A method for encrypting a source code for use in a version control system, is provided including providing the source code in an unencrypted and textual form in a provisioning step, carrying out an encryption of the source code and generating an encrypted source code version in an encrypting step, and carrying out a textualization of the encrypted source code version and generating a textualized representation of the encrypted source code version in a textualizing step. A method for decrypting an encrypted source code version is also provided, along with development system for carrying out the methods.
In a method for initializing an automation network including a plurality of bus users, for each bus user, the identification object assigned to the bus user in a target configuration is compared with an identification object read out from the bus user, wherein, if there is a discrepancy between the identification objects, a type identifier read out from the bus user is used to identify whether the bus user is a substitute bus user, wherein, if the type identifier indicates that the bus user is a substitute bus user, a substitute list read out from the bus user is used to identify whether the original bus user is able to be replaced by the substitute bus user, and wherein a fault state is triggered and the initialization is aborted if a permitted actual configuration is not identified when determining the actual configuration.
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).
In an automation system, a substitute server unit is configured to receive normal telegrams exchanged between a main server unit and a client unit. The functionality of the main server unit is continuously monitored. If a failure event of the main server unit is detected, the substitute server unit is configured to activate a failure operating mode, wherein the substitute server unit and the client unit exchange failure telegrams in the failure operating mode. In the failure telegrams, the predefined user data structure of the normal telegrams is divided up into relevant data elements and optional data elements. The substitute server unit is configured to use the data values of the relevant data elements of the current normal telegram for the relevant data elements of the first failure telegram and to use the default data values specified for the optional data elements of the first failure telegram.
A transport system and device and a running rail are provided. The transport system comprises a running rail having a running rail section and the movable transport device. A first running surface of the running rail section comprises a substantially rounded surface and includes a guide center. The guide center substantially forms a geometric circle center, the circular surface of which in each case approximately encloses the rounded surface of the first running surface. A first roller of the transport device rotatably abuts on the first running surface. The first roller is rotatably mounted on a movable element of the transport device. The first roller is configured to carry out a pivoting movement along the rounded surface of the first running surface. A rotational axis of the movable element and the guide center are arranged at substantially the same height.
B65G 35/06 - Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
Proposed is a stator module (3) for electromagnetically driving an armature (2) in a planar drive system (1), the stator module comprising: a stator plate (31); a power unit (32) which has at least one printed circuit board (321) projecting downward, in particular perpendicularly, from a stator plate underside (313); a feedback board (33) in which a pattern of feedback board passages (336) is provided; and a box-like cooling unit (34) which has a thermally conductive plate (341) having a projecting enclosure (344) around the periphery, a pattern of thermally conductive plate receptacles (346) being provided in the thermally conductive plate (341).
In order to determine a bus subscriber arrangement in an automation network, the following steps are carried out: outputting a data packet by a control bus subscriber on a data line, wherein when the data packet is received by the one input/output port on the outward path, each bus subscriber captures an outward-path timestamp and when the data packet is received by the other input/output port on the return path, each bus subscriber captures a return-path timestamp; correlating the captured timestamps of each bus subscriber by forming a difference amount between the outward-path timestamp and the return-path timestamp of the bus subscriber, wherein for the last bus subscriber for which only a first timestamp is captured, the second timestamp is set to the same as the first timestamp; and sorting the difference amounts starting from the largest value to the smallest value in order to ascertain the set-up sequence of the bus subscribers starting from the control bus subscriber as a set-up line of the bus subscribers.
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).
In a field bus system, sub-subscribers (3) each have a sub-connection (33) and a functional connection (34) connected to the sub-connection (33), wherein status information is captured in each sub-subscriber and indicates whether the functional connection is active or inactive. A message output by a main subscriber in the field bus system has at least one datagram, wherein the status information relating to the sub-subscribers (3) addressed in the datagram is captured with the message. Furthermore, a counter field of the datagram is changed by the sub-connection (33) of the sub-subscriber (3), which has processed the useful data field, in a manner predefined for the data transmission process being carried out in each case. The datagram is assigned an expected value for the counter field, which expected value results when the useful data field has been processed by the addressed sub-subscribers (3) according to the data transmission processes predefined in the command field. The main subscriber (2) then determines the expected value for the counter field of the datagram on the basis of the status information captured with the message and compares said expected value with the value of the counter field in the datagram processed by the addressed sub-subscribers (3) in order to determine, in the event of a discrepancy, a processing error in the datagram processed by the addressed sub-subscribers (3).
H04L 12/403 - Bus networks with centralised control, e.g. polling
10.
METHOD FOR PROVIDING A COMPENSATION VARIABLE IN AN OPTIMIZED MANNER IN ORDER TO COMPENSATE FOR SYNCHRONISM FLUCTUATIONS FOR A MOTOR, AND AUTOMATION SYSTEM COMPRISING A MOTOR
H02P 6/10 - Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
G05B 1/00 - Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values
G05B 19/404 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
11.
METHOD FOR OPERATING A MODULAR ROBOT, CONTROLLER AND MODULAR ROBOT
A method is related for operating a modular robot. The modular robot comprises a robot base, at least a robot arm arranged on the robot base and a controller. The robot arm comprises a plurality of modularly arrangeable arm modules. The controller carries out steps described herein. Allocation information is received from each of the arm modules in an allocation determining step. In an arm module base data determining step, arm module base data is determined for each arm module based on the allocation information. Further, a configuration of the modular robot is created from the association information and the arm module base data of each arm module in a configurating step, where the configuration is used to control the robot arm.
A modular machine-automation system includes a server module and a plurality of client modules. Each client module includes a housing having a first client module connection face with a first client signal transfer unit and a second client module connection face with a second client signal transfer, and a client bus switch-on unit. In an initialization mode, a client signal coupling unit in the client bus switch-on unit is configured to determine which client module connection face is connected to a server module connection face, either directly or via one or a plurality of further client modules, in order to switch to a first operating mode when the first client module connection face is coupled to the server module connection face, and to a second operating mode when the second client module connection face is coupled to the server module connection face.
