Abstract: In a method for initializing an automation network having a plurality of bus subscribers, the identification object assigned to each bus subscriber is compared in a target configuration with an identification object read out from the bus subscriber. If a deviation exists between the identification objects, it is determined on the basis of a type identifier read out from the bus subscriber whether the bus subscriber is a replacement bus subscriber. If the type identifier indicates that the bus subscriber is a replacement bus subscriber, a replacement list read out from the bus subscriber is used to determine whether the original bus subscriber can be replaced by the replacement bus subscriber. An error state is triggered and the initialization is aborted if no permitted actual configuration is found when determining the actual configuration.

Abstract: To determine a bus subscriber arrangement in an automation network, the following steps are carried out: outputting a data packet via a control bus subscriber on a data line, where each bus subscriber records a forward timestamp upon receiving the data packet through an input/output port on the forward path and a return timestamp upon receiving the data packet through another input/output port on the return path; correlating the recorded timestamps of each bus subscriber by forming a differential amount between the forward and return timestamps, where for the last bus subscriber, for which only a first timestamp is recorded, the second timestamp is set equal to the first timestamp; and sorting the differences from the largest to the smallest value in order to determine the set-up sequence of the bus subscribers, starting from the control bus subscriber as a set-up line of the bus subscribers.

Abstract: In a fieldbus system, sub-subscribers include a functional switch-on unit connected to a sub-switch-on unit. Status information indicating whether the functional switch-on unit is active is recorded in each sub-subscriber. A telegram is output by a main subscriber, including at least one datagram. The status information of the sub-subscriber addressed in the datagram is recorded with the telegram. A counter field is changed by the sub-switch-on unit of sub-user, having processed the user data field in a predefined manner. The datagram is assigned an expected value for the counter field, which results when the user data field has been processed in accordance with the command field. The main subscriber determines the expected value for the counter field on the basis of the status information, and compares it with the value of the counter field processed in order to detect a processing error, in the event of a deviation.

Abstract: An automation system has communication subscribers, each of which is connected to at least one message broker via a communication link. A first communication subscriber, which has subscribed to messages under a first topic name, publishes an availability message indicating the subscriber is providing a service associated with the first topic name. Each further communication subscriber receives a copy of the availability message with a first return route description comprising route section designations for route sections traveled starting from the first communication subscriber. A second communication subscriber publishes a request message for the service under the first topic name, using the first return route description as the delivery route to the first communication subscriber.

Abstract: 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.

Abstract: 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.

Abstract: A locking device for a movable vehicle element of a vehicle may have at least a rotary catch, a locking element and an associated blocking mechanism. The blocking mechanism may have at least one blocking element and a movable actuating element for locked coupling of the rotary catch and the locking element. The movable actuating element may be designed to move the rotary catch into a closed position going beyond at least one latching position and to stop in this closed position. The rotary catch and the blocking element may be out of latching engagement in the closed position.

Abstract: An automation network comprises at least one primary subscriber, at least one switch, and at least one network subscriber. The primary subscriber comprises primary ports, the switch comprises switching ports, and the subscriber comprises subscriber ports, each comprising a transmitter and a receiver. The primary subscriber is configured to output first and second telegrams to first and second switching ports via first and second primary ports and first and second primary communication paths. The switch is configured to forward the first telegram to a first port of a network subscriber via a first subscriber communication path, and to forward the second telegram to a second port of a network subscriber via a second subscriber communication path. In an error mode, the switch and network subscriber are configured to return the first and/or second telegrams to the primary subscriber via the first and/or second primary port.

Abstract: In an automation communication network, a distribution node is provided with a plurality of input/output interfaces, each connected to a network segment having at least one subscriber. The network segments are each assigned segment telegrams for processing by the subscriber. The segment telegrams have a data field with sequence information indicating the priority of a subsequent segment telegram. The distribution node is configured to receive the segment telegram on an input/output interface and transmit it according to a routing specification on a further input/output interface.

Abstract: An active arm module for the robot arm of a modular industrial robot has a first housing, first and connection sides arranged at an offset, and a drive device. The first connection side is mounted rotatably relative to the first housing, and is connected to the drive device in a torque-locking manner. The second connection side is connected to the first housing in a torque-proof manner, the drive device being arranged in the first housing and configured to rotate the first connection side relative to the first housing. A further module can be connected to the first and/or second connection side, where the first connection side is optically, electrically, power-electrically and/or fluidically connected to the second connection side, and an optical signal, electrical signal, electrical power, and/or a fluid can be exchanged with the further module via the and/or second connection side.

Abstract: An industrial robot comprises a modular robot arm having a plurality of arm modules, where a rotation transfer device for optical signal transmission is provided in an arm module or between a first and a second arm module. The rotation transfer device comprises an optomechanical rotation interface having a first interface side and a second interface side, which face each other and are substantially rotationally symmetrical and complementary. The first and second interface sides are configured to rotate relative to each other. The first and second interface sides are mechanically mounted with respect to each other, with a radial plain bearing on one interface side and a slide bearing shell complementary thereto on the other interface side. A gap is formed between the first and second interface sides, in the axial direction of the rotation transfer device, across which the optical signal transmission takes place.

