Abstract: A method for configuring a modular safety switching apparatus having electronic modules comprises: a) selecting a configuration data set of the apparatus from a database and transmitting the configuration data set to a computing apparatus, wherein the configuration data set is processed by a computer program to generate a target configuration of the apparatus and the electronic modules; b) displaying the target configuration; c) plugging one of the electronic modules into one of the module slots of the module row; d) setting a rotary switch position of one or more rotary switches of the electronic module; e) determining an actual configuration of the electronic module configured according to c) and d); f) comparing the actual configuration with the target configuration; g) displaying whether a deviation exists between the actual configuration and the target configuration; and h) repeating c) to g) for each additional electronic module.

Abstract: An automation system for monitoring a safety-critical process includes a platform, a fail-safe peripheral module, and a safe runtime environment. The platform executes user programs. The user programs include a first user program and a second user program, which together implement a safety function. The second user program is diversitary with respect to the first user program. The fail-safe peripheral module couples the user programs with the safety-critical process. The safe runtime environment is implemented on the platform independently of the user programs and provides the user programs with safe resources independent of the platform.

Abstract: A method for configuring a modular safety switching apparatus having a plurality of electronic modules arranged in at least one module row, comprises: selecting, via a graphic user interface of a software-based configuration tool, a number of safety functions of the safety switching apparatus and logic requirements to be met by the safety switching apparatus; generating a configuration of the safety switching apparatus via the configuration tool by automated selection of the electronic modules from a plurality of types of electronic modules in order to implement the selected safety functions of the safety switching apparatus and logic requirements to be met by the safety switching apparatus; and storing the configuration of the safety switching apparatus as a configuration data set in a configuration database.

Abstract: An elongated container has a convex shape with a bulge defining a center width of the elongated container. An apparatus and method for lifting the elongated container are described. The apparatus performs a pick operation from a front side of the elongated container. The pick operation includes approaching and gripping the elongated container from the front side. During the pick operation, an outer dimension of the apparatus in a direction perpendicular to an elongated direction defined by the elongated container is smaller than the center width of the elongated container.

Abstract: A method is described for collision-free motion planning of a first manipulator with closed kinematics. The method includes defining a dynamic optimization problem, solving the optimization problem using a numerical approach, and determining a first movement path for the first manipulator based on the solution of the optimization problem. The dynamic optimization problem includes a cost function that weights states and control variables of the first manipulator, a dynamic that defines states and control variables of the first manipulator as a function of time, and at least one inequality constraint for a distance to collisions. Furthermore, the optimization problem includes at least one equality constraint for the closed kinematics.

Abstract: A circuit arrangement for switching an electrical load comprising an electrical switching element with a control input and an output; a control unit connected to the control input to drive the electrical switching element, in a first switching state, to generate a first output signal forming a switch-on signal for the load and, in a second switching state, to generate a second output signal, smaller than the first output signal, forming a switch-off signal for the electrical load; a safety output connected electrically to the electrical switching element output and to which the electrical load is connected; a decoupling apparatus arranged between the electrical switching element output and the safety output; a first output signal detecting apparatus connected to the electrical switching element output; and a second output signal detecting apparatus arranged in a circuit path between the decoupling apparatus and the safety output.

Abstract: A cycloidal transmission for a drive includes a housing, a drive shaft, an eccentric, a cam plate, a pin plate, an output shaft, and a torque detection mechanism. The housing includes a first bearing, a second bearing, and a rolling ring. The drive shaft is rotatably mounted in the first bearing. The eccentric is fixedly connected to the drive shaft. The cam plate is driven by the eccentric. The cam plate is configured to roll in the rolling ring. Pins of the pin plate are configured to engage holes of the cam plate, so that the pin plate is driven by the cam plate. The output shaft is fixedly connected to the pin plate. The output shaft is rotatably mounted in the second bearing. The torque detection mechanism is between the first bearing and the second bearing and configured to detect the torque of the output shaft.

Abstract: An input circuit for reading in an analog input signal of a sensor comprises: first and second input ports connectable to the sensor; a first current-measuring signal converter connected to the first input port and comprising a current-measuring apparatus to determine a first output signal from the analog input signal; a current-limiting apparatus inside the first current-measuring signal converter for limiting a maximum current flowing through the first current-measuring signal converter; and a second current-measuring signal converter connected to the second input port and comprising a current-measuring apparatus to determine a second output signal from the analog input signal, wherein the first and second current-measuring signal converters are connected in series; and a testing apparatus for comparing the first and second output signals to detect faults of the first and second current-measuring signal converters in response to deviations between the first and second output signals exceeding a limit value.

Abstract: A method and corresponding apparatus for collision-free motion planning of a first manipulator in a first working space and a second manipulator in a second working space, wherein the first and second working spaces at least partially overlap. The method includes the steps of importing a first dynamic roadmap for a first configuration space of the first manipulator, wherein the first dynamic roadmap includes a first search graph and a first mapping between the first working space and the first search graph, and importing a second dynamic roadmap for a second configuration space of the second manipulator, wherein the second dynamic roadmap includes a second search graph and a second mapping between the second working space and the second search graph. Furthermore, the motion of the first manipulator and the second manipulator are coordinated based on the first dynamic roadmap and the second dynamic roadmap.