The invention relates to a computer-implemented method (100) for generating a control program for an automation system, comprising: receiving input data (207) for a control program (209) of an automation system by a development environment (200) in a receipt step (101); generating a graphical diagram (211) in the graphical programming language based on the input data (207) by a graphical editor unit (201) of the development environment (200) in a first generation step (103); displaying the graphical diagram (211) in the graphical editor unit (201) of the development environment (200) in a first display step (105); translating the graphical diagram (211) in the graphical programming language into a textual intermediate representation (213) of the graphical diagram (211) by a translation module (205) of the development environment (200) in a first translation step (107); displaying the textual intermediate representation (213) of the graphical diagram (211) in a textual editor unit (203) of the development environment (200) in a second display step (109); and generating the control program (209) based on the textual intermediate representation (213) of the graphical diagram (211) of the graphical programming language and/or based on the graphical diagram (211) in a second generation step (111).
The invention relates to a computer-implemented method (100) for generating a control program (209) for an automation system, comprising: translating a graphical digram (211) of a graphical programming language into a textual intermediate representation (213) of the graphical diagram (211) by a translation module (205) of a development environment (200) in a first translation step (101), wherein the first translation step (101) comprises: carrying out a line-by-line translation in a line translation step (103); and storing the textual intermediate representation (213) in a representation file (245) in a storage step (105). The invention furthermore relates to a development environment (200) for carrying out the method (100).
A base module has a base connection surface with a projection formed around a first opening. A functional module has an engagement element arranged at a second opening having a recess with an edge forming a stop. A sealing socket runs around the second opening. A cap structure includes a frame running around the second opening, a plug-in receptacle connected to the frame and having a latching hook, and a soft component arranged on the frame facing the functional connection surface. The engagement element can be inserted into the plug-in receptacle with the soft component resting against the sealing socket and the latching hook engaged in the recess. A connecting device is provided between the modules. When the connecting device is open, the latching hook makes contact with the stop and the sealing socket is supported on the soft component with the connection surfaces spaced apart. When the connecting device is closed, the connecting surfaces are pressed against each with the soft component between the projection and the sealing socket, and the engagement element pushed into the plug-in receptacle with the latching hook at a distance from the stop.
A method for controlling a planar drive system includes transmitting a communication message with the aid of a main controller to a sub-controller via the communication system, where the communication message comprises a start command for starting the automation process to be carried out by the rotor and is configured to drive the sub-controller to control the automation process, and receiving a response message transmitted by the sub-controller to the main controller via the communication system, the response message comprising a status indication of a status of the automation process controlled by the sub-controller. The application also provides a rotor, a stator assembly and a planar drive system.
H02P 25/064 - Linear motors of the synchronous type
H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor positionElectronic commutators therefor
H02P 6/16 - Circuit arrangements for detecting position
17.
METHOD FOR OPERATING AN AUTOMATION SYSTEM, CONTROL SYSTEM AND AUTOMATION SYSTEM
A method is provided for operating an automation system which comprises a drive system and an optical projection unit. The drive system comprises a movable rotor, where the rotor can be driven with the aid of a drive. A control system of the automation system carries out the following steps of determining a position information of a rotor, linking an object to be displayed to the rotor, rendering a projection to be displayed by the optical projection unit on the basis of the position information of the rotor and the object to be displayed, and outputting the rendered projection to the optical projection unit, so that the optical projection unit outputs the rendered projection on a surface and/or on the rotor or on a superstructure or superstructures of the rotor, and/or on transport goods of the drive system.
G05B 19/402 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
G05B 19/4099 - Surface or curve machining, making 3D objects, e.g. desktop manufacturing
18.
AUTOMATION SYSTEM WITH A COMMUNICATION INFRASTRUCTURE
An interaction between the communication users in an automation system, each being connected via a communication connection to at least one message broker, is carried out in that at least one first communication user, who has subscribed for messages under a first theme name with the message broker, publishes an availability notification under the first theme name with the message broker, said availability notification indicating that the first communication user provides a service assigned to the first theme name, wherein each further communication user receives a message copy of the availability notification with a first return path description, which comprises the path section descriptions for the path sections covered starting from the first communication user, in that at least one second communication user publishes a request message for the service under the first theme name with the message broker, wherein the second communication user uses the first return path description of the message copy of the availability notification of the service as the delivery path in the request message to the first communication user, wherein the delivery path of the request message is in each case reduced by the path section description of the path section covered during transmission from the second communication user to the first communication user over the communication connections to the message broker.
The invention relates to a planar drive system (1) comprising at least one stator unit (3) with in each case a plurality of coil groups (4) for generating a stator magnetic field, a stator surface (5) above the stator unit (3), and a rotor (100). The rotor (100) has a plurality of magnet units (105) for generating a rotor magnetic field. In a first operating state, the rotor (100) can be moved above the stator surface (5) by means of an interaction of the stator magnetic field with the rotor magnetic field parallel to the stator surface (5). In a second operating state, the rotor (100) is at least limited in terms of its mobility parallel and perpendicular to the stator surface (5) by a safety system (20).
The invention relates to a planar drive system comprising at least a stator assembly with a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator assembly, and a rotor. The rotor comprises a plurality of magnet assemblies for generating a rotor magnetic field. In a first operating state, the rotor can be moved above the stator surface in parallel to the stator surface with the aid of an interaction of the stator magnetic field with the rotor magnetic field. In a second operating state, the rotor is at least restricted in its ability to move in parallel to and perpendicularly with regard to the stator surface by a safety system.
The invention relates to a linear transport system (1) having a movable unit (10), a guide rail (2) for guiding the movable unit (10), and a linear motor (30) for driving the movable unit (10) along the guide rail (2). The linear transport system (1) has at least one switch (40). The switch (40) has at least one static enter element (50) having an enter motor module (51) and an enter rail element (52) associated with the guide rail (2). The switch (40) also has at least two static exit elements (60) each having an exit motor module (62) and an exit rail element (62) associated with the guide rail (2). The switch (40) also has a changing device (41). The changing device (41) has at least two exchange elements (70) each having an exchange motor module (71) and an exchange rail element (72) associated with the guide rail (2). In a first position of the changing device (41), the enter element (50) is connected to a first exit element (63) via a first exchange element (73). In a second position of the changing device (41), the enter element (50) is connected to a second exit element (64) via a second exchange element (74).
