• 专利附录
  • 专利说明
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    • 专利摘要:
    The invention relates to a control system (1) for technical systems (2). This control system (1) comprises at least one electronic hand-held operating device (9) that can be worn by an operator (11) and can be used for influencing and monitoring the control system (1) or a technical system (2) connected to it. The handheld terminal (9) has, on the one hand, a wireless communication interface (16) and also a communication interface (18) which can be set up via a connection cable (17). At least one safety switching element (15) which can be actuated by an operator (11) on the handheld terminal (9) is provided at least for termination of potentially safety-critical control commands or sequences of motion. The cable-bound communication interface (18) comprises a contact-type plug-in interface (20) on the handheld terminal (9), which plug interface (20) a first coupling element (21) on the handheld terminal (9) and a comparison with the first coupling element (21) on and off has detachable second coupling element (22). Immediately in the second coupling element (22) or in the immediate vicinity of the second coupling element (22) on or in the connection cable (17), at least one end identifier (27) is formed, which end identifier (27) can be electronically detected by a end identifier detection means (28) is.
    公开号:AT518665A4
    申请号:T50420/2016
    申请日:2016-05-06
    公开日:2017-12-15
    发明作者:Ing Gernot Preisinger Dipl
    申请人:Keba Ag；
    IPC主号:
    专利说明:

    The invention relates to a control system for technical equipment, as indicated in claim 1.
    A technical plant is to be understood as meaning machines, machine components, industrial robots, handling aggregates or manipulators, production systems, assembly systems and other installations with automated movement or process functions.
    In industrial practice, it is customary to operate technical systems or machines with adjustable or movable machine components by means of portable hand-held operating devices. A significant advantage of such mobile handheld terminals is the possibility of a location or position change for the respective operator. For example, an operator can easily adopt a respectively favorable observation position, which in many cases allows a more efficient operation or control of machines than is possible with fixedly mounted input devices. In particular, a mobile handheld terminal allows immediate observation of a response to a command input.
    In each case, a command input by the operator on the handheld terminal is usually transmitted to a controller for the machine, which then triggers the corresponding function on the machine. Depending on the design, such handheld devices have input options for operating functions of various kinds. Often, at least one manually operable safety switching element is provided, by means of which, when actuated, an immediate movement of the machine or of machine components into a safe state can be triggered or instructed. A common and well-known example of such a safety switching element is an emergency stop or emergency stop switch, usually colored red and yellow, or a technically comparable acting, but for normative reasons visually deviating embossed machine stop switch.
    In industrial practice, most of the time the operation of machines is automated or controlled by one or more appropriately programmed controls. A human operator is only in special resp. Exceptional cases required. This may be the case, for example, when extraordinary machine operations are to be performed which can not execute the control (s) of the machines without human instruction. Examples of this are operator actions when troubleshooting malfunctions, performing maintenance work, setting up after a tool change or when teaching robots or setting up new production processes.
    In industrial operating environments in which often a plurality of similar and normally fully automatic running machines are operated, it is therefore advantageous or desirable for cost reasons, if only comparatively few handhelds, such as a handheld per service technician, alternately and only in each case of need with the or the control device (s) of the machine (s) can be coupled and used.
    For this purpose, the control system for the respective technical system or machine must have a communication interface for the temporary connection of the manual operating device with at least one control or evaluation device of the respective machine. If a manual operation or data-technical observation of the machine is not required, the manual operating device can then be released from the communication interface of the machine again, and be used for example for the manual operation or observation of another machine. Thus, by connecting or disconnecting a manual control device, a running operation of a technical system or machine is not unduly disturbed and a time-consuming parking and again
    To be able to avoid machine startup in the course of a connection or disconnection process of the handheld terminal, the control system and the handheld terminal must cooperate and be technically provided for coupling or uncoupling at all times. This is also referred to as a hot-plug capability of the handheld terminal or the higher-level control system.
