) and the second interface side (57) can be rotated relative to each other. The first interface side (56) and the second interface side (57) are interconnectedly mounted in a mechanically radially sliding manner by means of a radial slide bearing on one interface side and a complementary slide bearing shell on the other interface side. A gap (312) is formed between the first interface side and the second interface side in the axial direction of the rotation transmission device, wherein the optical signal transmission is carried out across said gap.
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 (10) comprising a first connection side (11) and a second connection side (12). The first connection side (11) is designed to be controllably rotatable about an axis of rotation relative to the second connection side (12). The first connection side (11) has a rotatable first connection device (30) and the second connection side (12) has a second connection device (40) attached to the housing. Also provided is a multi-functional rotation transfer system for transferring rotation from data signals, from electrical energy and from fluid. Also comprised is a drive device (13) with a shaft arrangement (19) having an output shaft (17), which arrangement is connected to the rotatable first connection device (30) of the first connection side (11) for rotation therewith, said shaft arrangement (19) forming a section of the multi-functional 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
69.
RUNTIME SERVER FOR SIMULTANEOUSLY EXECUTING MULTIPLE RUNTIME SYSTEMS OF AN AUTOMATION INSTALLATION
The invention relates to a runtime server (100) for simultaneously executing multiple runtime systems (101) in an operating system (103) for a data processing installation for controlling an automation installation on the basis of an installation control program, wherein the runtime systems (101) are designed for real-time execution of the installation control program, comprising: at least two runtime systems (101) for executing application modules (105) of the installation control program, wherein at least one application module (105) for executing an application of the installation control program is installed on each runtime system (101), wherein each runtime system (101) has a data transmission interface (107) for data transmission between runtime systems (101) and/or between application modules (105), wherein each runtime system (101) has an I/O configuration (109) that defines an association between at least one variable of the application modules (105) of the runtime systems (101) and at least one hardware address of a hardware component (113) of an automation installation (112) to be controlled, an I/O interface (111) for data interchange between the at least two runtime systems (101) and the hardware components (113) of the automation installation (112) having at least one I/O input (115) and/or I/O output (117), and an I/O mapping intermediate layer (119), wherein the I/O configurations (109) of the at least two runtime systems (101) are mapped in the I/O mapping intermediate layer (119). The invention further relates to a computer program product (200) for executing the runtime server (100).
The invention relates to a method for moving a rotor (20) in a planar drive system (1). The planar drive system (1) has a first stator module (11), a second stator module (12), and a rotor (20), and the first stator module (11) and the second stator module (12) are arranged in a mutually spaced manner, a gap (30) being formed between the first stator module (11) and the second stator module (12). A first magnetic field (91) can be generated by the first stator module (11), and a second magnetic field can be generated by the second stator module (12), wherein the first magnetic field (91) or the second magnetic field (92) can hold the rotor (20) in a vertical position at a distance to the surface of the first stator module (11) and/or the second stator module (12), and the first magnetic field (91) and/or the second magnetic field has a first magnetic field strength (93) in order to hold the rotor (20) in the vertical position. The first magnetic field (91) and/or the second magnetic field can additionally also be used to change the horizontal position of the rotor (20). The first stator module (11) has a first close-up region (71) adjacent to the gap (30), and the first magnetic field (91) has a second magnetic field strength (94) in the first close-up region (71) when the rotor (20) is moved over the gap (30), said second magnetic field strength (94) being greater than first magnetic field strength (93).
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
The invention relates to an assembly (2) of stator modules (10) for a planar drive system (1), comprising a first stator module (11) and a second stator module (12). The first stator module (11) and/or the second stator module (12) has respective stator segments (93) with a segment width (95), said stator segments (93) being designed to be energizable. A magnetic field can be provided by the stator segments (93) in order to interact with the magnet assemblies (22) of the rotor (20) in order to drive and/or hold a rotor (20) of the planar drive system (1), wherein the first stator module (11) and the second stator module (12) are mutually spaced and thereby form a gap (30), and the gap (30) has a gap width (31) which is less than or equal to the segment width (95).