B65G 21/06 - Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors consisting essentially of struts, ties, or like structural elements constructed to facilitate rapid assembly or dismantling
B60L 13/00 - Electric propulsion for monorail vehicles, suspension vehicles or rack railwaysMagnetic suspension or levitation for vehicles
B65G 21/10 - Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively- movable partsDevices for moving framework or parts thereof
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
H02K 41/00 - Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
A mediator has a mediator control unit (38) having an industrial Ethernet protocol module (381), at least one Ethernet APL protocol module (383, 384) and a compiler module (382) connected to the industrial Ethernet protocol module and to the at least one Ethernet APL protocol module, wherein the industrial Ethernet protocol module (381) interprets industrial Ethernet data provided via a first SPI interface and assigns them to industrial Ethernet services, wherein the at least one Ethernet APL protocol module (383, 384) interprets Ethernet APL data provided via a further SPI interface (40) and assigns them to Ethernet APL services, and wherein the compiler module (382) connects the industrial Ethernet services and the Ethernet APL services to one another and coordinates them in terms of time.
The invention relates to a planar drive system (200), wherein the planar drive system (200) comprises a stator unit (300), which has a plurality of coil groups (321) for generating a stator magnetic field, and at least one rotor (400), which has a plurality of magnet units (410) for generating a rotor magnetic field, wherein the rotor (400) can be driven on the stator unit (300) via a magnetic coupling between the stator magnetic field and the rotor magnetic field, wherein the rotor (400) has a stored energy source (419), wherein an energy transmission structure (313) having a transmission unit (317) is formed on the stator unit (300), wherein the rotor (400) comprises a transmission counter-unit (429) which can be coupled to the transmission unit (317), and wherein energy can be transmitted from the energy transmission structure (313) to the rotor (400) when the transmission element is coupled to the transmission counter-element. The invention also relates to a method (100) for transmitting energy to a rotor (400, 423) in a planar drive system.
The invention relates to a method for processing a planar object 30 with the aid of a planar drive system 1, wherein the planar drive system 1 comprises at least a stator assembly 3 each comprising a plurality of coil groups 4 for generating a stator magnetic field, a stator surface 5 above the stator assembly 3, and a rotor 100. The rotor 100 comprises a plurality of magnet units 105 for generating a rotor magnetic field, wherein the rotor 100 is movable above the stator surface 5 with the aid of an interaction of the stator magnetic field with the rotor magnetic field in a first direction 21 and/or a second direction 22 parallel to the stator surface 5 and/or is movable in a third direction 23 perpendicular to the stator surface 5, wherein a tool 120 is arranged at the rotor 100, wherein the planar object 30 is arranged between the stator surface 5 and the rotor 100, with the following steps:
energizing the coil groups in such a way that the rotor comprises a predetermined height above the stator surface in the third direction.
energizing the coil groups in such a way that the rotor moves along a predetermined trajectory, wherein the tool and the planar object are in mechanical contact, thereby processing the planar object.
The invention relates to a computer-implemented method (100) for generating a communication network (501) between at least one OPC UA client (502) and at least one field device (507) of an automation system (500), said method comprising: identifying at least one field device (507) of the automation system (500) using a communication gateway (400) of the automation system (500) in an identification step (101); generating an OPC UA nodeset (401) for the identified field device (507) using the communication gateway (400) in a generating step (103); and storing the OPC UA nodeset (401) on an OPC UA server (403) in a nodeset storing step (105). The invention also relates to: a data communication method (200); a data analysis method (300); a communication gateway (400); and an automation system (500).
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
27.
FLEXIBLE MANUFACTURING SYSTEM, AND ROTOR FOR SUCH A FLEXIBLE MANUFACTURING SYSTEM
The invention relates to a flexible manufacturing system comprising a manufacturing platform (1) on which a transport device (2) and a plurality of workstations (41, 42, 43) are arranged, said manufacturing system having a controller (25). As part of the processing of a workpiece at the workstation, which comprises a projecting frame (434), the controller (25) is designed to move a rotor (22) of the transport device (2) together with the workpiece, which is located in a receiving tray (232), on an assembly consisting of a plurality of stator modules (21) of the transport device (2) using control signals such that the projecting frame (434) of the workstation engages with the receiving tray (232) in order to lift the receiving tray (232) out of longitudinal recesses (2316) on L-shaped side-pieces (2314) of the frame of the workpiece receiving area (23) prior to processing the workpiece using the tool of the workstation.
B23Q 7/04 - Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors
28.
METHOD FOR OPERATING A LINEAR DRIVE SYSTEM AND LINEAR DRIVE SYSTEM
A method is provided for operating a linear drive system having primary and secondary parts. The primary part includes an energizable electromagnet device. The secondary part includes a magnet arrangement. A magnetic interaction between the electromagnet device and the magnet arrangement can be caused to move the primary and secondary parts relative to one other. The primary part has a sensor device for detecting a magnetic field generated by the magnet arrangement. In an initial measurement, the magnetic field is detected at different positions of the primary part, and position-dependent reference magnetic field data are provided. A position determination is carried out, in that the magnetic field is detected at a current position of the primary part and current magnetic field data are provided, and, based on the reference magnetic field data and the current magnetic field data, the current position of the primary part is determined.
A planar drive system includes a stator module and a rotor. The stator module has a stator assembly with at least one coil arrangement that can be energized to generate a stator magnetic field above a stator surface, and a magnetic field sensor. The rotor has a magnet arrangement and can be moved above the stator surface via interaction between the stator magnetic field the magnet arrangement. The rotor can be used as an input device or output device, or both. A controller can compare the position of the rotor magnetic field detected with the sensor to the position expected based on energization of the coil arrangement, to determine any deviation of the expected position as an external movement, and to recognize an input thereby. The controller can control an output via a predetermined movement of the rotor, and to energize the coil arrangement so the rotor moves as defined.