    In connection with an on-hand control unit safety switching element in the manner of an emergency stop switch this results in a number of special requirements. Such an emergency stop switch generally has two redundantly designed, positively-opening contacts, which are integrated into a possibly monitored by a safety monitoring device of the machine and also doubly redundant executed circuit, in particular in a so-called safety circuit. Usually, such a safety circuit thus comprises two monitored circuits, in each of which a normally closed contact of the emergency stop switch is integrated. In series with these normally closed contacts of the emergency stop switch, further such normally closed contacts of other safety switching elements can be arranged, such as limit switches for monitoring closed safety gates or the like. As soon as one of the circuits is opened or interrupted, that is, for example, when one of the emergency stop switches is actuated, this is registered by the optionally implemented safety monitoring device of the machine, which safety monitoring device then immediately transfers the machine to a safe state, as a rule So shut down immediately. Instead of implementing a special, typically programmable safety monitoring device, it is also conceivable for relatively simple technical systems to interrupt the power supply to drive units when opening or interrupting the at least one safety circuit, which can be done, for example, by means of at least one power switch or a so-called contactor ,
    Such a shutdown of a machine or technical system is necessary in a real danger situation, in order to avert danger for life and health of humans. This abrupt or controlled shutdown is but for the
    Operation can sometimes be a very significant impairment, because it can often lead to lengthy recovery processes of the machines and in some cases problems in the series stability or manufacturing quality until all operating parameters have returned to their optimum value.
    Is now a Flandbediengerät disconnected from a technical system or machine and thus the safety circuit or its typically redundant circuits are interrupted at the plug or communication interface between the stationary control device and the Flandbediengerät after the emergency stop switch on Flandbediengerät in the safety circuit is integrated or is serially cut into the safety circuit via the connection cable between the Flandbediengerät and the stationary control device, the safety circuit must be promptly bridged in relation to the then deliberately disconnected communication interface or must the safety monitoring device with respect to the respective decoupled or removed emergency stop switch are disabled to prevent unwanted shutdown of the technical system or machine.
    DE102014002982A1 discloses a control system with a connection state monitoring unit, which monitors the electrical or signal connection state between a Flandbediengerät and a connection device and the uncoupled emergency stop switch signal equivalent technically by disconnecting a Flandbediengerätes by a circuit in the connection point and in the safety circuit of Engages the machine. However, it can not be distinguished by a connection state monitoring alone between a desired by the operator disconnecting the Flandbediengerätes at the designated coupling point and any severing of the cable in the episode of an accident. When intentionally loosening the Flandbediengerätes therefore either an additional measure must be set by the operator to technically allow a plausibility of the intentional disconnection and to avoid triggering the safety circuits (s), and / or it must for such a plausibility after Release the manual control unit in its place plug-like bridging elements are used and must be excluded at the same time the permanent presence of only half mated condition.
    Other prior art solutions provide one or more switch contacts in the cable-side portion of a connector to signalially detect disconnection or production of the coupling and allow override of the effect of the emergency-off switch in the disconnected condition. JPH0765908 A shows such a solution with electrically leading separating switch contacts. Although such solutions simplify the handling when connecting and disconnecting a handheld terminal by no additional plausibilisie-generating operating action is set, however, the problem remains that the connector can also be in an undefined, half-mated state, i. a state in which, although a plug-in device is mechanically held in the corresponding receptacle, but at least not contact all contacts properly. In such a case, an operator could assume that due to the apparent coupling of the hand-held operating device to the machine or to the control device of the machine, the function of the emergency-off switch is assumed to exist. In a surprisingly occurring emergency situation, such an emergency stop button would then be operated in vain. Only by the lack of effect, the person would be prompted to look for further, fixed emergency stop switches in the area of the machine and to operate them, whereby valuable time would be lost.
    Object of the present invention was to overcome these disadvantages of the prior art and to provide an improved control system for the safe control or operation of technical equipment.
    This object is achieved by a control system according to the claims.
    The proposed control system serves to safely control a technical installation or machine, and comprises at least one stationary control unit.
    Device with input and output interfaces for establishing line connections to a technical system to be controlled.
    In addition, at least one of an operator portable, electronic handheld device for influencing and monitoring of control processes and conditions of the control system or a connected thereto technical system is provided. Such a handheld terminal has a wireless, control-technical communication interface and also a buildable via a connection cable, control-technical communication interface, with which communication interfaces in each case a data technology integration of the manual control device is made possible in the control system.
    Furthermore, at least one operable by an operator safety switching element, for example, a so-called emergency stop switch and / or a three-stage enabling switch, formed on the handheld terminal, which safety switching element for the execution and / or termination of potentially safety-critical control commands or sequences of movements is provided.