According to the invention, a reception logic 410 of a network subscriber 115 is designed, in a first filter design 600, to forward telegrams having a first addressing technology 500 to a first processing unit 430 and telegrams having a second addressing technology 510 to a second processing unit 440, and a transmission logic 415 is designed to forward the telegrams to the transmission port 405. Alternatively, the reception logic 410 is designed, in a second filter design 610, to duplicate the telegrams and to forward one telegram each to the first and second processing units 430, 440, and the first processing unit 430 is designed to discard telegrams having the second addressing technology 510, and the second processing unit 440 is designed to discard telegrams having the first addressing technology 500, and the transmission logic 415 is designed to forward the telegrams to the transmission port 405. In another alternative, the reception logic 410 of a third filter design 615 is designed to duplicate received telegrams and to forward one telegram each to the first and second processing units 430, 440, and the transmission logic 415 is designed to forward only telegrams having the first addressing technology 500 from the first processing unit 430 and only telegrams having the second addressing technology 510 from the second processing unit 440 to the transmission port 405.
The invention relates to a method for routing telegrams in an automation network (100), wherein the automation network (100) comprises network subscribers (800) which are connected to one another via a data line network (200). At least one network subscriber (800) is designed as a master subscriber (105, 110) and sends telegrams to the network subscribers (800) via the data line network (200). In addition, at least one network subscriber (800) is designed as a network distributer (120, 130, 140), having multiple in/output ports PX, wherein the in/output ports PX, to which respective segments (300, 305, 310, 315, 320) with further network subscribers (800) are connected, are characterised as end ports. The master subscriber (105, 110) assigns a respective port address IDY to the end ports. Furthermore, the master subscriber (105, 110) assigns the port address IDY of the end port, to which the segment (300, 305, 310, 315, 320) with further network subscribers (800) is connected, as an identifier to a telegram which is intended for a segment (300, 305, 310, 315, 320) with further network subscribers (800) for processing. When the network distributer (120, 130, 140) receives a telegram with a port address IDY of an end port of the network distributer (120, 130, 140) as an identifier, the network distributer (120, 130, 140) outputs the telegram directly via the in/output port PX of the network distributer (120, 130, 140) corresponding with the end port of the port address IDY.
In an automation network (100) comprising network subscribers (800), the network subscribers (800) are connected to one another via a data line network (200). In addition, at least one network subscriber (800) is in the form of a master subscriber (105, 110), which is designed to send telegrams via the data line network (200). Furthermore, at least one network subscriber (800) is in the form of a network distributer (120, 130, 140), which is designed to route telegrams. The network distributer (120, 130, 140) comprises multiple in/output ports P0, P1, P2, P3, P4, P5, P6, P7 and is connected to the master subscriber (105) via the data line network (200) using a first in/output port P0. The master subscriber (105) is also designed to indicate, with a telegram element in the telegram to be sent, that access has been granted to the telegram for processing by the network subscribers (800). Furthermore, the network distributer (120,130, 140) is designed to process a telegram received via the first in/output port P0 when the telegram element of the telegram indicates that access has been granted for the network subscribers (800) for the processing of the telegram.
The invention relates to a method for data transmission in an automation network (100) using telegrams, wherein the automation network (100) comprises a master subscriber (105), slave subscribers (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) and at least one unblocker (12, 130, 140), which are connected to one another via a data line network (200). The slave subscribers (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) are divided into segments (300, 305, 310, 315, 320, 325). The master subscriber (105) sends blocked telegrams for processing by the slave subscribers (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185), with each of said telegrams having a telegram identifier, wherein the telegram identifier serves to assign a blocked telegram to a segment (300, 305, 310, 315, 320, 325). The at least one unblocker (120, 130, 140) is assigned at least one segment (300, 305, 310, 315, 320, 325). When the at least one unblocker (120, 130, 140) receives a blocked telegram, the at least one unblocker (120, 130, 140) checks whether the blocked telegram is intended for the segment (300, 305, 310, 315, 320, 325) assigned to the at least one unblocker (120, 130, 140) on the basis of the telegram identifier in the blocked telegram, in order to release the blocked telegram as an unblocked telegram for processing by the slave subscribers (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185), as long as the blocked telegram is intended for the segment (300, 305, 310, 315, 320, 325) assigned to the at least one unblocker (120, 130, 140).