An inductive energy-transmitting device is provided in a linear transport system in which at least one magnetically driven carriage moves along a carriage guide including a motor module device. The inductive energy-transmitting device includes an energy-transmitting coil having a primary winding for applying an input voltage and an energy-receiving coil having a secondary winding for tapping an output voltage. The secondary winding of the energy-receiving coil has a control-voltage-winding portion and a load-voltage-winding portion, the control-voltage-winding portion and the load-voltage-winding portion including winding conductor tracks separate from each other. In this context, the control-voltage-winding portion provides a control voltage for tapping by a carriage guide controller on the carriage, and the load-voltage-winding portion provides a load voltage for tapping by a load on the carriage
A method is disclosed for transmitting energy from a stationary unit to a movable unit of a linear transport system. The linear transport system includes a guide rail, a plurality of stationary units, and a linear motor for driving the movable unit along the guide rail. The linear motor includes a stator and a rotor, the stator including the stationary units, each having one or more drive coils. The rotor is arranged on the movable unit and incudes one or more magnets. The stationary units each have one or more energy-transmitting coils, each energy-transmitting coil including actuation electronics. The movable unit has at least one energy-receiving coil. The actuation electronics carry out the following steps: reading in an energy quantity signal for the energy-transmitting coil concerned, converting the energy quantity signal into a pulse-pause ratio for actuating the energy-transmitting coil, and actuating the energy-transmitting coil based on the pulse-pause ratio.
H02P 7/02 - Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type
H02P 29/68 - Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
H02P 101/40 - Special adaptation of control arrangements for generators for railway vehicles
A method for transmitting energy from a stationary unit of a linear transport system to a movable unit of the linear transport system. The linear transport system includes a movable unit and at least one further movable unit, a guide rail and a linear motor. The movable units include energy-transmitting coils. The following steps are carried out by a controller: determining that the movable unit requires an amount of energy to carry out an application that cannot be provided via energy transmission between energy-transmitting coils of at least one stationary unit to the at least one energy-receiving coil, and outputting control signals to at least one stationary unit for positioning the further movable unit in a transmission position on the guide rail immediately in front of or behind the movable unit, and for coupling energy-transmitting elements of the further movable unit to energy-transmitting elements of the movable unit.
B65G 23/23 - Arrangements or mountings of driving motors of electric linear motors
H02J 50/10 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor positionElectronic commutators therefor
To identify a change in a topology of an industrial network which consists of an arrangement of network nodes which are connected to one another, at least one network node determines the transit time of a message in the industrial network, wherein if the determined transit time or a transit time change exceeds a predefined threshold value, this is evaluated as an indication that a network node was inserted into the network topology retrospectively, and a safety mode is activated.
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
The invention relates to a linear drive system (100), comprising a stator unit (101) and a rotor unit (103), said stator unit (101) comprising at least one guide rail (105, 107) on which the rotor unit (103) can be moved. The stator unit (101) comprises a stator magnetic unit (109) for providing a stator magnetic field, and the rotor unit (103) comprises a rotor magnetic unit (111) for providing a rotor magnetic field. The rotor unit (103) can be moved along the guide rail (105, 107) via a magnetic coupling between the stator magnetic field and the rotor magnetic field. The drive system (100) additionally comprises a transmitter system (115) with a transmitter unit (117) which is arranged on the rotor unit (103) and a measuring body (119) which is arranged on the stator unit (101), wherein the transmitter unit (117) is fixed to the rotor unit (103) via a locking device (121), and the transmitter unit (117) can be moved relative to the rotor unit (103) along at least one specified movement direction (123) via the locking device (121). The distance (125) between the transmitter unit (117) and the measuring body (119) can vary as a result of the movement of the transmitter unit (117) along the at least one movement direction (123) when positioning the rotor unit (103) on the guide rail (105, 107). The invention also relates to a rotor (400), a stator unit (300), and a planetary drive system (200).
A planar drive system has 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 first and second rotors. The rotors each have a plurality of magnet units for generating a rotor magnetic field. The rotors can be moved above the stator surface in first and second directions, with the aid of an interaction of the stator magnetic field with the rotor magnetic field. A connection can be formed between the rotors with the aid of a coupling device. A controller is arranged to output control signals to the stator assembly. The stator assembly is configured to energize the coil groups on the basis of the control signals so that movements of the rotors, coordinated with one another with respect to the coupling device, are carried out with the aid of the stator magnetic field.
The invention relates to a method (100) for encrypting a source text (301) for use in a version control system (315), comprising: providing the source text (301) in an unencrypted and textual form in a provision step (101); carrying out encryption of the source text (301) and generating an encrypted source text version (303) in an encryption step (103); and carrying out textualisation of the encrypted source text version (303) and generating a textualised representation (305) of the encrypted source text version (303) in a textualisation step (105). The invention further relates to a method (200) for decrypting an encrypted source text version (303) and to a development system (300) for carrying out the methods (100, 200).
The invention relates to a method (100) for executing a debugging process of a control program of an automation system (200), comprising: in a receiving step (101), receiving a first machine code/source code relation (211) and a first source code identity (213) by a development system (203) for executing the debugging process (224); in a source code comparison step (103), comparing the first source code identity (213) with a second source code identity (217) of a second source code version (215) executed on the development system (203); in an identity generation step (105), generating a version identity (219) based on the comparison between the first source code identity (213) and the second source code identity (217); in a relation determination step (107), determining a second machine code/source code relation (227) based on the first machine code/source code relation (211) and the version identity (219); and in a debugging step (109), executing the debugging process (224) of the machine code (209) stored on the control unit (201) on the basis of the second source code version (215) using the second machine code/source code relation (227).
The invention relates to a planar drive system (1) comprising a first planar drive sub-system (11) and a second planar drive sub-system (31). A rotor (100) can be moved in at least two directions over a first stator surface (14) by means of first drive elements (15). In particular, the rotor (100) has rotor drive elements (101) for this purpose. The first planar drive system (11) additionally has a first control unit (21), by means of which the first drive elements (15) can be actuated. The rotor (100) can also substantially be moved in at least two directions over the second stator surface (34) by means of second drive elements (35) when the rotor (100) is arranged over the second stator surface (34). The second planar drive sub-system (31) additionally has a second control unit (41), by means of which the second drive elements (35) can be actuated. The first stator surface (14) adjoins the second stator surface (34), and the rotor (100) is driven in a cooperative manner by the first planar drive sub-system (11) and the second planar drive sub-system (31) in a transition region (3).
