The application relates to a method for generating a control program for controlling an automation system, the method comprising:
The application relates to a method for generating a control program for controlling an automation system, the method comprising:
generating a graphical diagram of the control program according to the graphical programming language ladder diagram LD for Programmable Logic Controllers in a diagram generating step;
generating a data flow graph as a representation of the graphical diagram in a graph generating step, wherein elements of the graphical diagram are represented as nodes and connecting lines between elements of the graphical diagram are represented as edges of the data flow graph; and
generating a version of the control program executable by a programmable logic controller based on the data flow graph in a program generating step.
The application relates to a method for generating a control program for controlling an automation system, the method comprising:
generating a graphical diagram of the control program according to the graphical programming language ladder diagram LD for Programmable Logic Controllers in a diagram generating step;
generating a data flow graph as a representation of the graphical diagram in a graph generating step, wherein elements of the graphical diagram are represented as nodes and connecting lines between elements of the graphical diagram are represented as edges of the data flow graph; and
generating a version of the control program executable by a programmable logic controller based on the data flow graph in a program generating step.
The application further relates to a programming tool for carrying out the method.
G05B 19/05 - Automates à logique programmables, p.ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
A linear transport system comprises a first carriage and a second carriage, a linear motor for driving the first carriage and the second carriage and a guide rail. The linear motor comprises a stator and a first and a second rotor. The stator has a plurality of drive coils that are arranged along the guide rail individual motor modules comprise a plurality of drive coils. The first rotor is arranged on the first carriage and the second rotor is arranged on the second carriage. The first carriage has a first magnetic field generator. The second carriage has a second magnetic field generator. The first magnetic field generator differs from the second magnetic field generator at least in terms of its magnetic vector field, wherein the magnetic fields of the magnetic field generators are detected to identify the corresponding carriage.
A rotor for a planar drive system comprises a housing and at least one magnet arrangement. The housing comprises a basic housing body and a cover. The magnet arrangement is arranged in a recess of the basic housing body. The cover is attached to the basic housing body in such a way that the housing is configured to be fluid-tight, the cover covers the recess, and the magnet arrangement is arranged in an interior of the fluid-tight housing.
H02K 5/10 - Enveloppes ou enceintes caractérisées par leur configuration, leur forme ou leur construction avec des dispositions empêchant l'introduction de corps étrangers, p.ex. de l'eau ou des doigts
H02K 41/03 - Moteurs synchrones; Moteurs pas à pas; Moteurs à réluctance
A method is provided for processing an object using a planar drive system having at least one stator assembly with a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator assembly, and at least one rotor with a plurality of magnet units for generating a rotor magnetic field. A processing element is arranged above the stator surface. The planar drive system has at least one rotational position, where the rotor can be rotated about an axis perpendicular to the stator surface. A spatial arrangement of the processing element is predetermined by the rotational position. The method comprises energizing the coil groups so a rotor with the object arranged on the rotor moves to the rotational position, energizing the coil groups so the rotor rotates, and processing the object with the aid of the rotor rotation, where the processing element acts upon the object.
A method is provided for processing an object with the aid of a planar drive system. The planar drive system comprises at least one stator assembly, each having a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator assembly, and at least one rotor comprising a plurality of magnet units for generating a rotor magnetic field. The planar drive system further comprises at least one rotational position, where the rotor is rotatable about a rotational axis perpendicular to the stator surface in the rotational position. The rotational position is determined based on a point of contact of four stator assemblies. The method comprises energizing the coil groups in such a way that the rotor moves to the rotational position, energizing the coil groups in such a way that the rotor rotates, and processing of the object with the aid of the rotor rotation.
B01F 29/15 - Utilisation de centrifugeuses pour le mélange
B01F 29/31 - Mélange du contenu d'emballages ou de récipients individuels, p.ex. en faisant tourner des boîtes de conserve ou des bouteilles les récipients étant supportés par des moyens d'entraînement, p.ex. des rouleaux rotatifs
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.
G05B 19/042 - Commande à programme autre que la commande numérique, c.à d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
11.
METHOD FOR OPERATING A MODULAR ROBOT, CONTROL UNIT, MODULAR ROBOT AND ARM MODULE
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 system includes a plurality of field devices electrically connected to a feed-in device configured to provide an electrical energy supply to the field devices. The feed-in device has a monitoring device configured to detect spark generation in the energy supply and, based on this, to switch off the electrical energy supply. The field devices each have an input terminal for connecting a supply line. At least one field device is configured for electrical energy supply to at least one subsequent field device, and for monitoring. The monitoring field device has at least one output terminal for connecting a further supply line, via which the electrical energy can be forwarded to the subsequent field device. The monitoring field device has a monitoring device configured to detect spark generation in the energy supply to the subsequent field device and, based on this, to switch off the electrical energy supply.
H02H 1/00 - CIRCUITS DE PROTECTION DE SÉCURITÉ - Détails de circuits de protection de sécurité
H02H 3/44 - Circuits de protection de sécurité pour déconnexion automatique due directement à un changement indésirable des conditions électriques normales de travail avec ou sans reconnexion sensibles aux taux de variation de quantités électriques
H02H 1/04 - Dispositions pour prévenir la réponse à des conditions transitoires anormales, p.ex. à la foudre
H02H 3/08 - Circuits de protection de sécurité pour déconnexion automatique due directement à un changement indésirable des conditions électriques normales de travail avec ou sans reconnexion sensibles à une surcharge
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).
A system includes a plurality of field devices electrically connected to a feed-in device configured to supply electrical energy. The feed-in device has a monitoring device to detect spark generation in the electrical energy supply, and, based on this, to switch off the supply. The field devices have a first section with an input terminal for connecting a supply line, and a second section. The electrical energy provided by the feed-in device can be supplied to the first section via the input terminal, and transmitted from the first section to the second section via an electrical energy supply connection. The second section has a terminal device with at least one output line terminal for connecting at least one output line to forward the electrical energy. The electrical energy supply connection has a power limiting device to limit the electrical power transmittable from the first section to the second section.
A method for transferring an object from a first rotor to a second rotor in a linear transport system is provided in a transfer region between a first drive unit and a second drive unit. The rotors move along the drive units due to a magnetic field generated by respective coil units, and the object is initially attached to the first rotor with the aid of a first connection. The method includes synchronizing movements of the first and second rotor so that the first and second rotor move with coordinated trajectories in the transfer region, forming a second connection between the object and the second rotor in the transfer region, and releasing the first connection. The first connection is created with the aid of a first retaining element, and the second connection is created with the aid of a second retaining element.
A method for controlling a planar drive system with a stator unit and a rotor includes moving the rotor to a rotational position on the stator unit. In the rotational position, each magnet unit of the rotor covers a coil group of the stator unit which is not covered by any other magnet unit of the rotor, in each orientation of the rotor relative to the stator unit. The method includes actuating the coil groups which are covered by the magnet units of the rotor in the rotational position, generating a stator magnetic field by each actuated coil group, and rotating the rotor about an axis oriented perpendicular to a surface of the stator unit by a predetermined angle, by way of the stator magnetic fields of the actuated coil groups covered by the magnet units of the rotor. A planar drive system is adapted to perform the method.
A linear transport system comprises a stationary unit and a movable unit. The linear transport system also comprises a drive for driving the movable unit, the drive comprising a linear motor, the linear motor comprising a stator and a rotor. The stator comprises the one or the plurality of stationary units, and the rotor is arranged on the movable unit and comprises one or a plurality of magnets. The stationary unit comprises an energy sending coil. The movable unit comprises an energy receiving coil. The movable unit comprises a fixing device, where the fixing device is set up to fix the movable unit in the linear transport system. The fixing device comprises a movable element, where the movable element can be moved between a first position and a second position, where in the first position the movable element initiates a mechanical fixing of the movable unit.
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).
This application provides a method for controlling a planar drive system, where the planar drive system comprises at least a controller, a stator module having a stator surface, and a rotor that may is positionable and movable on the stator surface. The method comprises positioning an object on a rotor in a first arrangement state of the object in a positioning step, carrying out an accelerating movement of a defined movement pattern of the rotor; and, by the accelerating movement, arranging the object positioned on the rotor in the first arrangement state in a second arrangement state relative to the rotor, in an arranging step. The application further provides a planar drive system.
H02K 1/27 - Noyaux rotoriques à aimants permanents
B01F 31/00 - Mélangeurs avec mécanismes à secousses, oscillants ou vibrants
B01F 31/22 - Mélange du contenu de récipients indépendants, p.ex. de tubes à essai avec des moyens de support se déplaçant dans un plan horizontal, p.ex. en décrivant un trajet orbital pour déplacer les récipients autour d'un axe qui coupe l'axe du récipient selon un certain angle
B01F 31/20 - Mélange du contenu de récipients indépendants, p.ex. de tubes à essai
B01F 35/213 - Mesure des propriétés des mélanges, p.ex. de la température, de la densité ou de la couleur
A method for controlling an automation system having control redundancy is provided. The automation system has at least a first controller, a second controller and a plurality of field devices connected to the first and second controller via a data bus, with the first and second controller configured to cyclically control an automation process of the automation system. The method comprises cyclically controlling the automation process via the first controller, determining a malfunction of the first controller during an (n+x)-th control cycle, where the (n+x)-th control cycle is carried out x control cycles later in time than the n-th control cycle, and sending out an n-th set of output data via a second input-output unit of the second controller to the plurality of field devices in the (n+x)-th control cycle, for controlling the automation process. An automation system is configured to carry out the method.