Abstract: An apparatus and method for executing a safety function is particularly applicable to monitoring a safety area of a technical installation. An imaging unit acquires an event that triggers the safety function within a defined working area. A controller carries out a safety-related reaction depending on the triggering event. A test unit is configured to verify the operability of the imaging unit and includes a processing unit and a projection unit. The projection unit projects a pattern with defined properties into the working area. The processing unit evaluates the image data acquired by the imaging unit to detect the projected pattern within the acquired image data. Further, the processing unit extracts the specific properties of the detected projected pattern, and compares the specific properties of the detected projected pattern with the defined properties.

Abstract: A storage device for mobile provision of data at a technical installation includes a first connector for mechanical connection to a complementary mating connector, a second connector adjoining the first connector, and a housing enclosing the first connector and the second connector. The second connector can releasably receive a storage medium in a receptacle and can contact power and data connections of the storage medium when the storage medium is in the receptacle. The first connector is coupled to the second connector and, as a result of the coupling, the power and data connections of the storage medium can be contacted via the first connector. The first connector is a round plug connector with a connecting element having a circular cross-section or a heavy-duty connector.

Abstract: An access control system controls access of a user to one or more operating functions of a technical installation. The access control system includes a receiving device configured to read access authorization data from a mobile data medium and an access control device configured to receive and validate the access authorization data from the receiving device. The receiving device continuously adds a dynamic portion to the access authorization data to create dynamic access authorization data and sends the dynamic access authorization data to the access control device. The access control device, in response to the dynamic access authorization data corresponding to a defined expectation, generates a release signal for those operating functions for which the access authorization data is valid.

Abstract: An apparatus for storing data in a non-volatile memory includes a data processing unit and a memory unit. The data processing unit is configured to acquire data blocks, terminate each data block of the data blocks with a terminating element, and assemble the terminated data blocks into a serial data stream. The memory unit is configured to sequentially write the serial data stream to the non-volatile memory. The terminating element is variable between a first code word and a second code word. The data processing unit is configured to switch between using the first code word and the second code word as the terminating element in response to the non-volatile memory having been written to completely by the memory unit.

Abstract: An apparatus is described for energy-efficient execution of a safety function used for safeguarding a technical installation. A safety device detects a triggering event of the safety function, and a processing unit executes a safety-related reaction of the safety function based on the detection by the safety device. The apparatus is selectively operable in a first operating mode and a second operating mode. In the first operating mode, the safety device and the processing unit operate according to a first quality level, and, in the second operating mode, at least one of the safety device and the processing unit operates according to a second quality level. The second quality level is lower than the first quality level and at least one of (a) the safety device and (b) the processing unit is operable with a reduced capacity in the second operating mode to save energy.

Abstract: A safety switching device for controlling a load having at least one input for receiving an input signal and one output for outputting an output signal, and having an electrical circuit which provides the output signal as a function of the input signal. The electrical circuit is arranged on a printed circuit board and is coupled to at least one setting component for setting an operating parameter of the safety switching device. The surface of the printed circuit board defines a mounting plane, and the at least one setting component has an adjusting element in a housing and is arranged recessed on the printed circuit board so that the housing of the adjusting element intersects the mounting plane.

Abstract: An access protection system for safeguarding an access point to a machine or installation includes a sensor device and an interlocking device. The sensor device includes an optical transmitter and receiver. The interlocking device includes a base body and a blocking element. The optical transmitter is configured to transmit a light pulse to the optical receiver. The sensor device is configured to generate a sensor signal based on reception of the light pulse. The sensor signal is used to control the machine or installation. The blocking element is movable relative to the base body from a release position into a blocking position. The blocking element is configured to be located, while in the blocking position, in a beam path of the light pulse between the optical transmitter and receiver to block the reception of the light pulse. The interlocking device is lockable in the blocking position by a securing element.

Abstract: A method for collision-free motion planning of a first manipulator of a robotic control apparatus from a starting point to a destination point. The method includes repeatedly determining a target path of the first manipulator to the destination point with a global planner, continuously determining a movement of the first manipulator with a local planner based on a current target path of the global planner, and performing the movement by the first manipulator in parallel with the determination by the global planner and the local planner.

Abstract: A shaped knitted fabric (1a-1f) is provided comprising at least one first layer (10), into which a plurality of linear or flat, for example, strip-shaped, electroconductive structures (10a, 10b, 10c, 11a, 11b, 11c) made of an electroconductive yarn and linear or flat, for example strip-shaped, non-electroconductive structures (12) made of a non-electroconductive yarn are knitted such that the electroconductive structures (10a, 10b, 10c, 11a, 11b, 11c) are electrically insulated from one another, wherein each of the electroconductive structures (10a, 10b, 10c, 11a, 11b, 11c) can individually be electrically contacted and connected to an evaluation circuit (50).