The application relates to a method for generating a control program for controlling an automation system, the method comprising:
The application relates to a method for generating a control program for controlling an automation system, the method comprising:
generating a graphical diagram of the control program according to the graphical programming language ladder diagram LD for Programmable Logic Controllers in a diagram generating step;
generating a data flow graph as a representation of the graphical diagram in a graph generating step, wherein elements of the graphical diagram are represented as nodes and connecting lines between elements of the graphical diagram are represented as edges of the data flow graph; and
generating a version of the control program executable by a programmable logic controller based on the data flow graph in a program generating step.
The application relates to a method for generating a control program for controlling an automation system, the method comprising:
generating a graphical diagram of the control program according to the graphical programming language ladder diagram LD for Programmable Logic Controllers in a diagram generating step;
generating a data flow graph as a representation of the graphical diagram in a graph generating step, wherein elements of the graphical diagram are represented as nodes and connecting lines between elements of the graphical diagram are represented as edges of the data flow graph; and
generating a version of the control program executable by a programmable logic controller based on the data flow graph in a program generating step.
The application further relates to a programming tool for carrying out the method.
A linear transport system comprises a first carriage and a second carriage, a linear motor for driving the first carriage and the second carriage and a guide rail. The linear motor comprises a stator and a first and a second rotor. The stator has a plurality of drive coils that are arranged along the guide rail individual motor modules comprise a plurality of drive coils. The first rotor is arranged on the first carriage and the second rotor is arranged on the second carriage. The first carriage has a first magnetic field generator. The second carriage has a second magnetic field generator. The first magnetic field generator differs from the second magnetic field generator at least in terms of its magnetic vector field, wherein the magnetic fields of the magnetic field generators are detected to identify the corresponding carriage.
A rotor for a planar drive system comprises a housing and at least one magnet arrangement. The housing comprises a basic housing body and a cover. The magnet arrangement is arranged in a recess of the basic housing body. The cover is attached to the basic housing body in such a way that the housing is configured to be fluid-tight, the cover covers the recess, and the magnet arrangement is arranged in an interior of the fluid-tight housing.
H02K 5/10 - Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. of water or fingers
H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors
A method is provided for processing an object using a planar drive system having at least one stator assembly with a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator assembly, and at least one rotor with a plurality of magnet units for generating a rotor magnetic field. A processing element is arranged above the stator surface. The planar drive system has at least one rotational position, where the rotor can be rotated about an axis perpendicular to the stator surface. A spatial arrangement of the processing element is predetermined by the rotational position. The method comprises energizing the coil groups so a rotor with the object arranged on the rotor moves to the rotational position, energizing the coil groups so the rotor rotates, and processing the object with the aid of the rotor rotation, where the processing element acts upon the object.
A method is provided for processing an object with the aid of a planar drive system. The planar drive system comprises at least one stator assembly, each having a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator assembly, and at least one rotor comprising a plurality of magnet units for generating a rotor magnetic field. The planar drive system further comprises at least one rotational position, where the rotor is rotatable about a rotational axis perpendicular to the stator surface in the rotational position. The rotational position is determined based on a point of contact of four stator assemblies. The method comprises energizing the coil groups in such a way that the rotor moves to the rotational position, energizing the coil groups in such a way that the rotor rotates, and processing of the object with the aid of the rotor rotation.
B01F 29/31 - Mixing the contents of individual packages or containers, e.g. by rotating tins or bottles the containers being supported by driving means, e.g. by rotating rollers
The invention relates to a transport system (335), to a transport device (100) and to a running rail (105). The transport system (335) comprises a running rail (105) having a running-rail portion (110), and the movable transport device (100). A first running surface (115) of the running-rail portion (110) has a substantially rounded surface (130) and comprises a guide center (135). The guide center (135) substantially forms a geometric center of a circle (140), the circular area (145) of which approximately includes the rounded surface (130) of the first running surface (115). A first roller (155) of the transport device (100) rests rotatably against the first running surface (115). The first roller (155) is rotatably (175) mounted on a movable element (170) of the transport device (100). The first roller (155) is designed to perform a pivoting movement (185) along the rounded surface (130) of the first running surface (115). An axis of rotation (190) of the movable element (170) and the guide center (135) are substantially arranged at the same height (195).
In an automation system, a replacement server unit is designed to receive the normal messages exchanged between a main server unit and a client unit. At the same time, the functional capability of the main server unit is continually monitored. If a failure event of the main server unit is detected, the replacement server unit is designed to activate a failure operating mode; in the failure operating mode, the replacement server unit and the client unit exchange failure messages. In the failure messages, the predefined payload structure of the normal messages is divided into relevant data elements and optional data elements. The replacement server unit is designed to use, for the relevant data elements of the first failure message, the data values of the relevant data elements of the currently available normal message and, for the optional data elements of the first failure message, predefined default data values.
The invention relates to a method for operating a modular robot (1), wherein the modular robot (1) has a robot base (2), at least one robot arm (10) arranged on the robot base (2), and a control unit (3), wherein the robot arm has a plurality of arm modules (11) which can be arranged in a modular manner. The control unit (3) carries out the steps described in the following text. First of all, an assignment information item (for example, serial number, manufacturer identification number, product number, version number) is received from each of the arm modules (11) in an assignment detection step 200. In an arm module base data determination step 220, arm module base data (for example, kinematic data) are determined on the basis of the assignment information for each arm module (11). Furthermore, a configuration of the modular robot 1 is produced from the assignment information and the arm module base data of the individual arm modules (11) in a configuration step (240), wherein the configuration is used to actuate the robot arm (10). A wear information item of the arm modules (11) can also be calculated, and a replacement recommendation can be output, or the robot (1) can be operated correspondingly.
The invention relates to a machine automation system comprising a server module and a plurality of client modules. Each client module comprises a client module housing having: a first client module connection side, which has a first client signal transfer unit with a first client signal transmission unit and a first client signal receiving unit; a second client module connection side, which has a second client signal transmission unit and a second client signal receiving unit; and a client bus switch-on unit. A client signal coupling unit in the client bus switch-on unit of the client module is designed to determine, in an initialisation mode, which client module connection side is connected to a server module connection side directly or via one or more further client modules, in order to switch into a first operating mode if the first client module connection side is coupled to the server module connection side directly or via one or more further client modules and to switch into a second operating mode if the second client module connection side is coupled to the server module connection side directly or via one or more further client modules
A 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 - Details of emergency protective circuit arrangements
H02H 3/44 - Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition, with or without subsequent reconnection responsive to the rate of change of electrical quantities
H02H 1/04 - Arrangements for preventing response to transient abnormal conditions, e.g. to lightning
H02H 3/08 - Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition, with or without subsequent reconnection responsive to excess current
A 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.