The invention relates to a method for detecting network subscribers in an automation network using interrogation telegrams, such that a protocol network subscriber inputs subscriber information into the interrogation telegram and sends the interrogation telegram to a subsequent network subscriber. If there is no subsequent network subscriber, the network subscriber sends the interrogation telegram back to the configuration subscriber. A network distributor inputs port information into the interrogation telegram and sends it back to the configuration subscriber. The configuration subscriber generates other interrogation telegrams and sends these. The network distributor emits these to the other input/output port.
The invention relates to a method (100) for changing control software of an automation system (300), which has a controller (301) and a plurality of subscribers (303, 305, 401), one subscriber being a software subscriber (303) for changing control software of the controller (301), and the software subscriber (303) comprising a memory unit (501), in which at least one change instruction for changing the control software is stored, the method comprising: sending an individual retrieval message to the software subscriber (303) by means of the controller (301) in order to retrieve the at least one change instruction; sending a response message to the controller (301) by means of the software subscriber (303) in order to provide the change instruction; checking the at least one change instruction by means of the controller (301) as to whether the change instruction is compatible with the control software; changing the control software in accordance with the change instruction by means of the controller (301) if the change instruction is compatible with the control software; and discarding the change instruction by means of the controller (301) in a discarding step (109) if the change instruction is incompatible with the control software.
A switch cabinet system (1) has a base module (2) with a base housing (9) and at least one functional module (60) with a functional housing (11). The functional housing (11) has on an underside (12) a first through-opening (25). A functional connection element (27) is arranged in the functional housing (11) and in the region of the first through-opening (25). The base housing (9) has on an upper side (10) a second through-opening (21). A base connection element (22) is arranged in the base housing (9) and in the region of the second through-opening (21). The functional housing (11) bears by the underside (12) against the upper side (10) of the base housing (9). The functional connection element (27) and the base connection element (22) engage in one another and form an interface. The switch cabinet system (1) has a sealing insert (26) with a frame (30). The frame (30) has a functional portion (31) engaging in the functional housing (11) and has a base portion (32) engaging in the base housing (9). The functional portion (31) bears against an inner wall (33) of the functional housing (11). The base portion (32) bears against a wall (34) of the base housing (9), said wall delimiting the second through-opening (21).
The invention relates to a method (100) for the distributed determination of the electrical power of at least one load (605) which is connected to a voltage source (601) via a voltage path (603), wherein a voltage measuring device (607) determines a supply voltage U of the voltage source (601) at a voltage measuring point (613) on the voltage path (603), and wherein at least one current measuring device (609) determines a load current I of the load (605) at a current measuring point (615) on the voltage path (603), said method comprising the following: in a voltage measuring step (101), the voltage measuring device (607) records voltage measurement values DPU of the supply voltage U, in order to determine a voltage profile TCU of the load voltage U; in a current measuring step (103), the at least one current measuring device (609) records current measurement values DPI of a load current I of the at least one load (605), in order to determine a current profile TCI of the load current I; in an analysis step (105), the voltage measurement values DPU of the supply voltage U and/or the current measurement values DPI of the load current I are analysed using an analysis function AF, in order to determine voltage characteristics AFPU of the voltage profile TCU of the supply voltage U and/or current characteristics AFPI of the current profile TCI of the load current I; and, in a power value determination step (107), at least one power value L is determined, taking into consideration the voltage characteristics AFPU and/or the current characteristics AFPI.
The invention relates to a base module (10) for a switch cabinet system, wherein the base module (10) has a housing (11) with a first housing side (12) and further housing sides, wherein the first housing side (12) has a grid of openings (14), wherein the housing (11) has connection elements (20) for functional modules, wherein the connection elements (20) are each arranged in the region of the openings (14) of the first housing side (12), wherein the connection elements (20) comprises data connections (21), small-voltage connections (22) and low-voltage connections (23), wherein the data connections (21) are connected to one another by means of a data line (31) of the base module (10), wherein a field bus connection for the data line can be provided, wherein the data line (31) is arranged inside the housing (11), wherein a small-voltage line (32) and a low-voltage line (33) are arranged inside the housing (11), wherein the small-voltage line (32) is connected to the small-voltage connections (22), and the low-voltage line (33) is connected to the low-voltage connections (23).