Abstract: A method is described for operating a communication network with a plurality of subscribers. Data exchange between the subscribers takes place in the form of telegrams, which comprise data sections. The subscribers interpret an end portion of the telegrams as a check value for the absence of errors in preceding data sections. The telegrams are processed in pass-through, so that the telegrams are forwarded to a respective next subscriber while being received. If an error is detected when receiving a telegram, the subscribers send the telegram to the next subscriber with a characterizing data section at the end, so that the telegram has an end portion representing an invalid check value. The telegram is characterized by the characterizing data section, which is part of the end portion, so that the telegram is not to be considered as an initial error but as a subsequent error.

Abstract: A method for processing telegrams in an automation network provides a master subscriber to at least partially encrypt and output telegrams, respectively, to another subscriber. The other subscriber comprises an input port, a receiving logic connected to the input port, a decryption unit connected to the receiving logic, and a processing unit connected to the decryption unit and the receiving logic. The receiving logic is configured, when a telegram at least partially encrypted by the master subscriber is present at the input port, to forward an encrypted portion of the telegram to the decryption unit. The decryption unit is configured to decrypt the encrypted portion of the telegram with a key, and to forward the encrypted portion to the processing unit for processing. If an unencrypted telegram is present at the input port, the receiving logic is configured to forward the unencrypted telegram to the processing unit for processing.

Abstract: A method for synchronizing time in an Ethernet-based network having a master network subscriber, a first segment and a second segment. Each segment has at least one network subscriber. The second segment is connected to the first segment by a first network distributor, arranged in the second segment. The method comprises steps for sending out a synchronization telegram addressed to the second segment by the master network subscriber, the synchronization telegram being of the first type; receiving the synchronization telegram by the first network distributor, for conversion into a second type; forwarding the synchronization telegram to a network distributor of the second segment, by the first network distributor; reading out a synchronization value stored in the synchronization telegram by the first network distributor of the second segment; and adjusting a speed of a local system time of the network distributor of the second segment, using the synchronization value.

Abstract: A runtime server includes a plurality of simultaneously executing runtime systems, which are configured for real-time execution of a control program for an automation system. At least two of the runtime systems execute application modules of the control program, with at least one module executing an application of the control program being installed on each runtime system. Each runtime system has a data transmission interface for transmitting data between the runtime systems and/or application modules, an I/O configuration which defines an allocation between at least one variable of the application modules and at least one hardware address of a hardware component of the automation system, an I/O interface for data exchange between the runtime systems and hardware components, and an intermediate I/O mapping layer. The I/O configurations are mapped in the intermediate I/O mapping layer.

Abstract: A network distributor has a plurality of input-output ports, a processor unit, and a memory unit. The ports connect network subscribers via a data line network, where the network subscribers include protocol subscribers to process telegrams as protocol telegrams. The processor unit receives telegrams via one port and outputs telegrams via another port, which is stored in a routing table in the memory unit. The processor unit further determines whether a telegram is a protocol telegram received via a port for which no port identifier is stored in the memory unit, and to discard the telegram if so. Checking and discarding of telegrams can be subject to a precondition, where fulfillment of the precondition leads to an exception from discarding the telegram.

Abstract: A method for synchronizing time in an Ethernet-based network having a master network subscriber and a slave network subscriber includes sending out a first telegram via the master network subscriber, where the slave subscriber receives the first telegram at a first receipt time value of a local system time and stores the first receipt time value. The method can also include reading out the first receipt time value via the master subscriber, sending out a second telegram by the master subscriber, where the slave subscriber receives the second telegram at a second receipt time value of the local system time and stores the second receipt time value, and reading out the second receipt time value via the master network subscriber. A speed parameter of the local system time can be calculated from the receipt time values via the master network subscriber, and transmitted to the slave subscriber.

Abstract: At least one distribution node with a plurality of input/output interfaces is provided in an automation communication network. Data is exchanged via telegrams with priority levels. The distribution node interrupts transmission of a telegram having a first priority level if a telegram with a second, higher priority level is received. The distribution node terminates the interrupted telegram, which forms a first fragment defined by sending first fragmentation information at the end of the first fragment. A part that has not been sent forms a second fragment. The distribution node stores the second fragment together with second fragmentation information. After sending the telegram having the second, higher priority level, the distribution node sends the second fragment together with the second fragmentation information. A node, for which the telegram having the first priority level is intended, assembles the first and second fragments on the basis of the first and second fragmentation information.

Abstract: A receiving logic of a network subscriber can be configured in a first filter setting to forward telegrams having first and second addressing techniques to first and second processing units, with a transmitting logic configured to forward the telegrams to a transmitting port. In a second filter setting, the receiving logic can be configured to duplicate the telegrams and forward to the first and second processing units, with the first processing unit configured to discard telegrams using the second addressing technique and the second processing unit configured to discard telegrams using the first addressing technique. The receiving logic of a third filter setting can be configured to duplicate telegrams and forward to the first and second processing units, with the transmitting logic configured to forward only telegrams using the first addressing technique from the first processing unit, and only telegrams using the second addressing technique from the second processing unit.

Abstract: In an automation network comprising a plurality of network segments, fragmenting subscribers that support a fragmentation method as well as standard subscribers that do not support the fragmentation method can be provided for in the network. A distribution node in the automation network has at least one input/output interface that is in communication with a network segment. The switching unit in the distribution node checks whether a subscriber in a network segment to which a telegram is to be sent supports the fragmentation method, and whether the telegram to be sent is fragmented. If the subscriber does not support the fragmentation procedure and the telegram to be sent is fragmented, the switching unit in the distribution node assembles the telegram fragments to form the telegram and then sends the assembled telegram on to the subscriber.