B01F 31/00 - Mixers with shaking, oscillating, or vibrating mechanisms
B01F 31/22 - Mixing the contents of independent containers, e.g. test tubes with supporting means moving in a horizontal plane, e.g. describing an orbital path for moving the containers about an axis which intersects the receptacle axis at an angle
B01F 31/20 - Mixing the contents of independent containers, e.g. test tubes
B01F 35/213 - Measuring of the properties of the mixtures, e.g. temperature, density or colour
A method for controlling an automation system having control redundancy is provided. The automation system has at least a first controller, a second controller and a plurality of field devices connected to the first and second controller via a data bus, with the first and second controller configured to cyclically control an automation process of the automation system. The method comprises cyclically controlling the automation process via the first controller, determining a malfunction of the first controller during an (n+x)-th control cycle, where the (n+x)-th control cycle is carried out x control cycles later in time than the n-th control cycle, and sending out an n-th set of output data via a second input-output unit of the second controller to the plurality of field devices in the (n+x)-th control cycle, for controlling the automation process. An automation system is configured to carry out the method.
An automation system has a plurality of subscribers including a first primary unit, first distributor, second primary 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 primary unit to the first transmitting/receiving device, and forwards telegrams received by the second transmitting/receiving device to the first primary 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 primary unit to the second transmitting/receiving device, and the second distributor forwards telegrams received by the first transmitting/receiving device to the second primary 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.
H02M 7/5395 - Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
H02P 25/064 - Linear motors of the synchronous type
68.
METHOD FOR MACHINING A FLAT OBJECT BY MEANS OF A PLANAR DRIVE SYSTEM
The invention relates to a method for machining a flat object 30 by means of a planar drive system 1, the planar drive system 1 comprising at least one stator unit 3, each having a plurality of coil groups 4 for generating a stator magnetic field, a stator surface 5 above the stator unit 3, and a rotor 100, wherein the rotor 100 has a plurality of magnet units 105 for generating a rotor magnetic field, wherein the rotor 100, above the stator surface 5, is movable in a first direction 21 and/or a second direction 22 parallel to the stator surface 5 and/or in a third direction 23 perpendicular to the stator surface 5 by means of interaction between the stator magnetic field and the rotor magnetic field, wherein a tool 120 is arranged on the rotor 100, wherein the flat object 30 is arranged between the stator surface 5 and the rotor 100, the method comprising the following steps: - energizing the coil groups 4 in such a way that the rotor 100 is at a predefined height above the stator surface 5 in the third direction 23; - energizing the coil groups 4 in such a way that the rotor 100 moves on a predefined trajectory, wherein the tool 120 and the flat object 30 are in mechanical contact in the process and as a result the flat object 30 is machined.
The invention relates to a method for operating a linear drive system. The linear drive system has a primary part and a secondary part which can be moved relative to each other in a translational manner. The primary part has an electromagnetic device which can be energized, and the secondary part has a magnet assembly consisting of permanent magnets arranged next to one another. By energizing the electromagnetic device of the primary part, a magnetic interaction can be produced between the electromagnetic device and the magnet assembly of the secondary part in order to move the primary part and the secondary part relative to each other. The primary part has a sensor device consisting of magnetic field sensors in order to detect a magnetic field generated by the magnet assembly of the secondary part. In an initial measurement, the magnetic field of the magnet assembly of the secondary part is detected at different positions of the primary part with respect to the secondary part using the sensor device, and position-dependent reference magnetic field data is provided. Furthermore, the position of the primary part is determined. For this purpose, the magnetic field of the magnet assembly of the secondary part is detected at a current position of the primary part with respect to the secondary part using the sensor device, and current magnetic field data is provided. The current position of the primary part with respect the secondary part is determined on the basis of the reference magnetic field data and the current magnetic field data. The invention additionally relates to a linear drive system.
G01D 5/14 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
G01D 5/244 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trainsMechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means generating pulses or pulse trains
G01D 18/00 - Testing or calibrating apparatus or arrangements provided for in groups
70.
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 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor positionElectronic commutators therefor
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
H02P 25/064 - Linear motors of the synchronous type
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & 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 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
75.
Method for controlling a planar drive system, and planar drive system
A method for controlling a planar drive system includes controlling a rotor along a control path starting from a first position on a stator module, and determining a sensor pattern for magnetic field sensors of a sensor module. The sensor pattern includes a subset of the magnetic field sensors with at least one of the magnetic field sensors not comprised by the sensor pattern, and an area of the sensor pattern is at least partially covered by the rotor in a position along the control path. The method includes measuring values of the rotor magnetic field with the aid of the magnetic field sensors of the sensor pattern, detecting the rotor, and determining a second position of the rotor based on the measured values. The invention further relates to a planar drive system.
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor positionElectronic commutators therefor
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors
76.
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.
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.
H02K 41/00 - Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors
H02P 1/00 - Arrangements for starting electric motors or dynamo-electric converters
H02P 3/00 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
H02P 5/00 - Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
H02P 25/064 - Linear motors of the synchronous type
The invention relates to a method for transferring energy from a stationary unit (111) to a movable unit (103) of a linear transport system (101). The linear transport system (101) comprises a guide rail (105) for guiding the movable unit (103), a plurality of stationary units (111), and a linear motor (107) for driving the movable unit (103) along the guide rail (105). The linear motor (107) comprises a stator (109) and a rotor (113), the stator (109) comprising the stationary units (111) which each have one or more drive coils (135). The rotor (113) is positioned on the movable unit (103) and comprises one or more magnets (117). The stationary units (111) each comprise one or more energy-transmitting coils (125), each energy-transmitting coil (125) having a control electronic system (123). The movable unit (103) comprises at least one energy-receiving coil (127). The control electronic systems (123) of the energy-transmitting coils (125) perform the following steps: - reading in an energy quantity signal for the energy-transmitting coil (125) in question; - converting the energy quantity signal into a pulse-pause ratio in order to control the energy-transmitting coil (125); - controlling the energy-transmitting coil (125) on the basis of the pulse-pause ratio.