The invention relates to a base module (1, 18, 22, 33, 36, 41) for an electrical enclosure system (69, 72), having a plurality of switch-on units (9) and connection elements (7) for a plurality of functional modules (55, 73). The connection elements (7) are designed to engage into module connection elements (61) of functional modules (55, 73). Each connection element (7) has at least one data connection (11, 46, 47, 48). Each switch-on unit (9) is connected to at least one data connection (11, 46, 47, 48) of a connection element (7). The switch-on units (9) are connected together by a data bus (10). The base module (1, 18, 22, 33, 36, 41) has a first fieldbus connection (12), and the data bus (10) is connected to the first fieldbus connection (12) in order to connect the switch-on units (9) to a fieldbus.
The invention relates to a switching cabinet system (1) consisting of a base module (10) and multiple functional modules (100). The base module (10) has a housing (11) with a housing side (12) and openings in the housing side (12), first connection elements (26) and second connection elements (27). The first connection elements (26) provide data connections and extra-low-voltage connections, while the second connection elements (27) provide low-voltage connections. The first connection elements (26) are arranged within the housing (11) in the region of openings (14). The data connections are connected to a data line, the extra-low-voltage connections are connected to an extra-low-voltage line, the low-voltage connections are connected to a low-voltage line. The functional modules (100) each have a module housing (110), an electronic switch and a module connection element (130), wherein the module connection element (130) is connected to the electronic switch. The module housing (110) has a module housing side which has a module housing opening (114). The module connection element (130) includes a first plug element (131) which extends through the module housing opening (114) from the interior of the module housing (110) to the exterior of the module housing (110) and is designed to engage in the first connection elements (26) of the base module (10).
The invention relates to a method (100) for controlling an automation process in real time on the basis of a change profile P of at least one process variable PV, the method steps comprising: determining (101) a first change profile P1 by means of a recognition method having real-time capability and based on a nonlinear optimization process taking account of at least one boundary condition BC of the process variable PV, determining (103) a second change profile P2 by means of a numerical algorithm on the basis of the first change profile P1, comprising: adapting (105) a selected profile function PF to the first change profile P1 by means of a numerical adaptation process, and identifying (107) the adapted profile function PF as a second change profile P2, checking 109 whether the second change profile P2 satisfies at least one secondary condition SC of the process variable PV, controlling (111) the automation process on the basis of the second change profile P2 if the second change profile P2 satisfies the at least one secondary condition SC, and controlling (113) the automation process on the basis of a predetermined default profile P3 if the second change profile P2 does not satisfy the at least one secondary condition SC.
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
G05B 19/19 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
84.
DISTRIBUTOR NODE, AUTOMATION NETWORK AND METHOD FOR TRANSMITTING TELEGRAMS
The invention relates to an automation network which has multiple network segments and in which both fragmenting subscribers (10, 20, 30, 40), which support a fragmentation method, and standard subscribers (50), which do not support the fragmentation method, can be provided. A distributor node (2) in the automation network has at least one input/output interface (201, 202, 203, 204) which is connected to a network segment. The switching device (205) in the distributor node (2) checks whether a subscriber (6) in a network segment to which a telegram (3) is to be transmitted supports the fragmentation method and whether the telegram (3) to be transmitted is fragmented. If the subscriber (50) does not support the fragmentation method and the telegram to be sent is fragmented, the switching device (205) in the distributor node (2) assembles the telegram fragments (301, 302) into the telegram (3) and then forwards the assembled telegram (3) to the subscriber (50).
The invention relates to an automation communication network comprising at least one distributor node with a plurality of input/output interfaces. Data is exchanged between subscribers by means of telegrams B, C, to which priority levels (200, 210) are assigned. The distributor node interrupts the transmission of a telegram B with a first priority level (200) on an input/output interface if the distributor node has received a telegram C with a second priority level (210) which has a higher value than the first priority level (200), on a further input/output interface. The distributor node terminates the interrupted telegram with the first priority level (200), which forms a first fragment B-l, in a defined manner by the distributor node transmitting first fragmentation information (340) at the end of the first fragment B-1. A remaining portion of the telegram with the first priority level, which has not yet been sent by the distributor node, forms a second fragment. The distributor node generates second fragmentation information for the second fragment and buffers the second fragment together with the second fragmentation information. After the telegram C with the second priority level (210) has been transmitted, the distributor node transmits the second fragment of telegram B with the first priority level (200) together with the second fragmentation information. A subscriber for which the telegram B with the first priority level (200) is intended assembles the first and the second fragment B-1 of the telegram B on the basis of the first and the second fragmentation information (340).