G05B 9/03 - Dispositions de sécurité électriques avec une boucle à canal multiple, c. à d. systèmes de commande redondants
G05B 19/042 - Commande à programme autre que la commande numérique, c.à d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
26.
AUTOMATION SYSTEM HAVING A MASTER-SUBSCRIBER STRUCTURE, DISTRIBUTOR AND METHOD FOR TELEGRAM TRANSMISSION
An automation system has a plurality of subscribers including a first master unit, first distributor, second master unit, second distributor, and at least another subscriber unit. First and second transmitting/receiving devices of the first and second distributor are connected via a ring-shaped data bus. In a first mode, the first distributor forwards telegrams received from the first master unit to the first transmitting/receiving device, and forwards telegrams received by the second transmitting/receiving device to the first master unit. The second distributor also forwards first telegrams received by the first transmitting/receiving device to the second transmitting/receiving device. In a second mode, the second distributor forwards telegrams received by the second master unit to the second transmitting/receiving device, and the second distributor forwards telegrams received by the first transmitting/receiving device to the second master unit. The first distributor also forwards telegrams received by the second transmitting/receiving device to the first transmitting/receiving device.
A method is provided for communicating between passive subscribers of a bus system. A first passive subscriber encodes an original static pattern in a first transmit SERDES element and encodes original user data in a time-synchronized manner with the original static pattern in a second transmit SERDES element. The second passive subscriber receives the encoded static pattern and user data, and generates a sampling clock having a first phase offset and a clock synchronous with a transmit-receive clock having a second phase offset, from the encoded static pattern. The second passive subscriber decodes the encoded static pattern using a first receive SERDES element and the encoded user data, using a second receive SERDES element to obtain a receive data word. The first receive SERDES element and the second receive SERDES element are operated based on the sampling clock, and the receive data word is output synchronously with the synchronous clock.
A stator module of a linear transport system includes a plurality of drive coils, which are energizable and form part of a stator of a linear motor. The stator module also includes actuation electronics, where the drive coils are actuatable by the actuation electronics. The actuation electronics includes at least an actuation element, which is arranged to energize a number of drive coils. The actuation element has a number of half bridges, each comprising a first half-bridge connection, a second half-bridge connection, and a half-bridge center. The first half-bridge connections of the half bridges are connected to one another, and the second half-bridge connections of the half bridges are connected to one another. The half bridges and the drive coils form a chain, with the half-bridge centers and drive coils arranged alternately within the chain, at least one half-bridge center being connected to two drive coils.
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 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant la valeur d'un courant ou d'une tension
G01D 5/244 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques produisant des impulsions ou des trains d'impulsions
G01D 18/00 - Test ou étalonnage des appareils ou des dispositions prévus dans les groupes
31.
METHOD FOR CONTROLLING AN AUTOMATION SYSTEM HAVING VISUALIZATION OF PROGRAM OBJECTS OF A CONTROL PROGRAM OF THE AUTOMATION SYSTEM, AND AUTOMATION SYSTEM
A method for controlling an automation system with visualization of program objects of a control program of the automation system, comprises determining a pointer address of the pointer element, determining a first address offset of the pointer address, identifying a program object that is spaced apart from the first memory location of the program state by the first address offset according to the arrangement structure of the program state as a first program object, the memory address of which in the first memory area corresponds to the pointer address of the pointer element, identifying the first program object with the pointer object referenced by the pointer element, determining a fully qualified designation of the identified pointer element, and displaying the fully qualified designation of the pointer object referenced by the pointer element on a display element connected to the controller. An automation system carries out the method.
A control-cabinet system has a base module and at least one functional module. The base module has a base housing with a first housing face and a second housing face. The functional module has a functional housing with a housing underside, where a circulation channel is arranged. Air flow may be circulated in the circulation channel, where each base connection element comprises circulation openings which are fluidically connected to the circulation channel. The functional connection element comprises coupling openings fluidically connected to an interior of the functional housing. The coupling openings are coupleable to the circulation openings, in which a fluidic connection exists between the circulation channel and the interior of the functional housing. A fluidically closed circulation circuit comprising the circulation channel and the interior of the functional housing is formed, in which air flow may be circulated.
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 - Dispositions pour commander les moteurs synchrones ou les autres moteurs dynamo-électriques utilisant des commutateurs électroniques en fonction de la position du rotor; Commutateurs électroniques à cet effet
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Robots, namely industrial robots, collaborative robots
(cobots), automatic production machines and automatic
machine tools; robot modules, in particular axis modules,
joint modules, distributor modules, toothed belt modules for
robots, in particular modular robots, industrial robots,
collaborative robots (cobots), automatic manufacturing
machines and automatic machine tools; stands, in particular
robot stand, for robots, in particular modular robots,
industrial robots, collaborative robots (cobots), automatic
manufacturing machines and automatic machine tools;
end-effectors for robots, in particular modular robots,
industrial robots, collaborative robots (cobots), automatic
production machines and automatic machine tools, accessories
for the aforementioned end-effectors; motors, in particular
servomotors, DC motors, stepper motors, torque motors for
robots, in particular modular robots, industrial robots,
collaborative robots (cobots), automatic production machines
and automatic machine tools; drive mechanisms and drive
parts for the aforementioned motors; gears, in particular
planetary gears, harmonic drives and cycloids for robots, in
particular modular robots, industrial robots, collaborative
robots (cobots), automatic production machines and automatic
machine tools; connecting elements [machine parts] for
robots, in particular modular robots, industrial robots,
collaborative robots (cobots), automatic production machines
and automatic machine tools; all the aforementioned being
exclusively industrial robots or in relation thereto. Electrical and electronic devices, apparatus and
instruments, namely control modules, control devices and
integrated electrical control systems, terminal modules with
integrated electronics, safety modules and contacting
modules with solenoid-controlled valves, in particular
solenoid directional control valves, for robots, in
particular modular robots, industrial robots, collaborative
robots (cobots), automatic production machines and automatic
machine tools; operating panels, in particular PC module,
key modules, teaching modules for the aforementioned goods
for operating and/or controlling robots, in particular
modular robots, industrial robots, collaborative robots
(cobot), automatic manufacturing machines and automatic
machine tools; electronic modules, connector modules, supply
modules and output modules for supplying and outputting
supply voltages and for communication of robots, in
particular modular robots, industrial robots, collaborative
robots (cobot), automatic manufacturing machines and
automatic machine tools; electrical, electronic and optical
connection elements, in particular transmitter modules and
receiver modules for robots, in particular modular robots,
industrial robots, collaborative robots (cobot), automatic
manufacturing machines and automatic machine tools; data
cables, electric cables; downloadable software for
controlling, programming, manufacturing, processing,
transporting and assembling robots, in particular modular
robots, industrial robots, collaborative robots (cobot),
automatic manufacturing machines and automatic machine
tools; downloadable software for use in relation to the
following: cloud computing and data storage; cameras with
image sensors; electronic sensors for robots, robot parts
and accessories, in particular electronic sensors for
measuring distance, position, torque and proximity; display
units with LCD monitors for attachment to robots, in
particular modular robots, industrial robots, collaborative
robots (cobot), automatic manufacturing machines and
automatic machine tools; all the aforementioned being
exclusively for industrial robots or in relation thereto. Installation, repair and maintenance of computer software in
the field of robotics; development of computer software in
the field of robotics; provision of virtual computer systems
through cloud computing; programming of operating software
to access and use cloud computing networks; software as a
service [SaaS] and rental of software for the control,
programming, manufacturing, processing, transport and
assembly of robots, robot parts, accessories and robot arm
modules; platform as a service [PaaS] with software
platforms for the transmission of voice, data, image, sound,
video and information for the control, programming,
manufacturing, processing, transport and assembly of robots,
robot parts and accessories; infrastructure as a service
[IaaS] in the field of robotics; programming and updating of
virtual environments, in particular for the configuration of
robots, in particular modular robots, industrial robots,
collaborative robots (cobot), automatic manufacturing
machines and automatic machine tools; design and development
of electrical, electronic and optical components for robots,
in particular modular robots, industrial robots,
collaborative robots (cobot), automatic manufacturing
machines and automatic machine tools; all the aforementioned
services for the field of robotics exclusively concerning or
being related to industrial robots.
A driven linear axis includes a housing which has a linear rail guide on which a carriage is arranged such that it can be moved back and forth linearly with the aid of a transport device. The transport device comprises a belt which circulates in the housing and is guided over two gears, at least one gear being configured as a drive gear. Furthermore, a drive device is arranged within the drive gear and is in a torque-locking rotary connection with the drive gear.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
36.
METHOD FOR CONTROLLING A PLANAR DRIVE SYSTEM, AND PLANAR DRIVE SYSTEM
A method for controlling a planar drive system includes controlling a rotor along a control path starting from a first position on a stator module, and determining a sensor pattern for magnetic field sensors of a sensor module. The sensor pattern includes a subset of the magnetic field sensors with at least one of the magnetic field sensors not comprised by the sensor pattern, and an area of the sensor pattern is at least partially covered by the rotor in a position along the control path. The method includes measuring values of the rotor magnetic field with the aid of the magnetic field sensors of the sensor pattern, detecting the rotor, and determining a second position of the rotor based on the measured values. The invention further relates to a planar drive system.