    The control system further comprises a normally closed safety circuit, which safety circuit can be converted to a broken or opened state upon the occurrence of a potentially dangerous state or for the purpose of averting a dangerous state. In this state, the safety circuit is designed or provided for switching off potentially dangerous movements or sequences of a technical system or for bringing about a safe state of a technical system connected to a control system.
    In this case, the wired, control-related communication interface comprises a contact-type plug-in interface on the handheld terminal, which plug-in interface has a first coupling element on the handheld terminal and a second coupling element which can be coupled and uncoupled with respect to the first coupling element, which second coupling element is designed on the connection cable. As a result, the handheld terminal is completely separable from the connection cable and particularly ergonomically usable when using the wireless control communication interface.
    It is essential that at least one end identifier is formed directly in the second coupling element or in the immediate vicinity of the second coupling element on or in the connection cable, which end identifier is electronically detectable by a end identifier detection means of the control system or the stationary control device.
    The control system, in particular at least one of the stationary control devices, further comprises a handheld terminal detection means, which is provided for detecting the presence or absence of a control connection of a manual control device to the control system. The presence or absence of a control technology connection of a handheld terminal to the control system can be detected, for example, by recording or evaluating the electrical energy consumption, in particular by measuring the current, or by evaluating the presence or absence of data or signal communication be implemented.
    It is essential in this context that the control system, in particular the stationary control device or a monitoring electronics implemented therein, detecting a non-existence of a control technology connection of a manual control device and simultaneous detection of a termination indicator made aware of an operator separation of the contact interface on the handheld terminal recognizes or is assumed by the control system of a deliberate separation of the signal connections via the connection cable. Then the control system, in particular of at least one stationary control device or a monitoring electronics implemented therein, as a replacement for the decoupled or ineffective safety switching element on the disconnected or just uncoupled handheld terminal bypasses the safety circuit in the course of staking out of the handheld terminal or kept closed. In particular, it can be provided that in such a case, the control system, for example a stationary control device or a separate monitoring electronics, the safety circuit, e.g. transferred directly to the coupling point of the manual control unit in the closed state to prevent accidental shutdown of the technical system. Alternatively, the control system, in particular at least one stationary control device or a monitoring electronics for activating a replacement or parallel contact to the safety switching element on the handheld terminal be provided, in particular to transfer such a spare or parallel contact in the closed state, if the connection cable from Handheld terminal is disconnected. The measures mentioned are only set if the safety switching element on the respective handheld unit was immediately before disconnecting the connection cable from the manual control unit in its non-actuated state, especially in the resting state had Vorgelegen.
    An advantage of the inventive measures is that thereby the control system, in particular at least one of the stationary control devices or a separately implemented monitoring electronics, the deliberate disconnection of the handheld terminal from the connection cable, in particular at the plug interface between the handheld terminal and the connection cable, from a störungs or accidental cable breakage can differ without an explicit and additional plausibility action by the operator is required. Thus, on the one hand, a particularly functionally reliable or functionally reliable design is created, which also offers high handling comfort. Since no manual plausibility actions on the part of the operator are necessary in order to be able to differentiate a deliberate setting operation from a fault-related loss of the coupling, a high practical benefit and a high level of user-friendliness can also be achieved. In addition, the training needs to use the manual control unit may be as low as no special operations or measures must be set when the handheld terminal is disconnected from the connection cable during operation. Accordingly, the control system or the implemented monitoring electronics can bypass the safety circuit, in particular the emergency stop circuit, electrically, that is, deactivate it in an automated manner upon detection of a deliberate disconnection of the connection cable from the handheld terminal. Otherwise, the safety circuit can be opened automatically and thus the technical system can be shut down safely due to an emergency or malfunction case.
    It is essential that the presence of a deliberate separation of the cable connection between the handheld terminal and the coupling remote site with high reliability is automatically detected and is technically secure distinguishable from an interruption according to a defective or destroyed cable. In particular, the functional test of the connection cable is carried out starting from the local control device or monitoring electronics via the corresponding connection cable in the direction of that coupling element which is provided for coupling to a manual operating device. Due to the automated testing of an intact or highly probable intact connection in the direction of the coupling element for coupling to a handheld terminal, the advantage is achieved that this test completely independent of the presence of an on or. staked handheld terminal takes place. In particular, the check is carried out starting from the sides of the stationary units, for example in the manner of a connection box with the integrated stationary control device or an integrated monitoring electronics.