The invention relates to a method for operating a network participant (300), having the steps of receiving an input data stream (410) which contains an input downlink frame (411) in accordance with a fieldbus protocol, wherein the input data stream (410) is received in chronologically successive data units (240) which have a defined processing width (220); decoding fields (110) of the input downlink frame (411) using a plurality of field processing units (310) which are arranged one behind the other, wherein each field processing unit (310) decodes one defined field (110) of the input downlink frame (411); and generating an output data stream (420), which contains an output downlink frame (421) in accordance with the fieldbus protocol, from the input data stream (410).
The invention relates to a device and a method for determining a path of travel (610, 620) for at least one mover (200, 513) over a drive area (510), wherein: the mover (200, 513) comprises at least one second magnetic field generator (250); the device has a plurality of planar sectors (501); the sectors (501) have magnetic field generators (127) for generating magnetic fields; the sectors (501) form the drive area (510); the sectors (501); at least one virtual path network (511) is provided on the drive area (510); and a path of travel (610, 620) is determined for a mover (200, 513) over the path network (511).
The invention relates to a device and to a method for driving at least one mover (200, 513, 514), the mover (200, 513, 514) having at least one second magnetic field generator, the mover (200) being movable on a drive surface (510) having a plurality of sectors (501), the sectors (501) having magnetic field generators for generating at least one magnetic field, path planning for the mover (200) from a starting point (507) to a destination (508) on the drive surface (510) being carried out, at least one graph (503) having nodes (505) and edges (504) being used for the path planning, a path (511) for the mover (200) being determined using the graph (503).
The invention relates to a device and a method for preventing a collision when determining driving paths for at least two moving elements (5, 200, 513, 514) on a driving surface (510), wherein each moving element (5, 200, 513, 514) has at least one second magnetic field generator (250), wherein the device has multiple sectors (501), wherein the sectors (501) have magnetic field generators (127) for generating magnetic fields, wherein the sectors (501) form the driving surface (510), wherein a driving path planning is carried out for at least two moving elements (5, 200, 513, 514), wherein at least the two moving elements (5, 200, 513, 514) are assigned a priority level, wherein the priority levels of the moving elements (5, 200, 513, 514) are taken into consideration in the driving path planning of the driving paths of the moving elements (5, 200, 513, 514) in such a way that a driving path of a moving element (5, 200, 513, 514) with a higher priority level is given precedence over a driving path of a moving element (5, 200, 513, 514) with a lower priority level, such that a collision of the moving elements (5, 200, 513, 514) is prevented.
G05B 19/4061 - Avoiding collision or forbidden zones
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
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
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)
G05D 1/02 - Control of position or course in two dimensions
90.
DEVICE AND METHOD FOR PREVENTING A COLLISION WHEN DRIVING AT LEAST TWO MOVING ELEMENTS ON A DRIVING SURFACE
The invention relates to a method for preventing a collision when driving at least two moving elements (200, 513) of a driving surface (510), wherein each moving element (200, 513) has at least one second magnetic field generator, wherein the device has multiple panel-type sectors (501), wherein the sectors (501) each have at least one magnetic field generator for generating magnetic fields, wherein the sectors (501) form the driving surface, wherein the sectors generate magnetic fields via a corresponding control system of a power supply of the magnetic field generator in such a way that the moving elements (200, 513) can be moved at least in one direction over the driving surface (510), wherein a first path planning is carried out for the first moving element (200), wherein an estimated second driving path of the second moving element (513) is determined or received, wherein the estimated second driving path of the second moving element (513) is taken into consideration in the first path planning of the first moving element (200), in order to determine a first driving path (503) for the first moving element in such a way that a collision of the first moving element (200) with the second moving element (513) is prevented.
G05B 19/4061 - Avoiding collision or forbidden zones
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)
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
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
91.