H02P 6/00 - Dispositions pour commander les moteurs synchrones ou les autres moteurs dynamo-électriques utilisant des commutateurs électroniques en fonction de la position du rotor; Commutateurs électroniques à cet effet
H02K 11/215 - Dispositifs utilisant un effet magnétique, p.ex. des éléments à effet Hall ou magnéto-résistifs
H02K 41/03 - Moteurs synchrones; Moteurs pas à pas; Moteurs à réluctance
37.
METHOD FOR CREATING AND EXECUTING A CONTROL PROGRAM FOR CONTROLLING AN AUTOMATION SYSTEM, AND AUTOMATION SYSTEM
A method is provided for creating and executing a control program for controlling an automation system having a controller and a web server connected to the controller. The method includes creating a first version of a program code of a control program for the automation system in an input module of a web-based development environment executed in a web browser, in a code creating step; executing a translation module of the web-based development environment on the web server and translating the program code into a program code of a binary language, in a translating step; and executing the program code in the binary language with the aid of the controller of the automation system, in an executing step. An automation system is also provided.
G05B 19/05 - Automates à logique programmables, p.ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
G06F 40/58 - Utilisation de traduction automatisée, p.ex. pour recherches multilingues, pour fournir aux dispositifs clients une traduction effectuée par le serveur ou pour la traduction en temps réel
A method for operating a planar drive system is specified. The planar drive system comprises a stator, a plurality of rotors and a main controller. The stator comprises a plurality of energizable stator conductors. Energizing of stator conductors of the stator can be controlled via the main controller. Each rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet devices of the rotors in order to drive the rotors. At least one individual rotor identifier is assigned to each rotor. An identification of the rotors is carried out by providing position information of the rotors and rotor identifiers of the rotors and linking the provided position information of the rotors to the provided rotor identifiers of the rotors via the main controller.
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 5/00 - Collecteurs de courant pour lignes d'alimentation en énergie sur les véhicules propulsés électriquement
B60L 13/03 - Propulsion électrique par moteur linéaire
B60L 15/00 - Procédés, circuits ou dispositifs pour commander la propulsion des véhicules à traction électrique, p.ex. commande de la vitesse des moteurs de traction en vue de réaliser des performances désirées; Adaptation sur les véhicules à traction électrique de l'installation de commande à distance à partir d'un endroit fixe, de différents endroits du véhicule ou de différents véhicules d'un même train
B65G 54/02 - Transporteurs non mécaniques, non prévus ailleurs électrostatiques, électriques ou magnétiques
H02J 50/10 - Circuits ou systèmes pour l'alimentation ou la distribution sans fil d'énergie électrique utilisant un couplage inductif
H02J 50/80 - Circuits ou systèmes pour l'alimentation ou la distribution sans fil d'énergie électrique mettant en œuvre l’échange de données, concernant l’alimentation ou la distribution d’énergie électrique, entre les dispositifs de transmission et les dispositifs de réception
H02J 50/40 - Circuits ou systèmes pour l'alimentation ou la distribution sans fil d'énergie électrique utilisant plusieurs dispositifs de transmission ou de réception
An arm module includes a housing with a first connection side controllably rotatable relative to a second connection side, about an axis of rotation. The first connection side has a rotatable first connection device. The second connection side has a second connection device fixed to the housing, with a rotation-compatible data transmission device for transmitting data signals along at least one transmission path between the first and second connection sides. The transmission path includes at least one wireless transmission sub-path for wireless transmission of data signals, and at least one wire-guided transmission sub-path for wire-guided transmission of data signals. The rotation-compatible data transmission device includes at least one first wireless transmission unit and at least one second wireless transmission unit, interconnected via the transmission path and arranged to wirelessly transmit and receive data signals along the wireless transmission sub-path. An industrial robot can have a plurality of such arm modules.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p.ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p.ex. du type à coordonnées cylindriques ou polaires
A planar drive system comprises a stator and a rotor. The stator comprises a plurality of energizable stator conductors. The rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet device in order to drive the rotor. The stator is configured to carry out energization of the stator conductors so that an alternating magnetic field can be generated via the energized stator conductors. The rotor comprises at least one rotor coil in which an alternating voltage can be induced due to the alternating magnetic field. The planar drive system is configured to transmit data from the rotor to the stator, and the rotor is configured to temporarily load the at least one rotor coil to temporarily cause increased current consumption of the energized stator conductors of the stator.
H02P 27/08 - Dispositions ou procédés pour la commande de moteurs à courant alternatif caractérisés par le type de tension d'alimentation utilisant une tension d’alimentation à fréquence variable, p.ex. tension d’alimentation d’onduleurs ou de convertisseurs utilisant des convertisseurs de courant continu en courant alternatif ou des onduleurs avec modulation de largeur d'impulsions
A planar drive system comprises a stator and a rotor. The stator comprises a plurality of energizable stator conductors. The rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet device to drive the rotor. The stator is configured to carry out energization of the stator conductors so that an alternating magnetic field can be generated via the energized stator conductors. The rotor comprises at least one rotor coil in which an alternating voltage can be induced due to the alternating magnetic field. The planar drive system is configured to transmit data from the stator to the rotor, and the stator is configured to temporarily influence the energization of the stator conductors in order to temporarily cause a change with respect to the alternating voltage induced in the at least one rotor coil.
H02P 6/10 - Dispositions pour commander l'ondulation du couple, p.ex. en assurant une ondulation réduite du couple
H02P 6/00 - Dispositions pour commander les moteurs synchrones ou les autres moteurs dynamo-électriques utilisant des commutateurs électroniques en fonction de la position du rotor; Commutateurs électroniques à cet effet
A method for controlling a planar drive system includes identifying a preferred stator module direction with a preferred magnetic field or sensor direction, and identifying a preferred mover direction with a respective other of the preferred magnetic field or sensor direction; setting a magnetic orientation field with a magnet device; recording at least a measurement value of the magnetic orientation field with a magnetic field sensor device; determining an alignment of the preferred mover direction relative to the preferred stator module direction based on the measurement value of the component of the magnetic orientation field parallel to the preferred sensor direction; and determining a first orientation of the mover on the stator module, on the basis of the alignment of the preferred mover direction relative to the preferred stator module direction. The application also relates to a planar drive system.
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.
In an automation system, a protocol converter is provided between a first network and a second network for converting safety-related messages between the first and second networks that use different network protocols for message exchange. In the protocol converter, a single-channel filter connected to a single-channel interface determines messages having a first safety communication protocol from messages received from the interface over the first network and messages having a second safety communication protocol received over the second network. An at least dual-channel safety module connected to the single-channel filter then converts the messages with the first safety communication protocol determined by the single-channel filter into messages with the second safety communication protocol, or converts the messages with the second safety communication protocol determined by the single-channel filter into messages with the first safety communication protocol.
A switch-on unit for a tool of a movable unit of a linear transport system can be fastened to the movable unit. The switch-on unit includes a housing, an energy-receiving coil with energy-receiving electronics, and a movable antenna with communication electronics. The energy-receiving electronics and the communication electronics are disposed on at least a first circuit board within the housing. The housing has an opening for connections of the tool and an installation space for application electronics. A first circuit board has a first interface for the application electronics, with a power supply and communication link. The communication electronics are arranged to receive a first data signal via the movable antenna, to calculate a second data signal from information about a data structure of the first data signal and the first data signal, and to provide the second data signal at the communication link.
B65G 17/12 - Transporteurs comportant un élément de traction sans fin, p.ex. une chaîne transmettant le mouvement à une surface porteuse de charges continue ou sensiblement continue, ou à une série de porte-charges individuels; Transporteurs à chaîne sans fin dans lesquels des chaînes constituent la surface portant la charge comprenant une série de porte-charges individuels fixés ou normalement fixés à l'élément de traction
H02K 11/35 - Dispositifs pour enregistrer ou transmettre la valeur des paramètres d’une machine, p.ex. puces de mémoire ou émetteurs radio pour le diagnostic
H02K 41/03 - Moteurs synchrones; Moteurs pas à pas; Moteurs à réluctance
A method for transferring data between movable and stationary units of a linear transport system having a controller and linear motor with stator and rotor for driving the movable unit along a guide rail. The stator includes the stationary units, each with one or more drive coils. The rotor is arranged on the movable unit, with one or more magnets. The stationary units each have at least one stationary antenna, and the movable unit has a movable antenna. The controller selects a stationary antenna based on position data of the moveable antenna and outputs a data packet to the stationary unit, with control and data signals transmitted via the selected stationary antenna. The control signal includes identification information to identify the stationary antenna. The data signal includes a communication frame with a start bit and user data following a start sequence arranged to trigger data receipt of the movable unit.
H04B 7/06 - Systèmes de diversité; Systèmes à plusieurs antennes, c. à d. émission ou réception utilisant plusieurs antennes utilisant plusieurs antennes indépendantes espacées à la station d'émission
H04B 5/00 - Systèmes de transmission à induction directe, p.ex. du type à boucle inductive
B65G 54/02 - Transporteurs non mécaniques, non prévus ailleurs électrostatiques, électriques ou magnétiques
B60L 13/03 - Propulsion électrique par moteur linéaire
A method for controlling a planar drive system includes generating a position allocating function, in an allocation generating step; measuring a plurality of measuring values of the magnetic rotor field by magnetic field sensors for a position of the rotor relative to the stator module, in a magnetic rotor field determining step; applying the position determination function to the plurality of measuring values of the magnetic rotor field of the plurality of magnetic field sensors, in a measuring value analysis step; and determining the position of the rotor relative to the stator module on the basis of the measurements of the magnetic rotor field measured by the plurality of magnetic field sensors and based on the allocations of the position allocating function, in a position determining step. The application further relates to such a planar drive system.