The invention relates to a method for transmitting energy from a stationary unit (111) of a linear transport system (101) to a movable unit (103) of the linear transport system (101), the linear transport system (101) comprising a movable unit (103) and at least one additional movable unit (104), a guide rail (105) and a linear motor (107), the movable units (103, 104) comprising energy transmission elements (115) for transmitting energy, wherein the following steps are carried out by a control unit (133) of the linear transport system (101): - determining that, for the execution of an application (137), the movable unit (103) needs an amount of energy which cannot be provided by means of an energy transmission from energy-transmitting coils (125) of at least one stationary unit (105) to the at least one energy-receiving coil (127) of the movable unit (103); and - outputting control signals to at least one stationary unit for the positioning of the additional movable unit (104) in a transmission position on the guide rail (105) immediately in front of or behind the movable unit (103) and for the coupling of energy transmission elements of the additional movable unit (104) to energy transmission elements of the movable unit (103).
The invention relates to a linear transport system (101), in which at least one magnetically driven carriage (103) moves along a carriage guide (102) having a motor module device, said system having an inductive energy transmission device which comprises an energy transmitting coil (125) having a primary winding (126) for applying an input voltage and an energy receiving coil (127) having a secondary winding (128) for tapping an output voltage. The secondary winding (128) of the energy receiving coil (127) has a control voltage winding portion (146) and a load voltage winding portion (147), the control voltage winding portion (146) and the load voltage winding portion (147) comprising winding conductor tracks which are separate from one another. The control voltage winding portion (146) supplies a control voltage for tapping by a carriage guide control unit (133) on the carriage (103) and the load voltage winding portion (147) supplies a load voltage for tapping by a load (137) on the carriage (103).
B60L 15/00 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performanceAdaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
H02J 50/10 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
H02J 50/80 - Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
H02J 50/40 - Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
An arm module includes a housing with a first connection side controllably rotatable relative to a second connection side, about an axis of rotation. The first connection side has a rotatable first connection device. The second connection side has a second connection device fixed to the housing, with a rotation-compatible data transmission device for transmitting data signals along at least one transmission path between the first and second connection sides. The transmission path includes at least one wireless transmission sub-path for wireless transmission of data signals, and at least one wire-guided transmission sub-path for wire-guided transmission of data signals. The rotation-compatible data transmission device includes at least one first wireless transmission unit and at least one second wireless transmission unit, interconnected via the transmission path and arranged to wirelessly transmit and receive data signals along the wireless transmission sub-path. An industrial robot can have a plurality of such arm modules.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
A planar drive system comprises a stator and a rotor. The stator comprises a plurality of energizable stator conductors. The rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet device in order to drive the rotor. The stator is configured to carry out energization of the stator conductors so that an alternating magnetic field can be generated via the energized stator conductors. The rotor comprises at least one rotor coil in which an alternating voltage can be induced due to the alternating magnetic field. The planar drive system is configured to transmit data from the rotor to the stator, and the rotor is configured to temporarily load the at least one rotor coil to temporarily cause increased current consumption of the energized stator conductors of the stator.
H02P 25/064 - Linear motors of the synchronous type
H02P 27/08 - Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
A planar drive system comprises a stator and a rotor. The stator comprises a plurality of energizable stator conductors. The rotor comprises a magnet device having at least one rotor magnet. A magnetic interaction can be produced between energized stator conductors of the stator and the magnet device to drive the rotor. The stator is configured to carry out energization of the stator conductors so that an alternating magnetic field can be generated via the energized stator conductors. The rotor comprises at least one rotor coil in which an alternating voltage can be induced due to the alternating magnetic field. The planar drive system is configured to transmit data from the stator to the rotor, and the stator is configured to temporarily influence the energization of the stator conductors in order to temporarily cause a change with respect to the alternating voltage induced in the at least one rotor coil.
H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors
H02P 6/00 - Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor positionElectronic commutators therefor
H02P 6/10 - Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
H02P 25/064 - Linear motors of the synchronous type
85.
Method for controlling a planar drive system and planar drive system
A method for controlling a planar drive system includes identifying a preferred stator module direction with a preferred magnetic field or sensor direction, and identifying a preferred mover direction with a respective other of the preferred magnetic field or sensor direction; setting a magnetic orientation field with a magnet device; recording at least a measurement value of the magnetic orientation field with a magnetic field sensor device; determining an alignment of the preferred mover direction relative to the preferred stator module direction based on the measurement value of the component of the magnetic orientation field parallel to the preferred sensor direction; and determining a first orientation of the mover on the stator module, on the basis of the alignment of the preferred mover direction relative to the preferred stator module direction. The application also relates to a planar drive system.
H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
G01D 5/14 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
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 - Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriersEndless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
H02K 11/35 - Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors
A method for transferring data between movable and stationary units of a linear transport system having a controller and linear motor with stator and rotor for driving the movable unit along a guide rail. The stator includes the stationary units, each with one or more drive coils. The rotor is arranged on the movable unit, with one or more magnets. The stationary units each have at least one stationary antenna, and the movable unit has a movable antenna. The controller selects a stationary antenna based on position data of the moveable antenna and outputs a data packet to the stationary unit, with control and data signals transmitted via the selected stationary antenna. The control signal includes identification information to identify the stationary antenna. The data signal includes a communication frame with a start bit and user data following a start sequence arranged to trigger data receipt of the movable unit.
H04B 7/06 - Diversity systemsMulti-antenna systems, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
H04B 5/00 - Near-field transmission systems, e.g. inductive or capacitive transmission systems
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
A method for controlling a planar drive system includes generating a position allocating function, in an allocation generating step; measuring a plurality of measuring values of the magnetic rotor field by magnetic field sensors for a position of the rotor relative to the stator module, in a magnetic rotor field determining step; applying the position determination function to the plurality of measuring values of the magnetic rotor field of the plurality of magnetic field sensors, in a measuring value analysis step; and determining the position of the rotor relative to the stator module on the basis of the measurements of the magnetic rotor field measured by the plurality of magnetic field sensors and based on the allocations of the position allocating function, in a position determining step. The application further relates to such a planar drive system.