METHOD FOR DRIVING A ROTOR OF A PLANAR DRIVE SYSTEM
The invention relates to a method for driving at least one rotor (200) in a planar drive system, said rotor (200) having at least one device for generating a magnetic field, in particular a magnet. The rotor (200) can be moved on a drive surface which is formed by stator modules. The stator modules have a magnetic field generator. First, a virtual two-dimensional potential curve (300) is ascertained for the rotor (200), wherein a target point (260) of the rotor (200) has an attractive potential within the virtual two-dimensional potential curve (300). A virtual force vector (250) is then ascertained at a first position (252) of the rotor (200), said force vector being produced from the virtual two-dimensional potential curve (300) and having a vector direction and a vector length. A drive magnetic field which interacts with the magnetic field of the rotor (200) is then produced by the magnetic field generator such that a force resulting from the interaction between the drive magnetic field and the magnetic field acts on the rotor (200). The direction of the resulting force is set using the vector direction, and the strength of the resulting force is set using the vector length. The invention additionally relates to a control unit for carrying out the method and to a planar drive system comprising such a control unit, multiple stator modules, and a rotor (200).
The invention relates to a control system and a method for assembling a control system, wherein the control system has a signal transmission plate (15), a top-hat rail (20), at least one first contact device (55) and at least one second contact device (60), wherein the first contact device (55) and the second contact device (60) are arranged on the signal transmission plate (15), offset against one another, and the signal transmission plate (15) electrically connects the first contact device (55) to the second contact device (60) in order to transmit at least data, wherein the top-hat rail (20) is mechanically fixed to the signal transmission plate (15) and a first coupler module (65) can be fastened mechanically to the top-hat rail (20), wherein the second contact device (60) is designed to electrically contact a signal processing module (75) or a second coupler module (70), wherein the first contact device (60) can be electrically connected to a field device.
A network participant (7) of an automation communication network (1) is provided in order to exchange data with additional network participants (2) in the automation communication network (1) at a defined clock frequency. The network participant (7) has an internal clock (8) for synchronizing the data exchange with at least one additional network participant (7). The internal clock (8) is provided in order to provide a time as an integer count value. The clock frequency is defined such that a period duration per cycle of the internal clock (8) cannot be represented by an integer count value. A method for operating the network participant (7) in the automation communication network (1) comprises the following method step: The internal clock (8) is incremented by means of a defined sequence of integer increments. The sequence of integer increments is defined such that a sum of the integer increments corresponds to an integer multiple of the period duration.
H03K 23/66 - Pulse counters comprising counting chains; Frequency dividers comprising counting chains with a base or radix other than a power of two with a variable counting base, e.g. by presetting or by adding or suppressing pulses
The invention relates to a method for optimizing data processing in a programmable logic controller (PLC). The PLC has a control task, which comprises a plurality of executable programs. At least two programs of the control task each have at least one parallel processing portion having a work package having a plurality of sub-tasks. The parallel processing portions in the respective programs are assigned a priority having a specified priority level. The particular priority levels are inserted into a data structure as soon as execution of the program has reached the parallel processing portion. At least one parallel processor core checks if there are entries in the data structure and, if there are entries, said parallel processor core completes sub-tasks from the work package of the program that has a priority level in the first position of the entries in the data structure. During a program cycle, an expected computing throughput of the control task is continually evaluated and at least one of the priority levels of the parallel processing portions of the respective programs is dynamically modified if the computing throughput of the control task is increased thereby.
The invention relates to a method for identifying a carriage of a linear transport system having the following steps: applying a first control signal to a stator comprising at least two drive coils, which triggers a first measurement, which depends on the magnetic vector field of the magnetic field generator of two carriages, with the magnetic field generator of the two carriages differing; receiving at least one first measuring signal assigned to one of the two carriages, which signal is based on the first measurement; and identifying the carriage assigned to the first measuring signal as the first carriage or as the second carriage on the basis of the at least one first measuring signal, wherein a reference value is stored in the control system and is assigned to one of the two carriages, with the carriage being being identified on the basis of a comparison of the first measuring signal with the at least one reference value.