H02K 41/03 - Moteurs synchrones; Moteurs pas à pas; Moteurs à réluctance
H02K 11/215 - Dispositifs utilisant un effet magnétique, p.ex. des éléments à effet Hall ou magnéto-résistifs
H02P 23/00 - Dispositions ou procédés pour la commande de moteurs à courant alternatif caractérisés par un procédé de commande autre que la commande par vecteur
57.
METHOD FOR CONTROLLING A PLANAR DRIVE SYSTEM AND PLANAR DRIVE SYSTEM
A method for controlling a planar drive system includes determining values of magnetic stator fields for different energizing currents and spatial regions in a two-dimensional array of magnetic field sensors, generating at least one magnetic stator field by applying energizing currents to stator conductors to electrically control a rotor, determining measured values of a total magnetic field via the magnetic field sensors for a plurality of the spatial regions to determine a position of the rotor, compensating contributions of the magnetic stator fields to the measured values of the total magnetic field determined by the magnetic field sensors, generating measured values of the magnetic field determined by the respective magnetic field sensors for the respective space regions, and determining a position of the rotor based on the generated measured values of the magnetic fields. The planar drive system includes at least a controller, a stator module, and a rotor.
H02K 11/20 - Association structurelle de machines dynamo-électriques à des organes électriques ou à des dispositifs de blindage, de surveillance ou de protection pour la mesure, la surveillance, les tests, la protection ou la coupure
H02K 1/27 - Noyaux rotoriques à aimants permanents
An active arm module and modular robot arm for an industrial robot comprises a housing, a heat exchanger, a drive device, and a connecting side with a connecting plate. The connecting plate can be mechanically connected to a further arm module or to a robot base for transmitting drive and support forces. The housing defines an interior space for receiving the drive device. The heat exchanger accommodates the drive device at least in sections, and is thermally coupled to the drive device. The heat exchanger has a fluid channel and can exchange heat between the drive device and the fluid. The arm module comprises a fluid contact device arranged at the connecting plate. Fluid can be exchanged with the further arm module or robot base via the fluid contact device; e.g., the fluid channel can be filled with the fluid for exchanging the fluid with the first fluid contact device.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Provision of data, especially, providing of industrial data,
via a global communications network, in particular via the
Internet; data processing services; data compilation and
transcription; database management services; electronic
database management services; interactive database
information services; recording of data and information,
analysis and retrieval of data and information; all the
aforesaid services, not in relation to the following goods:
construction machines, mining machinery, diesel generator
stations, gas generator stations and industrial gas
turbines. Electronic transmission of data, especially, electronic
transmission of industrial data, via a global communication
network, in particular via the Internet; electronic
transmission of data, especially, electronic transmission of
industrial data via computer terminals; transmission, in
relation to the following fields: voices, data, image,
sound, video, information, via a global communication
network, in particular via the Internet; streaming of data,
especially, streaming of industrial data; access to a global
communications network, in particular the Internet; access
to databases, internet portal access and gateway services;
leasing access time to websites, leasing of access time to a
computer database; providing secure transmission of data, in
particular industrial data via the Internet; providing
virtual private network services; providing internet
chatrooms; providing online forums; electronic mail service;
all the aforesaid services, not in relation to the following
goods: construction equipment, mining machines, diesel
generator stations, gas generator stations and industrial
gas turbines. Computer programming; design and updating of computer
software; information provided via internet portals,
relating to the following sectors: computer programming;
providing virtual computer systems through cloud computing;
providing of a cloud storage platform; programming of
operating software for accessing and using a cloud computing
network; hosting services, software as a service, and rental
of software; platform as a service [PaaS] featuring software
platforms for the transmission of voice, data, images,
audio, video, and information; infrastructure as a service
[IaaS]; computer security services enabling the secure
transmission of data, in particular industrial data via the
Internet; hosting computer sites [web sites], design,
development and hosting of database software; computer
back-up services, systems integration and computer security
consultancy relating to the aforesaid services; all the
aforesaid services not relating to construction machinery or
mining machinery, diesel generator installations, gas
generator installations and industrial gas turbines.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
(1) Robots, namely industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; robot modules, in particular axis modules, joint modules, distributor modules, toothed belt modules for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic manufacturing machines and automatic machine tools; stands, in particular robot stand, for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic manufacturing machines and automatic machine tools; end-effectors for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools, accessories for the aforementioned end-effectors; motors, in particular servomotors, DC motors, stepper motors, torque motors for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; drive mechanisms and drive parts for the aforementioned motors; gears, in particular planetary gears, harmonic drives and cycloids for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; connecting elements [machine parts] for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; all the aforementioned being exclusively industrial robots or in relation thereto.
(2) Electrical and electronic devices, apparatus and instruments, namely control modules, control devices and integrated electrical control systems, terminal modules with integrated electronics, safety modules and contacting modules with solenoid-controlled valves, in particular solenoid directional control valves, for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; operating panels, in particular PC module, key modules, teaching modules for the aforementioned goods for operating and/or controlling robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; electronic modules, connector modules, supply modules and output modules for supplying and outputting supply voltages and for communication of robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; electrical, electronic and optical connection elements, in particular transmitter modules and receiver modules for robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; data cables, electric cables; downloadable software for controlling, programming, manufacturing, processing, transporting and assembling robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; downloadable software for use in relation to the following: cloud computing and data storage; cameras with image sensors; electronic sensors for robots, robot parts and accessories, in particular electronic sensors for measuring distance, position, torque and proximity; display units with LCD monitors for attachment to robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; all the aforementioned being exclusively for industrial robots or in relation thereto. (1) Installation, repair and maintenance of computer software in the field of robotics; development of computer software in the field of robotics; provision of virtual computer systems through cloud computing; programming of operating software to access and use cloud computing networks; software as a service [SaaS] and rental of software for the control, programming, manufacturing, processing, transport and assembly of robots, robot parts, accessories and robot arm modules; platform as a service [PaaS] with software platforms for the transmission of voice, data, image, sound, video and information for the control, programming, manufacturing, processing, transport and assembly of robots, robot parts and accessories; infrastructure as a service [IaaS] in the field of robotics; programming and updating of virtual environments, in particular for the configuration of robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; design and development of electrical, electronic and optical components for robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; all the aforementioned services for the field of robotics exclusively concerning or being related to industrial robots.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Robots, namely, industrial robots, collaborative industrial robots (cobots), automatic production machines being industrial robots and automatic machine tools being industrial robots; structural parts and replacement parts for industrial robots, namely, robot modules, in particular axis modules, joint modules, distributor modules, toothed belt modules for robots, in particular modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots; stands, in particular robot stands specially adapted for holding industrial robots, in particular modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots; structural parts and replacement parts for industrial robots, namely, end-effectors for robots, in particular modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots, accessories for the aforementioned end-effectors, namely, mounts specially adapted for end-effectors being structural parts of industrial robots; motors other than for land vehicles, in particular servomotors, DC motors, stepper motors and torque motors for robots, in particular modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots; drives and structural and replacement parts for drives for the aforementioned motors; gears not for land vehicles, in particular planetary gears, harmonic drives and cycloids for robots, in particular modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots; machines parts, namely, connecting elements being rods for robots, in particular modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots Electrical and electronic devices, apparatus and instruments, namely, control modules being panels, controlling devices and integrated electrical control systems, terminal computer modules with integrated electronics, safety modules being video monitors and contacting modules being electric contacts with solenoid-controlled valves, in particular solenoid directional control valves, for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; electrical control operating panels, in particular PC module being an all-in-one PA, key modules being a USB security key, teaching modules being downloadable handbooks for the aforementioned goods for operating and controlling robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; electronic voltage monitor modules, connector modules being electrical connection boxes, supply modules being power supplies and output modules being voltage surge suppressors for supplying and outputting supply voltages and for communication of robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; electrical, electronic and optical connection elements, in particular transmitter modules being transmitters of electronic signals and receiver modules being optical receivers for robots, in particular modular robots, industrial robots, collaborative robots (cobot),automatic manufacturing machines and automatic machine tools; data cables, electric cables; downloadable software for controlling, programming, manufacturing, processing, transporting and assembling robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; downloadable software for use in relation to cloud computing and data storage, namely, for the electronic storage of data in the cloud; cameras with image sensors; electronic sensors for robots, robot parts and accessories, in particular electronic sensors for measuring distance, position, torque and proximity; display units with LCD monitors for attachment to robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; all the aforementioned being exclusively for industrial robots or in relation thereto Installation, repair and maintenance of computer software in the field of robotics; development of computer software in the field of robotics; provision of virtual computer systems through cloud computing; programming of operating software to access and use cloud computing networks; software as a service (SaaS) featuring software for the control, programming, manufacturing, processing, transport and assembly of robots, robot parts, accessories and robot arm modules and rental of software for the control, programming, manufacturing, processing, transport and assembly of robots, robot parts, accessories and robot arm modules; platform as a service (PaaS) featuring computer software platforms for the transmission of voice, data, image, sound, video and information for the control, programming, manufacturing, processing, transport and assembly of robots, robot parts and accessories; infrastructure as a service (IaaS) services, namely, hosting software for the transmission of voice, data, image, sound, video and information for the control, programming, manufacturing, processing, transport and assembly of robots, robot parts and accessories in the field of robotics for use by others; programming and updating of virtual computer environments, in particular for the configuration of robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; design and development of electrical, electronic and optical components for robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; all the aforementioned services for the field of robotics exclusively concerning or being related to industrial robots
A method is provided for transferring energy from a stationary unit to a movable unit of a linear transport system. The system includes a guide rail for guiding the movable unit, a plurality of stationary units, a controller, and a linear motor for driving the movable unit along the guide rail. The linear motor includes a stator and a rotor. The stator comprises the stationary units, each having one or more drive coils. The rotor is arranged on the movable unit, and has one or a more magnets. In addition, the stationary units each have one or more energy-transmitting coils, and the movable unit has at least one energy-receiving coil. The controller determines position data for the energy-receiving coil, selects at least one energy-transmitting coil based on the position data, and outputs a control signal to the stationary unit, with identification information for identifying the energy-transmitting coil.