    Of particular advantage is that this solution completely unnecessary in the case of an on or Absteckvorganges on the part of the handheld terminal, the acknowledgment of Absteckvorganges by a pre- or subordinate operating action. Such would otherwise be required for plausibility and to distinguish a desired Absteckvorganges against a cable break for safety considerations in principle. So there are neither operator actions in the form of manual acknowledgments or key presses required, nor is it necessary to various jumper on the part of the operator on or. decouple.
    In particular, it is possible by the inventively provided Abschlusskennzei-chen detection means to detect a cable interruption, in particular egg nen cable breakage or a cable cut-through, reliably and without delay, without an upstream or downstream plausibility action on the part of the operator is required. The particularly user-oriented or highly user-friendly "hot unplug" capability thus requires no actuation of a switching element and also no Umsteckvorgang an auxiliary or replacement bridge connector. This results in a high level of user-friendliness, since no stress-causing or under time pressure actions are required, which would be carried out by the operator before the technical system is automatically shut down for safety reasons, especially in the emergency stop state is added.
    Also advantageous are the measures according to claim 2, since this can be automated and reliably determined in a reliable manner, whether a partial or complete cable break exists. Particularly in the case of differing results on the part of the hand-held operating device detection means and the end-of-line detection means, it is to be assumed that there is a fault in the connecting cable. This is especially true if the terminal identifier detection means can not be detected, but the manual operator terminal detection means starts from a connection of a manual control unit. In this respect, cable or wire breaks in the connection cable can be determined and / or incompatible or not provided connection cables can be denied with regard to use. The corresponding fault message can lead to a suppression of the execution of potentially safety-critical control commands or even to a shutdown of the system via the safety circuit - comparable to an emergency stop signaling.
    An advantage of the measures according to claim 3 is that an extremely comfortable integration of the manual control device is created in the control system. In particular, we thereby at least one safety switching element of the manual control unit automatically integrated into the safety circuit or functionally coupled to this. However, this integration takes place only when the connection cable with high or highest probability is error-free, so that in dangerous or emergency conditions, a direct bringing about a safe state by actuation of the safety switching element is possible.
    Expedient variants for the final license plate are specified in claim 4. The advantage of an electrical connection bracket is that it can be implemented particularly cost-effectively and yet a high detection reliability can be guaranteed. An advantage of the connection of an ohmic resistance is that thereby also possible short circuits between wires of the connection cable can be detected when the resistance deviates from the expected target value. Optionally, the integration of the shield of the connection cable is practical, since it is not only verifiable that the connection cable is interrupted, but it is also very specifically the shield of the cable checked, which is usually performed via other contact connections than the signal conductor. Such a review of the cable shielding may be advantageous because it is important in terms of the suppression of electromagnetic interference.
    The measures according to claim 5 are also expedient since the terminating identifier or the bridge element in the second coupling element or in the corresponding end section of the connecting cable is formed by a component with frequency-dependent and / or non-linear transmission behavior, its presence can be determined by a correspondingly designed test signal Examination of the transmission behavior can be determined. As a result, not only interruptions of the cable can be detected, but also short circuits, which may be caused by a pinch or squeezing of the cable, whereby the reliability of the check is further increased. The test signal, which is passed over the bridge-like end identifier, can have alternating current components of one or more frequencies or varying frequencies. These measures also allow the technically reliable distinguishable identification of differently designed cables despite mechanically compatible connectors, for example with regard to the possible transmission rates for visualization data or the maximum length of a cable permissible at a specific connector in terms of safety considerations.
    Erroneous manipulations on the connection cable, which could lead to disturbances or problems during commissioning, are excluded by the measures according to claim 6. User-initiated delays during commissioning can thus be ruled out.
    The measures according to claim 7 are also advantageous. In particular, the detectability of the terminal identification table is not dependent on whether the corresponding coupling element is connected or disconnected on the handheld terminal. A detectability of the final identifier table is thus possible at any time and independently of the arrival or decoupling of a manual control unit. Under certain circumstances, functionally unstable electromechanical actuations, which depend on the coupling state of the plug-in interface, are also avoided.