A stator unit (700) for driving a rotor of an electric planar motor comprises longitudinal stator layers (710) having first coil conductors (125) and oblique stator layers (711) having second coil conductors (126). The first coil conductors (125) extend longitudinally in a first direction (12) and the second coil conductors (126) extend longitudinally in a second direction different from the first direction (12). The longitudinal stator layers (710) and the oblique stator layers (711) are arranged one on top of the other in a third direction (15) oriented perpendicularly to the first and second directions (12). An uppermost stator layer (712) of the stator unit (700) and a lowermost stator layer (713) of the stator unit (700) are each embodied as a longitudinal stator layer (710) having first coil conductors (125). The longitudinal stator layers (710) are arranged next to an oblique stator layer (711) at the most on one side in the third direction (15), and the oblique stator layers (711) are arranged next to a longitudinal stator layer (710) at the most on one side in the third direction (15).
The invention relates to a stator unit for driving a rotor of an electric planar motor, comprising coil conductors arranged in a stator layer (107) of the stator unit, wherein the coil conductors extend longitudinally in a first direction (12) and are adjacently arranged in a second direction (14) oriented perpendicularly to the first direction (12). The coil conductors are interconnected on the stator unit to form a three-phase system (150) with a first phase (U), a second phase (V) and a third phase (W). The coil conductors are embodied as a first forward conductor (131) and as a first return conductor (132) connected in series to the first forward conductor (131), of the first phase (U), as a second forward conductor (141) and as a second return conductor (142) connected in series to the second forward conductor (141), of the second phase (V), and as a third forward conductor (146) and as a third return conductor (147) connected in series to the third forward conductor (146), of the third phase (W). The three-phase system (150) has a first side (152) and a second side (158) opposite the first side (152). The first forward conductor (131) and the first return conductor (132) are electroconductively connected in series by means of a first horizontal connecting conductor (41) arranged in the stator layer (107) and on the second side (158) of the three-phase system (150), and the second forward conductor (141) and the second return conductor (142) are electroconductively connected in series by means of a second horizontal connecting conductor (42) arranged in the stator layer (107) and on the first side (152) of the three-phase system (150).
A stator unit (700) for driving a rotor of an electric planar motor comprises a first arrangement of longitudinal stator layers (710) and a second arrangement of oblique stator layers (711). The longitudinal stator layers (710) comprise first coil conductors (125) and the oblique stator layers (711) comprise second coil conductors (126). The second coil conductors (126) are designed to interact with second drive magnets of the rotor in order to drive the rotor in a first direction (12), and the first coil conductors (125) are designed to interact with first drive magnets of the rotor in order to drive the rotor in a second direction different from the first direction (12). The longitudinal stator layers (710) and the oblique stator layers (711) are arranged one above the other in a third direction (15) oriented perpendicularly to the first and second directions (12), wherein the first arrangement of longitudinal stator layers (710) and the second arrangement of oblique stator layers (711) have a common centre plane (108). The first arrangement of longitudinal stator layers (710) and the second arrangement of oblique stator layers (711) are both embodied symmetrically to the common centre plane (108) in the third direction (15).
At least one transport device (200) is provided for a transport system having a curved running rail which has a first and second running surface (115, 120) on a first running rail side flank (110). The transport device (200) is guided in a running direction (350) along the running rail and has a plurality (205) of rollers which are each mounted rotatably about a dedicated rotary axle. A first and second roller (210, 215) of the transport device (200) form a first roller unit (220) for rolling on the first running surface (115), and a third and fourth roller (225, 230) of the transport device (200) form a second roller unit (235) for rolling on the second running surface (120). The first and second roller unit (220, 235) are connected via a first carrier means (240) which is designed to prestress the first roller unit (220) against the first running surface (115) and to prestress the second roller unit (235) against the second running surface (120). Furthermore, the first rolling unit (220) and/or the second roller unit (235) has/have a shuttle unit (245). The shuttle unit (245) has a rigid connection of the rotary axles of the first and second rollers (210, 215) of the first roller unit (220) and/or a rigid connection of the rotary axles of the third and fourth rollers (225, 230) of the second roller unit (235), and a shuttle axle (245) pivotably supporting the rigid connection. The shuttle axle (245) is arranged transversely with respect to a running direction (350) of the first roller unit (220) and/or of the second roller unit (235) which have/has the shuttle unit (245).
patents