B60L 5/00 - Collecteurs de courant pour lignes d'alimentation en énergie sur les véhicules propulsés électriquement
B60L 13/03 - Propulsion électrique par moteur linéaire
B60L 53/30 - PROPULSION DES VÉHICULES À TRACTION ÉLECTRIQUE; FOURNITURE DE L'ÉNERGIE ÉLECTRIQUE À L'ÉQUIPEMENT AUXILIAIRE DES VÉHICULES À TRACTION ÉLECTRIQUE; SYSTÈMES DE FREINS ÉLECTRODYNAMIQUES POUR VÉHICULES, EN GÉNÉRAL; SUSPENSION OU LÉVITATION MAGNÉTIQUES POUR VÉHICULES; CONTRÔLE DES PARAMÈTRES DE FONCTIONNEMENT DES VÉHICULES À TRACTION ÉLECTRIQUE; DISPOSITIFS ÉLECTRIQUES DE SÉCURITÉ POUR VÉHICULES À TRACTION ÉLECTRIQUE Échange d'éléments d’emmagasinage d'énergie dans les véhicules électriques - Détails de construction des stations de charge
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Modular electric, electronic and optical measuring,
signalling, inspecting, regulating and controlling security
apparatus, components, instruments and installations, in
particular for memory-programmable controls; apparatus and
instruments for conducting, switching, transforming,
accumulating, regulating, remote control and controlling
electricity and energy consumption; servo amplifiers; data
processing apparatus, computers and industrial PCs,
networks, network components and network interfaces;
distribution boxes and electric cables and cable fittings,
especially cabling relieving rails, cable conduits, hose
supports, closure plates, electric plugs, cable connectors,
electrical cabling, power cables, electronic cables, data
transmission cables, electrical and electronic components;
system and chassis mounting being mounting levels for
electrical and mechanical components; electric ground
straps; racks for plug-in assemblies with electronic
circuits, power distribution components, in particular
busbar supports, connection and device adapters, bus-mounted
fuse bases and load break switches, conductor connection
terminals, system and holder covers; data transfer
components, fittings for all the aforesaid goods, namely
distribution cabinets, equipment enclosures,
telecommunications distributors, junction boxes; electric
apparatus for connecting sensors and actuators, distribution
systems, modular fieldbus systems, E/A modules, interface
components and components for control engineering, in
particular relays and switches, switches, in particular
contactors; relays, especially semiconductor relays, relay
modules; modular couplers; plug-in card carriers,
potentiometer modules, valve control apparatus, diode and
varistor components, shockproof plugs, controls, light
emitting diode displays, transducers, transformers, in
particular frequency transformers and current transformers,
especially rectifier module; servo amplifiers, intermediate
circuit capacitors, voltage monitor modules; overcurrent
protection devices, especially fuses, electronic security
devices; electronic power supplies, uninterruptible
electrical power supplies; components for circuits;
connection units (electric -), plug boxes [electric],
connection boards [electric], connector sockets (electric
-); plug-in connectors; electronic interfaces; electrical
and mechanical components for suppression and valve
connection technology for machines, especially electricity
mains filters, filters for radio interference suppression,
suppression components, start-up delay circuits for
switching apparatus and for motors and engines, network
equipment, especially dc link power supply and compact mains
apparatus, transformers [electricity], power distribution
and monitoring devices; reversing starters for controllers
of servo motors; direct starters for controllers of servo
motors; computer programs for commissioning, controlling,
regulating, optimising, diagnosing of machines and
installations, in particular electric and electronic
regulating and controlling systems including converters;
computer to computer programs for implementing security
tasks; network-based computer programs; computer programs
for transferring signals; computer programs recorded on data
carriers; computer software for business and cloud computing
infrastructure and platforms for edge computing and
virtualisation; software for information processing
infrastructure; information processing computer software
platforms; interfaces for computers; computer programs for
networking and system monitoring and administration. Installation, maintenance and updating of computer programs
for the planning, configuration, commissioning, operating
and maintenance of electric and electronic regulating and
control systems, including converters; computer programming
for computer-aided construction; adaptation of programs for
users with specific requirements; development of computer
programs recorded on data media (software) designed for use
in construction and automated manufacturing (cad/cam);
software development; design and development of electric,
electronic and electrotechnical components; letting, in
relation to the following goods: computer hardware, computer
facilities, data processing equipment, peripheral computer
devices; software development, programming and
implementation; cloud computing; online providing of
non-downloadable software for the virtualisation, in
particular the design, programming and updating of virtual
environments; hosting of computer sites (websites), software
as a service (saas) services featuring software for
networking and system monitoring and management; rental of
software; providing of temporary use of non-downloadable,
cloud-based software for connecting, operating, and managing
networked devices in the internet of things [IoT]; providing
online non-downloadable software for monitoring and managing
data and system security, communications, operating systems
and data routing; providing online non-downloadable software
for use in data and system analytics.
64.
SAFETY MODULE FOR A SAFE DRIVE CONTROL OF A DRIVE SYSTEM IN AN AUTOMATION SYSTEM, DRIVE SYSTEM AND AUTOMATION SYSTEM
A safety module for a secured drive control of an automated drive system is configured to receive encoder data sent from an encoder unit to a drive unit, based on an encoder protocol via a protocol active unit. The safety module is configured to forward the encoder data from the protocol active unit to a safety logic and a protocol passive unit, check the forwarded encoder data with the aid of the safety logic for correspondence with predetermined safety criteria relating to operation of a motor unit, and transmit the forwarded encoder data via the protocol passive unit to the drive unit, in respective data packets based on the encoder protocol. The safety module can stop operation of the motor unit with the aid of the safety logic, if the encoder data does not correspond to the predetermined safety criteria. A corresponding drive system and automation system are also provided.
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
B60W 40/12 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés à des paramètres du véhicule lui-même
65.
PLANAR DRIVE SYSTEM, METHOD FOR OPERATING A PLANAR DRIVE SYSTEM, AND STATOR FOR DRIVING A ROTOR
A planar drive system comprises a stator and a rotor. The stator comprises a plurality of stator conductors. The rotor comprises a magnet device comprising at least one rotor magnet. The stator is configured to energize the stator conductors. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet device of the rotor in order to drive the rotor. The stator is configured to carry out the energizing of the stator conductors by a current control based on a pulse-width modulation. Due to the current control, a ripple current in energized stator conductors of the stator and thereby an alternating magnetic field can be generated. The rotor comprises at least one rotor coil in which an alternating voltage can be induced due to the alternating magnetic field.
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).
G05B 19/05 - Automates à logique programmables, p.ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
67.
ROTOR FOR A PLANAR DRIVE SYSTEM AND PLANAR DRIVE SYSTEM
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 - Enveloppes ou enceintes caractérisées par leur configuration, leur forme ou leur construction spécialement adaptées à un fonctionnement dans un liquide ou dans un gaz utilisant des manchons d'entrefer ou des disques à film d'air
H02K 5/22 - Parties auxiliaires des enveloppes non couvertes par les groupes , p.ex. façonnées pour former des boîtes à connexions ou à bornes
H02K 41/03 - Moteurs synchrones; Moteurs pas à pas; Moteurs à réluctance
A method for data communication between subscribers of an automation system includes a first passive subscriber and a second passive subscriber receiving a write request sent by an active subscriber, determining a first transmission time point for transmitting a first reply message by the first passive subscriber, transmitting the first reply message at the first transmission time, and receiving the first reply message. The method also includes determining a second transmission time for transmitting a second reply message by the second passive subscriber, transmitting the second reply message at the second transmission time, receiving the second reply message, and interpreting the first reply message and the second reply message as segments of a data packet.
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.
H02K 41/03 - Moteurs synchrones; Moteurs pas à pas; Moteurs à réluctance
B01F 29/31 - Mélange du contenu d'emballages ou de récipients individuels, p.ex. en faisant tourner des boîtes de conserve ou des bouteilles les récipients étant supportés par des moyens d'entraînement, p.ex. des rouleaux rotatifs
B01F 29/80 - Mélangeurs à récipients rotatifs tournant autour d'un axe sensiblement vertical
B01F 29/83 - Mélangeurs à récipients rotatifs tournant autour d'un axe sensiblement vertical avec des palettes ou des bras rotatifs, p.ex. déplaçables hors du récipient
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).
