Abstract: A method for controlling a drive of a machine having at least one first roll element, which rolls with a surface on a counter surface at least in subintervals of a revolution cycle with the action of a contact force under elastic deformation, that includes a speed correction method, which automatically compensates for deformation-related deviations of the peripheral velocity of the first roll element by way of an adaptation of the setpoint value for the velocity of the first roll element, and a retrospective method, which automatically compensates for deviations of the speed consistency of the first roll element within a revolution cycle by applying a correction signal determined from the curve of a control variable, in particular an actual velocity or actual position of the first roll element, in a preceding revolution cycle or in multiple preceding revolution cycles, are applied in combination.

Abstract: The invention relates to a method for monitoring the safety of a joint (12) of a serial kinematic structure (30), which carries out tasks within a work region (100) under the control of a control unit (20), wherein a current state variable of the joint (12), such as the absolute position (AP) or the time derivatives thereof, is determined cyclically during operation from the current axis position (P) of the joint (12) and compared to a configurable limit value (SA, TA, SL), wherein a function module (3, 4, 5) is used to monitor the state variable. A function module (3, 4, 5) is assigned to each state variable to be monitored. These function modules (3, 4, 5) are designed independently of the control unit (20) of the serial kinematic structure (30), whereby the safety monitoring system (10) can be operated concurrently with and independently of the control unit (20) of the serial kinematic structure (30).

Abstract: For a flexibly configurable and easily expandable transport route of a long stator linear motor with transport route modules, it is provided that, in a two-sided route section with a transport route module on both sides, an intermediate space is provided between two transport route modules in transverse direction, and the transport unit is arranged at least partially in this intermediate space. In this way, a movement path is formed midway of this intermediate space in transverse direction that the transport unit follows during movement in longitudinal direction by the guidance on the transport route modules, and the movement path is arranged by the arrangement of the transport route module in transverse direction at a distance of (r·a) from the starting point and ending point, where r is an odd, whole number.

Abstract: Transport device having a transport route, with a turnaround portion to change orientation of a transport unit by 180° in the longitudinal direction along the transport route, including a turnaround portion with an entrance connected to a first transport route portion by a first entrance end and a second, open entrance end, and an exit connected to a second transport route portion by a first exit end and a second, open exit end. A common movement path is formed at least in some portions in a region of a first transfer position, and the transport unit is movable along the path. To be turned around, the transport unit is moved to the entrance of the turnaround portion, transferred from the entrance to the exit of the turnaround portion, and moved from the exit of the turnaround portion.

Abstract: To utilize and protect a mechanical load torque range of a servo drive in combination with a pump, a control unit is given a target system pressure as a reference variable and an actual system pressure as a control variable. An electric motor torque acting on a pump of the servo drive is specified by the control unit to an electric motor of the servo drive, a volume flow at the hydraulic load is generated by the pump, by which a mechanical load torque sets it at the electric motor and the actual system pressure is produced in the hydraulic load via the volume flow. A dynamic system variable of the hydraulic system is transmitted to the limiting unit.

Abstract: Method for controlling a lifting device to move a load along a trajectory, to move the load in an efficient, automated, and collision-free manner between points, includes a start point and end point of the trajectory and prohibited zones are established which, during motion of the load are avoided. A computing unit calculates a geometric or rounded geometric or smooth geometric path, that kinematic and geometric limit values of the lifting device are predetermined, from which the computing unit, on the basis of the geometric or rounded geometric or smooth geometric path, calculates a dynamic or rounded dynamic or smooth dynamic path which provides time information about motion of the load along the geometric or rounded geometric or smooth geometric path. The geometric or rounded geometric or smooth geometric path and the dynamic or rounded dynamic or smooth dynamic path are combined for producing the trajectory.