A method for controlling a planar drive system includes determining values of magnetic stator fields for different energizing currents and spatial regions in a two-dimensional array of magnetic field sensors, generating at least one magnetic stator field by applying energizing currents to stator conductors to electrically control a rotor, determining measured values of a total magnetic field via the magnetic field sensors for a plurality of the spatial regions to determine a position of the rotor, compensating contributions of the magnetic stator fields to the measured values of the total magnetic field determined by the magnetic field sensors, generating measured values of the magnetic field determined by the respective magnetic field sensors for the respective space regions, and determining a position of the rotor based on the generated measured values of the magnetic fields. The planar drive system includes at least a controller, a stator module, and a rotor.
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
G01D 5/14 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
G05D 3/12 - Control of position or direction using feedback
H02K 1/12 - Stationary parts of the magnetic circuit
H02K 11/20 - Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
H02K 29/08 - Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates or magneto-resistors
H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors
H02P 23/00 - Arrangements or methods for the control of AC motors characterised by a control method other than vector control
H02P 23/14 - Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
H02P 29/60 - Controlling or determining the temperature of the motor or of the drive
An active arm module and modular robot arm for an industrial robot comprises a housing, a heat exchanger, a drive device, and a connecting side with a connecting plate. The connecting plate can be mechanically connected to a further arm module or to a robot base for transmitting drive and support forces. The housing defines an interior space for receiving the drive device. The heat exchanger accommodates the drive device at least in sections, and is thermally coupled to the drive device. The heat exchanger has a fluid channel and can exchange heat between the drive device and the fluid. The arm module comprises a fluid contact device arranged at the connecting plate. Fluid can be exchanged with the further arm module or robot base via the fluid contact device; e.g., the fluid channel can be filled with the fluid for exchanging the fluid with the first fluid contact device.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B25J 9/08 - Programme-controlled manipulators characterised by modular constructions
42 - Scientific, technological and industrial services, research and design
Goods & 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 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Robots, namely industrial robots, collaborative industrial robots (cobots), automatic production machines being industrial robots and automatic machine tools being industrial robots for industrial automation for use in automated warehouses; structural parts and replacement parts for industrial robots, namely, robot modules, namely axis modules, joint modules, distributor modules, toothed belt modules for robots, namely, modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots for industrial automation for assembly installations, manufacturing equipment, packing systems, material handling systems and material transport systems; stands, namely, robot stands specially adapted for holding industrial robots, namely modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots for industrial automation for assembly installations, manufacturing equipment, packing systems, material handling systems and material transport systems; end-effectors, namely, end attachments for use on robotic arms for use with robots, namely modular industrial robots, 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, 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, namely, electrical drives for machines, electric motors for machines, electromagnetic motor drive for positioning movers; 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 being rods for robots, namely modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic production machines being industrial robots and automatic machine tools being industrial robots.
(2) Electrical and electronic devices, apparatus and instruments, namely control modules being control panels, control devices and integrated electrical control systems, namely, electronic controllers for industrial robots and component parts therefor, manipulators for the remote operation of industrial robots, robotic teach pendants, computers, laptops, tablets, smart phones and programmable logic controllers (PLC) devices which can be connected directly and remotely to industrial robots, terminal modules with integrated electronics, namely electrical terminal blocks, safety modules being video monitors and contacting modules with solenoid-controlled valves, in particular solenoid directional control valves, for robots, namely modular industrial robots, industrial robots, collaborative industrial robots (cobots), automatic production machines being industrial robots and automatic machine tools being industrial robots; electrical control operating panels, namely, personal computer module being an all-in-one panel personal computer, key modules being a USB computer security key, teaching modules being downloadable digital content in the form of electronic publications of handbooks for for operating and controlling robots, namely modular industrial robots, industrial robots, collaborative industrial robots (cobot), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots; electronic voltage monitor modules, connector modules being electrical connectors for junction boxes, supply modules being computer power supplies and output modules being voltage surge suppressors for supplying and outputting supply voltages and for communication of robots, namely, modular industrial robots, industrial robots, collaborative industrial robots (cobot), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots; electrical, electronic and optical connection elements, namely transmitter modules being transmitters of electronic signals and receiver modules being optical receivers for robots, namely, modular industrial robots, industrial robots, collaborative industrial robots (cobot), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots; 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 industrial robots, industrial robots, collaborative industrial robots (cobot), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots for industrial automation for assembly installations, manufacturing equipment, packing systems, material handling systems and material transport systems; downloadable software for use in relation to running cloud computing based applications and data storage, namely, for the electronic storage of business data in the cloud in the fields of business process automation and business data automation; 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. (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 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] featuring software for the control, programming, manufacturing, processing, transport and assembly of industrial robots and rental of software for the control, programming, manufacturing, processing, transport and assembly of industrial 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 for industrial automation for assembly installations, manufacturing equipment, packing systems, material handling systems and material transport systems; Infrastructure as a Service [IaaS], namely, hosting servers for use by others in the field of robotics; computer software programming and updating of virtual environments, namely, for the configuration of robots, namely modular industrial robots, industrial robots, collaborative industrial robots (cobot), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots; design and development of electrical, electronic and optical components, namely, electric connectors, sensors and optical sensors to detect the presence of products on assembly lines for industrial automation for robots, namely modular industrial robots, industrial robots, collaborative industrial robots (cobot), automatic manufacturing machines being industrial robots and automatic machine tools being industrial robots.
42 - Scientific, technological and industrial services, research and design
07 - Machines and machine tools
09 - Scientific and electric apparatus and instruments
Goods & Services
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) 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 ] * 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, [ in particular ] * 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 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 ] * namely * axis modules, joint modules, distributor modules, toothed belt modules for robots, [ in particular ] * namely * 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 ] * namely * 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 ] * namely * 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 ] * namely * 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 ] * namely * 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 ] * namely * 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 ] * namely * 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 ] * namely * 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 * 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, [ in particular ] * namely * 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 * 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 this for 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 ] * all the aforementioned in relation to industrial robots *