H02K 41/03 - Moteurs synchrones; Moteurs pas à pas; Moteurs à réluctance
B65G 47/22 - Dispositifs pour influencer la position relative ou l'orientation des objets pendant le transport par transporteurs
B67B 3/20 - Fermeture des bouteilles, des bocaux ou des récipients analogues par application de capsules par application et rotation de capsules préalablement filetées
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
(1) Provision of data, especially, providing of industrial data, via a global communications network, in particular via the Internet; data processing services; data compilation and transcription; database management services; electronic database management services; interactive database information services; storing of data and storage of information, analysis and retrieval of data and information; all the aforesaid services, not in relation to the following goods: construction machines and mining machinery, diesel generator stations, gas generator stations and industrial gas turbines.
(2) Electronic transmission of data, especially, electronic transmission of industrial data, via a global communication network, in particular via the Internet; electronic transmission of data, especially, electronic transmission of industrial data via computer terminals; speech transmission, data transmission, transmission of images, transmission of sound, transmission of video and transmission of information via a global communication network, in particular the Internet; access to databases, internet portal access and gateway services; leasing access time to websites, leasing of access time to a computer database; providing secure transmission of data, in particular industrial data via the Internet; providing virtual private network services; providing internet chatrooms; providing online forums; electronic mail service; all the aforesaid services, not in relation to the following goods: construction equipment and mining machines, diesel generator stations, gas generator stations and industrial gas turbines.
(3) Computer programming; design and updating of computer software; information provided via internet portals, relating to the following sectors: computer programming; providing virtual computer systems through cloud computing; providing of a cloud storage platform; programming of operating software for accessing and using a cloud computing network; hosting services, software as a service, and rental of software; platform as a service [PaaS] featuring software platforms for the transmission of voice, data, images, audio, video, and information; infrastructure as a service [IaaS]; computer security services enabling the secure transmission of data, in particular industrial data via the Internet; hosting computer sites [web sites], design, development and hosting of database software; computer back-up services, systems integration and computer security consultancy relating to the aforesaid services; all the aforesaid services not relating to construction machinery or mining machinery, diesel generator installations, gas generator installations and industrial gas turbines.
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Provision of data, especially, providing of consumer data regarding the selection of industrial products to be purchased, via a global communications network, in particular via the Internet; data processing services; business data compilation and stenographic transcription; database management services; electronic database management services; providing an online interactive database featuring consumer information on the selection of industrial products to be purchased; recording of data and information being business records management, analysis and research of business data and information; all the aforesaid services not in relation to construction machines, mining machinery, diesel generator stations, gas generator stations and industrial gas turbines Electronic transmission of data, especially, electronic transmission of industrial data, via a global communication network, in particular via the Internet; electronic transmission of data, especially, electronic transmission of industrial data via computer terminals; electronic transmission of voices, data, image, sound, video, information, via a global communication network, in particular via the Internet; streaming of data, especially, streaming of industrial data; providing access to a global communications network, in particular the Internet; providing access to databases, providing access to internet portals via the internet and providing telecommunication gateway services; providing secure electronic transmission of data, in particular industrial data via the Internet; providing virtual private network services; providing internet chatrooms; providing online forums; electronic mail service, namely, electronic transmission of email; all the aforesaid services not in relation to construction equipment, mining machines, diesel generator stations, gas generator stations and industrial gas Computer programming; design and updating of computer software; technological information provided via internet portals in the field of computer programming; providing virtual computer systems through cloud computing; providing of a cloud storage platform services for electronic data and files; programming of operating software for accessing and using a cloud computing network; server hosting services; software as a service (SaaS), namely, hosting software for use by others for use in database management; and rental of software for data processing; platform as a service (PaaS) featuring software platforms for the transmission of voice, data, images, audio, video, and information; infrastructure as a service (IaaS), namely, hosting servers for use by others; computer security services enabling the secure transmission of data, in particular industrial data via the Internet, namely, restricting unauthorized network access by users without credentials; hosting computer web sites, design, development and hosting of database software of others; remote computer back-up services, computer systems integration and computer security consultancy relating to the aforesaid services; all the aforesaid services not relating to construction machinery or mining machinery, diesel generator installations, gas generator installations and industrial gas turbines
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 1/00 - CIRCUITS DE PROTECTION DE SÉCURITÉ - Détails de circuits de protection de sécurité
H02H 7/26 - Protection sectionnelle de systèmes de câbles ou de lignes, p.ex. pour déconnecter une section dans laquelle un court-circuit, un défaut à la terre, ou une décharge d'arc se sont produits
74.
METHOD FOR CYCLICALLY TRANSMITTING DATA BETWEEN COMMUNICATION SUBSCRIBERS ON A DATA TRANSMISSION CHANNEL, AND DATA TRANSMISSION SYSTEM
In a data-transmission system, a first amount of data can be transmitted in each transmission cycle. A data generator provides a second amount of data for each transmission cycle. The first amount of data exceeds the second amount of data by a percentage. The data generator transmits the data provided by the data generator to a data processor at the data transmission rate of the data-transmission channel. The data processor processes the data received from the data generator on the data-transmission channel, delayed by the number of transmission cycles required for the data generator to respond to a command from the data processor. The data processor indicates a transmission cycle as faulty with the aid of a repeat command if an error has occurred in the data transmission, and the data generator repeats the transmission of the data of the cycle indicated as faulty upon receiving the repeat command.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
(1) Modular electric, electronic and optical measuring, signalling, inspecting, regulating and controlling security apparatus, components, instruments and installations, in particular for memory-programmable controls, except computer input devices and components thereof; apparatus and instruments for conducting, switching, transforming, accumulating, regulating, remote control and controlling electricity and energy consumption; servo amplifiers; data processing apparatus, computers and industrial PCs, in each case except for private use and excluding computer input devices and components thereof; networks, network components and network interfaces; distribution boxes and electric cables and cable fittings, especially cabling relieving rails, cable conduits, hose supports, closure plates, electric plugs, cable connectors, electrical cabling, power cables, electronic cables, data transmission cables, electrical and electronic components; system and chassis mounting being mounting levels for electrical and mechanical components; electric ground straps; racks for plug-in assemblies with electronic circuits, power distribution components, in particular busbar supports, connection and device adapters, bus-mounted fuse bases and load break switches, conductor connection terminals, system and holder covers; data transfer components, fittings for all the aforesaid goods, namely distribution cabinets, equipment enclosures, telecommunications distributors, junction boxes; electric apparatus for connecting sensors and actuators, distribution systems, modular fieldbus systems, E/A modules, interface components and components for control engineering, in particular relays and switches, switches, in particular contactors; relays, especially semiconductor relays, relay modules; modular couplers; plug-in card carriers, potentiometer modules, valve control apparatus, diode and varistor components, shockproof plugs, controls, light emitting diode displays, transducers, transformers, in particular frequency transformers and current transformers, especially rectifier module; servo amplifiers, intermediate circuit capacitors, voltage monitor modules; overcurrent protection devices, especially fuses, electronic security devices; electronic power supplies, uninterruptible electrical power supplies; components for circuits; connection units (electric -), plug boxes [electric], connection boards [electric], connector sockets (electric -); plug-in connectors; electronic interfaces; electrical and mechanical components for suppression and valve connection technology for machines, especially electricity mains filters, filters for radio interference suppression, suppression components, start-up delay circuits for switching apparatus and for motors and engines, network equipment, especially dc link power supply and compact mains apparatus, transformers [electricity], power distribution and monitoring devices; reversing starters for controllers of servo motors; direct starters for controllers of servo motors; computer programs for commissioning, controlling, regulating, optimising, diagnosing of machines and installations, in particular electric and electronic regulating and controlling systems including converters; computer to computer programs for implementing security tasks; network-based computer programs; computer programs for transferring signals; computer programs recorded on data carriers; computer software for business and cloud computing infrastructure and platforms for edge computing and virtualisation; software for information processing infrastructure; information processing computer software platforms; interfaces for computers; computer programs for networking and system monitoring and administration; none of the aforesaid goods for use in power-operated tools, not for batteries for use in power-operated tools, and not for battery charging apparatus for use in power-operated tools. (1) Installation, maintenance and updating of computer programs for the planning, configuration, commissioning, operating and maintenance of electric and electronic regulating and control systems, including converters; computer programming for computer-aided construction; adaptation of programs for users with specific requirements; development of computer programs recorded on data media (software) designed for use in construction and automated manufacturing (cad/cam); software development; design and development of electric, electronic and electrotechnical components; letting, in relation to the following goods: computer hardware, computer facilities, data processing equipment, peripheral computer devices; software development, programming and implementation; cloud computing; online providing of non-downloadable software for the virtualisation, in particular the design, programming and updating of virtual environments; hosting of computer sites (websites), software as a service (saas) services featuring software for networking and system monitoring and management; rental of software; providing of temporary use of non-downloadable, cloud-based software for connecting, operating, and managing networked devices in the internet of things [IoT]; providing online non-downloadable software for monitoring and managing data and system security, communications, operating systems and data routing; providing online non-downloadable software for use in data and system analytics.