Abstract: A method and device for controlling the n LLM coils of an LLM stator making it possible to change the polarity of the coil voltage of the n LLM coils more easily and with little circuit complexity. It is proposed to apply a first operating potential to n first input terminals of n half bridges, and apply a second operating potential to n second input terminals of the n half bridges. For each half bridge, a first switch is connected between a center point of the respective half bridge and the first input terminal, and a second switch is connected between the center point of the relevant half bridge and the second input terminal. The center point of the n half bridges is connected in each case to n first terminals of then LLM coils, and the second terminals of then LLM coils are connected in a control point that is regulated to a predetermined potential.

Abstract: To reduce mechanical loading due to guidance of the transport unit of a conveyor installation in the form of a long stator linear motor and nevertheless ensure safe retention of the transport unit on the conveyor track of the conveyor installation in all operating conditions, the normal force (FNn) is controlled with a controller (Rk) for controlling the normal force (FNn). The controller (Rk) determines a normal-force-forming current component (iAnd) of the drive current (iAn) of the drive coils interacting with the transport unit (Tn) so that a resulting normal force (F?Nn) acting on the transport unit (Tn) as the sum of the normal force (FNn), a magnetic force (FMn) in the normal direction (N) caused by the drive magnets, and an external force (FEn) in the normal direction (N) acting on the transport unit (Tn) corresponds at least to a specified retaining force (FNnmin) in the normal direction (N).

Abstract: Method and device for safe switching of a signal between a first and second point. Device includes a first branch having a first switch and second switch arranged between the first and second point, and a parallel second branch having a third switch and fourth switch. A testing device instructs a control unit, in a test sequence, to open the first switch for a first period of time, open the second switch for a second period of time, open the third switch for a third period of time, and open the fourth switch for a fourth period of time. Neither the first nor second periods of time overlap with the third or fourth period of time. A testing unit tests functioning of the switches during respective period of time, and generates an error signal in the event of a malfunction of at least one switch.

Abstract: For a long stator linear motor comprising a switch and secure guidance of the transport vehicles in the direction of movement along the transport track, it is provided that the transport vehicle (Tn) is force-guided, at least in sections, in the direction of movement (x) outside the switch (W), and at least one one-sided track section (2d) is provided on the transport track (2), along which a vehicle guide element (7) only on one side of the transport track (2) interacts with the track guide element (6) on the assigned side of the transport track (2) for the mechanical forced guidance in the direction of movement (x), and the forced guidance in the direction of movement (x) in the transverse direction (y) is canceled in the region of the switch (W).

Abstract: In order to avoid a collision between transport units, which are moving along a transport path of a transport assembly, and/or the collision of a transport unit with a barrier and/or the surpassing of a local speed limit, for at least one transport unit (TEi) it is preemptively determined if for the transport unit (TEi) a stopping maneuver (SMi) with a predetermined cinematic may be performed, without causing a violation of these safety requirements. In case of violation of a safety requirement, the stopping maneuver is effectively activated.

Abstract: Method and device for controlling the electrical variables and/or LLM currents of LLM coils of an LLM stator, the movement of a first transport unit is controlled by an associated first transport controller, the movement of a second transport unit is controlled by an associated second transport controller, and a control unit checks whether the first transport controller intends to specify a first controlled variable for an LLM coil and whether the second transport controller simultaneously intends to specify a second controlled variable to the same LLM coil. In this case, either an additional controlled variable, which is derived from the first controlled variable and/or the second controlled variable using a predetermined function f (Ux=f(Ux?, Ux?), or Ux=f(Ux?) or Ux=f(Ux?)), is specified for the LLM coil, or the coil terminals of the LLM coil (Lx) are short-circuited.

Abstract: A mounting element which allows for safe mounting of a module on a main body, the contact pressure acting on the module or on the main body not exceeding a maximum pressure, comprises a control unit, a resilient clamping element and an actuation element, the control unit comprising a pressure element and a counterpressure element, and the resilient clamping element being connected to the pressure element and to the counterpressure element. The actuation element comprises a tool holder having a mounting recess and increases or reduces a contact pressure of the resilient clamping element between the pressure element and the counterpressure element when actuated in a tightening direction and a release direction, respectively. The mounting element further comprises a displacement element that is connected to the clamping element and fills the mounting recess of the tool holder as soon as the contact pressure exceeds a maximum pressure.