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Modular electric, electronic and optical measuring, signalling, inspecting, regulating and controlling security apparatus, components, instruments and installations, especially programmable logic controllers, other than the following goods: computer input devices and their components; apparatus and instruments for conducting, switching, transforming, accumulating, regulating, remote control and controlling electricity and energy consumption; servo amplifiers; data processing apparatus, computers and industrial pcs in each case except for private use and excluding computer input devices and components thereof, all being other than for personal use and other than the following goods: input devices for computers and component parts for the aforesaid goods: networks, network components and network interfaces; distribution boxes and electric cables and cable fittings, especially cabling relieving rails, cable conduits, hose modular electric, electronic and optical measuring, signalling, inspecting, regulating and controlling security apparatus, components, instruments and installations, especially programmable logic controllers, other than the following goods: input devices for computers, related fittings; apparatus and instruments for conducting, switching, transforming, accumulating, regulating, remote control and controlling electricity and energy consumption; servo amplifiers; data processing apparatus, computers and industrial pcs, all the aforesaid goods, not in relation to the following fields: private use, other than the following goods: input devices for computers, related fittings; networks, network components and network interfaces; distribution boxes and fittings, especially cabling relieving rails, cable conduits, hose supports, closure plates, electric plugs, cable connectors, electrical cabling, power cables, electronic cables, data transmission cables, electrical and electronic components; system and chassis mounting being mounting levels for electrical and mechanical components; electric ground straps; racks for plug-in assemblies with electronic circuits, power distribution components, in particular busbar supports, connection and device adapters, bus-mounted fuse bases and load break switches, conductor connection terminals, system and holder covers; data transfer components, fittings for all the aforesaid goods, namely, distribution cabinets, equipment cabinets, telecommunications distributor, connection boxes; electric apparatus for connecting sensors and actuators, distribution systems, modular fieldbus systems, e/a modules, interface components and components for control engineering, in particular relays and switches, switches, in particular contactors; relays, especially semiconductor relays, relay modules; modular couplers; plug-in card carriers, potentiometer modules, valve control apparatus, diode and varistor components, shockproof plugs, controls, light emitting diode displays, transducers, inverter units, especially frequency converters, current transformers, especially rectifier module; servo amplifiers, intermediate circuit capacity, voltage monitor modules; overcurrent protection devices, especially fuses, electronic security; electronic power supplies, uninterruptible electrical power supplies; components for circuits; connection units (electric -), plug boxes [electric], connection boards [electric], connector sockets (electric -); plug-in connectors; electronic interfaces; electrical and mechanical components for suppression and valve connection technology for machines, in particular mains line filters, filters for radio interference suppression, suppression components, start-up delay apparatus for switching apparatus and for motors and engines, network equipment, especially DC link power supply and compact mains apparatus, transformers [electricity], power distribution and monitoring; motor and engine reversing starters; motor and engine direct starters; computer programs for commissioning, controlling, regulating, optimising, diagnosing of machines and installations, in particular electric and electronic regulating and controlling systems including converters, computer to computer programs for implementing security tasks, network-based computer programs, computer programs for transferring signals; computer programs recorded on data carriers; computer software for business and cloud computing infrastructure and platforms for edge computing and virtualisation; information processing infrastructure and platforms; interfaces for computers; computer programs for networking and system monitoring and administration; all the pre-mentioned goods not for use in electrically-powered tools, not for batteries for use in electrically-powered tools, and not for battery chargers for use in electrically-powered tools Installation, maintenance and updating of computer programs for the planning, configuration, commissioning, operating and maintenance of electric and electronic regulating and control systems, including converters; computer programming for computer-aided construction; adaptation of programs for users with specific requirements; development of computer programs recorded on data media (software) designed for use in construction and automated manufacturing (cad/cam); software development; design and development of electric, electronic and electrotechnical components; letting, in relation to the following goods: computer hardware, computer facilities, data processing equipment, peripheral computer devices; software development, programming and implementation; cloud computing; online providing of non-downloadable software for the virtualisation, in particular the design, programming and updating of virtual environments; hosting of computer sites (websites), software as a service (saas) services featuring software for networking and system monitoring and management; rental of software; providing of temporary use of non-downloadable, cloud-based software for connecting, operating, and managing networked devices in the internet of things [IoT]; providing online non-downloadable software for monitoring and managing data and system security, communications, operating systems and data routing; providing online non-downloadable software for use in data and system analytics
77.
METHOD FOR UPDATING A CONTROL PROGRAM OF AN AUTOMATION SYSTEM WITH DATA MIGRATION OF A PROGRAM STATE OF THE CONTROL PROGRAM
A method for updating a control program of an automation system with data migration of a program state of the control program is provided. The method comprises generating a first migration function for mapping a first data element to a second data element, interrupting a cyclic execution of a first control program, determining a value of the first data element, where the determined value of the first data element describes a program state of the first control program at the time of the interruption, and mapping the value of the first data element to the second data element by executing a migration function.
G05B 13/02 - Systèmes de commande adaptatifs, c. à d. systèmes se réglant eux-mêmes automatiquement pour obtenir un rendement optimal suivant un critère prédéterminé électriques
78.
METHOD FOR SYNCHRONIZING TIME IN AN ETHERNET-BASED NETWORK
A method for synchronizing time in an Ethernet-based network having a master network subscriber and a slave network subscriber includes sending out a first telegram via the master network subscriber, where the slave subscriber receives the first telegram at a first receipt time value of a local system time and stores the first receipt time value. The method can also include reading out the first receipt time value via the master subscriber, sending out a second telegram by the master subscriber, where the slave subscriber receives the second telegram at a second receipt time value of the local system time and stores the second receipt time value, and reading out the second receipt time value via the master network subscriber. A speed parameter of the local system time can be calculated from the receipt time values via the master network subscriber, and transmitted to the slave subscriber.
A method is provided for operating an automation system having a first controller and a second controller and an external data infrastructure with a message-distributing module. The method includes defining a first communication network and identifying the first controller and the second controller as first communication subscribers of the first communication network via the message-distributing module, sending out a first network message via the first controller to the message-distributing module of the external data infrastructure, identifying the second controller as the first communication subscriber of the first communication network addressed via the first controller using the message-distributing module, forwarding the first network message sent out by the first controller to the second controller via the message-distributing module, and receiving the forwarded first network message via the second controller. Further, a data infrastructure system for execution of the method for operating an automation system is provided.
A method for real-time data communication between subscribers in an automation network is provided. The automation network includes an active subscriber, a plurality of passive subscribers and at least a connecting unit. The method includes the active subscriber arranging n data packets to be transmitted in a transmission order with a total occupancy time duration of the transmission order, performing an optimizing procedure for determining an optimized transmission order with minimum total occupancy time, and transmitting the n data packets in the optimized transmission order to the passive subscribers. An active subscriber for carrying out the method and an automation network comprising an active subscriber are also provided.
H04L 67/12 - Protocoles spécialement adaptés aux environnements propriétaires ou de mise en réseau pour un usage spécial, p.ex. les réseaux médicaux, les réseaux de capteurs, les réseaux dans les véhicules ou les réseaux de mesure à distance
G05B 19/05 - Automates à logique programmables, p.ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
81.
Method for data migration of a pointer element in the course of data migration of a program state of a control program of an automation system
A method for data migration of a pointer element in the course of data migration of a program state of a control program of an automation system comprises identifying the first pointer element and the second pointer element as pointer elements associated with each other via a first relation in a pointer-identifying step, and mapping the first pointer element to the second pointer element in a pointer migration step. The pointer migration step comprises identifying the first pointer object referenced by the first pointer element, identifying an object associated with the first pointer object as the second pointer object, determining an absolute memory address of the second pointer object, and writing the determined memory address of the second pointer object as a value of the second pointer element into the second pointer element.
A method is provided for linking objects of an open platform communication unified architecture (OPC UA) data communication standard with objects of a programmable logic controller (PLC) code of a controller of an automation system is provided. The method comprises reading an OPC UA node set of a companion specification, generating OPC UA instances of the OPC UA object types of the OPC UA node set for the automation system, combining the OPC UA instances in an OPC UA instance node set, generating PLC objects in a PLC code of a control program of the automation system, and linking the OPC UA instances of the OPC UA instance node set with PLC objects of the PLC code of the control program. A development environment for carrying out the method is also provided.
H04L 67/10 - Protocoles dans lesquels une application est distribuée parmi les nœuds du réseau
G05B 19/05 - Automates à logique programmables, p.ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
G05B 19/042 - Commande à programme autre que la commande numérique, c.à d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
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.
H02H 1/00 - CIRCUITS DE PROTECTION DE SÉCURITÉ - Détails de circuits de protection de sécurité
H02H 9/00 - Circuits de protection de sécurité pour limiter l'excès de courant ou de tension sans déconnexion
G05B 19/042 - Commande à programme autre que la commande numérique, c.à d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
84.
METHOD FOR PROCESSING TELEGRAMS IN AN AUTOMATION NETWORK, AUTOMATION NETWORK, MASTER SUBSCRIBER AND SUBSCRIBER
A method for processing telegrams in an automation network provides a master subscriber to at least partially encrypt and output telegrams, respectively, to another subscriber. The other subscriber comprises an input port, a receiving logic connected to the input port, a decryption unit connected to the receiving logic, and a processing unit connected to the decryption unit and the receiving logic. The receiving logic is configured, when a telegram at least partially encrypted by the master subscriber is present at the input port, to forward an encrypted portion of the telegram to the decryption unit. The decryption unit is configured to decrypt the encrypted portion of the telegram with a key, and to forward the encrypted portion to the processing unit for processing. If an unencrypted telegram is present at the input port, the receiving logic is configured to forward the unencrypted telegram to the processing unit for processing.
An automation network comprises at least one master subscriber, at least one switch, and at least one subscriber. The master subscriber comprises master ports, the switch comprises switching ports, and the subscriber comprises ports, each comprising a transmitter and a receiver. The master subscriber is configured to output first and second telegrams to first and second switching ports via first and second master ports and first and second master communication paths. The switch is configured to forward the first telegram to a first port of a subscriber via a first communication path, and to forward the second telegram to a second port of a subscriber via a second communication path. In error mode, the switch and the subscriber are configured to return the first telegram to the master subscriber via the first master port, and/or to return the second telegram to the master subscriber via the second master port.
G05B 19/05 - Automates à logique programmables, p.ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
In a method for operating a device comprising an internal clock generator and an internal clock and being connected to a network, the internal clock is incremented by the internal clock generator. Moreover, the internal clock is synchronized with a network frequency of the network.
In an automation communication network, a distribution node is provided with a plurality of input/output interfaces, each connected to a network segment having at least one subscriber. The network segments are each assigned segment telegrams for processing by the subscriber. The segment telegrams have a data field with sequence information indicating the priority of a subsequent segment telegram. The distribution node is configured to receive the segment telegram on an input/output interface and transmit it according to a routing specification on a further input/output interface. The distribution node blocks the input/output interface on which the segment telegram has been transmitted for further transmission if the telegram sequence information indicates a priority for the subsequent segment telegram with the same routing specification, which is higher than the priority of other telegrams intended for transmission on the input/output interface, in order to send the subsequent segment telegram on the blocked input/output interface.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Robots, namely industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; robot modules, namely axis modules, joint modules, distributor modules, toothed belt modules for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic manufacturing machines and automatic machine tools; stands, in particular robot stand, for robots, namely modular robots, industrial robots, collaborative robots (cobots), automatic manufacturing machines and automatic machine tools; end-effectors for robots, namely modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools, accessories for the aforementioned end-effectors; motors, in particular servomotors, DC motors, stepper motors, torque motors for robots, namely modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; drive mechanisms and drive parts for the aforementioned motors; gears, in particular planetary gears, harmonic drives and cycloids for robots, namely modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; connecting elements [machine parts] for robots, namely modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; all the aforementioned being exclusively industrial robots or in relation thereto. Electrical and electronic devices, apparatus and instruments, namely control modules, control devices and integrated electrical control systems, terminal modules with integrated electronics, safety modules and contacting modules with solenoid-controlled valves, in particular solenoid directional control valves, for robots, namely modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; operating panels, in particular PC module, key modules, teaching modules for the aforementioned goods for operating and/or controlling robots, namely modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; electronic modules, connector modules, supply modules and output modules for supplying and outputting supply voltages and for communication of robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; electrical, electronic and optical connection elements, namely transmitter modules and receiver modules for robots, in particular modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; data cables, electric cables for robots, namely modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; downloadable software for controlling, programming, manufacturing, processing, transporting and assembling robots, namely modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; downloadable software for use in relation to the following: Cloud computing and data storage; cameras with image sensors for robots, namely modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; electronic sensors for robots, robot parts and accessories, in particular electronic sensors for measuring distance, position, torque and proximity; display units with LCD monitors for attachment to robots, namely modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; parts and accessories (included in class 9) for robots, in particular modular robots, industrial robots, collaborative robots (cobots), automatic production machines and automatic machine tools; all the aforementioned in relation to industrial robots. Installation, repair and maintenance of computer software in the field of robotics; development of computer software in the field of robotics; provision of virtual computer systems in the field of robotics through cloud computing; programming of operating software in the field of robotics to access and use cloud computing networks; Software as a Service [SaaS] and rental of software for the control, programming, manufacturing, processing, transport and assembly of robots, robot parts, accessories and robot arm modules; Platform as a Service [PaaS] with software platforms for the transmission of voice, data, image, sound, video and information for the control, programming, manufacturing, processing, transport and assembly of robots, robot parts and accessories; Infrastructure as a Service [IaaS] in the field of robotics; programming and updating of virtual environments, in particular for the configuration of robots, namely modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; design and development of electrical, electronic and optical components for robots, namely modular robots, industrial robots, collaborative robots (cobot), automatic manufacturing machines and automatic machine tools; all the aforementioned services for the field of robotics exclusively concerning or being related to industrial robots.
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) with a stator unit (300) and a rotor (400), comprising moving the rotor (400) to a rotational position (RP) of the rotor (400) on 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 rotating the rotor (400) about an axis of rotation that is oriented perpendicular to a stator surface (303) of the stator unit (300) by a predetermined angle of rotation (a). The invention also relates to a planar drive system (200).
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).
An arm module, modular robot arm or industrial robot has a housing with first and second connection sides. The first connection side has a first connection plate, a first fluid contact device and a first contact device. The second connection side is mechanically connected to the housing in a torque-proof manner, and has a second connection plate. The first fluid contact device and first contact device are arranged on the first connection plate, parallel to a mounting axis. The first connection side is connectable to another arm module. An external thread is arranged about the first mounting axis, on an outer circumferential side of the first connection plate. The second connection plate is circumferentially embraced by a fastening ring with an internal thread corresponding to the external thread. The fastening ring is connected to the housing in an axially fixed manner, rotatable about a second mounting axis.
B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
An arm module has a housing with a first connection side and a second connection side. The first connection side is embodied to be controllably rotatable about an axis of rotation relative to the second connection side. The first connection side has a rotatable first connection device and the second connection side has a second connection device fixed to the housing. A multifunctional rotation transfer system is provided for rotational transmission of data signals, electrical energy and fluid. A drive device is provided comprising a shaft assembly having an output shaft, which is connected to the rotatable first connection device of the first connection side in a torque-proof manner, wherein the shaft assembly forms a section of the multifunctional rotation transfer system.
B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/14 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs à fluide
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
An industrial robot comprises a modular robot arm having a plurality of arm modules, where a rotation transfer device for optical signal transmission is provided in an arm module or between a first and a second arm module. The rotation transfer device comprises an optomechanical rotation interface having a first interface side and a second interface side, which face each other and are substantially rotationally symmetrical and complementary. The first and second interface sides are configured to rotate relative to each other. The first and second interface sides are mechanically mounted with respect to each other, with a radial plain bearing on one interface side and a slide bearing shell complementary thereto on the other interface side. A gap is formed between the first and second interface sides, in the axial direction of the rotation transfer device, across which the optical signal transmission takes place.
B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
95.
ASSEMBLY OF STATOR MODULES FOR A PLANAR DRIVE SYSTEM
An assembly of stator modules for a planar drive system comprises a first stator module and a second stator module, The first stator module and/or the second stator module each comprise stator segments with a segment width, the stator segments being energizable, where the stator segments can provide a magnetic field in order to interact with the magnet arrangements of a rotor for driving and/or holding the rotor of the planar drive system. The first stator module and the second stator module are arranged spaced apart from each other and thereby form a gap, where the gap has a gap width, and where the gap width is smaller than or equal to the segment width.
H02K 1/18 - Moyens de montage ou de fixation des parties magnétiques fixes sur ou aux structures constituant le stator
H02K 41/03 - Moteurs synchrones; Moteurs pas à pas; Moteurs à réluctance
H02K 11/33 - Circuits d’entraînement, p.ex. circuits électroniques de puissance
H02K 29/10 - Moteurs ou génératrices à dispositifs de commutation non mécaniques, p.ex. tubes à décharge ou dispositifs à semi-conducteurs avec des dispositifs détecteurs de la position utilisant des moyens à effet lumineux
96.
AUTOMATION SYSTEM HAVING A MASTER-SLAVE STRUCTURE, DISTRIBUTOR, AND METHOD FOR TELEGRAM TRANSMISSION
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).
An automation system has a master control unit, a first radio subscriber, a first radio device and a clock master. The first radio device has a first synchronization element, a first radio module and a first connection for the bus system. The first radio module can establish a radio connection to the first radio subscriber for data exchange with a bus system provided by the master control unit. The first radio connection has a first radio channel with a first frequency range. The first synchronization element is set up to output a synchronization signal to the first radio module, based on a signal received from the clock master via the first connection. The first radio module is set up to change a frequency of the first radio channel based on the synchronization signal, within the first frequency range, on the basis of a first hopping table.
An active arm module for the robot arm of a modular industrial robot has a first housing, first and connection sides arranged at an offset, and a drive device. The first connection side is mounted rotatably relative to the first housing, and is connected to the drive device in a torque-locking manner. The second connection side is connected to the first housing in a torque-proof manner, the drive device being arranged in the first housing and configured to rotate the first connection side relative to the first housing. A further module can be connected to the first and/or second connection side, where the first connection side is optically, electrically, power-electrically and/or fluidically connected to the second connection side, and an optical signal, electrical signal, electrical power, and/or a fluid can be exchanged with the further module via the and/or second connection side.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
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).
G05B 9/03 - Dispositions de sécurité électriques avec une boucle à canal multiple, c. à d. systèmes de commande redondants
G05B 19/05 - Automates à logique programmables, p.ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