Abstract: Procedure mounting at least one power electronic unit of a transport segment of a long-stator linear motor onto the transport segment. At least one socket is arranged on the transport segment to accommodate at least one contact element of the drive coil arranged in the socket. At least one clamping element is inserted into the socket with a clamping section. The contact element of the drive coil, while creating an electroconductive connection to the clamping section of the clamping element, is fixed into the socket by the clamping element. At least one contact point of the at least one power electronic unit, while creating an electroconductive connection, is connected directly to a connecting section of the clamping element. The contact element is first arranged in the socket, then the clamping element is inserted into the socket, and then the contact point is connected directly to the connecting section.

Abstract: In order to be able to maintain cross-traffic between slaves in a ring topology of an Ethernet-based data network even in the event of an error in the ring topology, which leads to the interruption of the ring topology, it is provided that in the event of the occurrence (rectification) of an error (F) in the annular data network (1), the ringmaster is configured to forward data packets or to block at least multicast data packets, and that the master prompts the slaves (S1, S2), communicating with one another via cross-traffic, to transmit configuration data packets (DPMC1, DPMC2) as multicast data packets to each of the other slaves (S1, . . . , Sn) of the annular data network in order to adjust address tables (AT1, AT2) in the slaves (S1, S2), communicating with one another via cross-traffic.

Abstract: In order to manufacture an input and output device industrial use as cost-effectively as possible, while also fulfilling the demanding requirements in an industrial environment, it is provided that the frame of the input and output device is assembled from a plurality of individual frame sections which are connected to one another at the corners in order to form the frame and which are firmly bonded at the adjoining connecting surfaces in order to form a fully sealed external front face of the frame and a fully sealed external peripheral surface of the frame.

Abstract: In order to specify a transport apparatus in the form of a long stator linear motor, by which the negative effects of a non-uniform magnetic flux in the joint region between two adjacent transport segments can be at least alleviated, according to embodiments, the spacing between the coil center of an end coil of a transport segment and the relevant end of the transport segment is smaller than half the tooth pitch of the two adjacent end coils of the transport segments, the tooth pitch of the two adjacent end coils corresponding to the tooth pitch of the drive coils of at least one of the transport segments.

Abstract: In order to allow for more flexible process control of a transport apparatus in the form of a long stator linear motor, in particular in order to at least intermittently increase the maximum achievable speed of a transport unit without changing the energy-related basic conditions (maximum current or maximum voltage) of the transport apparatus, according to the invention, in order to change a magnetic flux in the magnetic circuit during movement of the transport unit along the transport route, a magnetic reluctance of the magnetic circuit is changed and/or a magnetomotive force of the magnetic circuit is changed on the transport unit.

Abstract: In a transition of a transport unit of a long stator linear motor from a first control zone to a following second control zone in a movement direction, a first segment control unit is responsible for controlling the movement of the transport unit and the first control zone is extended, in the movement direction, by a number of virtual drive coils. The first segment control unit, which is assigned to the first control zone, calculates manipulated variables for the virtual drive coils, and transmits the manipulated variables for the virtual drive coils to the second segment control unit, which is assigned to the second control zone. The second segment control unit uses the transmitted manipulated variables for the virtual drive coils in order to energize the drive coils of the second control zone for moving the transport unit.

Abstract: A method for damping rotational oscillations of a load-handling element of a lifting device is created, wherein at least one controller parameter is determined by a rotational oscillation model of the load-handling element as a function of the lifting height (lH) and wherein, to damp the rotational oscillation of the load-handling element at any lifting height (lH), the at least one controller parameter is adapted to the lifting height (lH).