    By the measures according to claim 8 it is possible to remove the connecting cable in its entirety and relatively quickly from the control system. A particular advantage of this measure is that it avoids the risk of damage, which can occur in industrial environments. In the same way, the risk of accidents or disability caused by cables lying around is reduced.
    Of advantage in this context is the development according to claim 9, since the side of the stationary control device or the implemented monitoring electronics can be determined whether a connection cable is connected in principle. However, in the event that a cable plug of a patch cable is detectable but the termination tag is undetectable, the control system may assume that the patch cable is either damaged or not intended for use in conjunction with the control system is released.
    By the measures according to claim 10 or 11, it is possible to tie the inventive measures easily existing control systems. In particular, the mobile handheld devices can be connected in a simple manner to existing control systems or control systems of any manufacturer. In particular, this makes it possible to add the corresponding monitoring electronics as needed to the control system and thus to achieve a kind of upgrade, which is practicable and cost-effective executable, without having to replace the entire control system.
    Also advantageous are the measures according to claim 12, since thus the safety functions of the manual control device, in particular the availability of the safety switching element can be guaranteed to a large extent. Thus, in the case of wired integration of the handheld terminal, the control or influencing of potentially safety-critical control functions is permitted or made possible without the need for complex radio-engineering measures in order to achieve the required system reliability or system reliability. In particular, this creates a kind of "semi-wireless" functionality of a hand-held operating device integrated in the control system. Among other things, this is an optimal cost-to-benefit ratio achievable. This is especially true when the control system is implemented in combination with the measures according to claim 13.
    In connection with the embodiment according to the invention, the measures according to claim 14 are of particular use. This can be signaled in an unambiguous manner automated, whether the safety switching element on the handheld terminal is functionally available or can be functional, or whether it is in an unusable, inactive state. The corresponding measures can be reliably implemented without complex mechanical discrimination measures or manual actions having to be taken. This can also increase system reliability and system security.
    According to an expedient measure, this internal illumination is formed in the safety switching element for emitting red-colored light. As a result, the functional availability of the safety switching element can be clearly and unequivocally detected, especially if it is present in a red-lighted state. On the other hand, this safety switching element can be designed to be slightly translucent or milky when it is in its inactive, functionally unavailable state and thus the lighting is deactivated. This condition is present in particular in the case of wireless coupling of the handheld terminal to the control system.
    Also useful are the measures according to claim 15, since it is unambiguously set out or signaled when the safety switching element on the handheld terminal has no functional efficiency, because the handheld terminal is integrated via its wireless communication interface in the control system and are therefore used only for safety-critical observation tasks or parameterizations can.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    In each case, in a highly simplified, schematic representation:
    1 shows an embodiment of an electronic control system and components of a system controlled by the control system.
    Fig. 2 is a handheld device with a safety switching element, which
    Handheld terminal has an on-demand wired and unplugged cable connection for a wired integration into a control system and also has a wireless communication interface for wireless integration into the control system.
    By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position mutatis mutandis to transfer to the new location.
    FIG. 1 illustrates components of a control system 1 and a system 2 controlled by the control system 1. The fragmentary illustrated technical system 2 comprises several system components 3, which in the example of FIG. 1 by industrial robots 4 comprehensive processing stations 5 may be formed. In principle, a technical system 2 may include any other system components 3 in order to be able to process or execute at least partially automated processes, for example production processes, chemical processes and the like. For example, the plant 2 illustrated in the exemplary embodiment according to FIG. 1 comprises a transport device 6 for transporting objects, workpieces, semi-finished products and the like between the processing stations 5 or for providing articles for the individual processing stations 5.
    As shown in FIG. 1, the control system 1 has at least one stationary electronic control device 7. As is generally known, the at least one control device 7 may also be part of a control network with a plurality of decentralized control devices 7, as is also indicated schematically in FIG. 1. The individual control devices 7 can in this case be designed or programmed to perform specific tasks, for example for monitoring and controlling the system 2 or for monitoring and controlling certain system components 3, the control architecture for monitoring and controlling the system 2 having in principle any desired topologies can.
    Depending on the requirements, the individual, stationarily positioned control devices 7 can be designed for wired communication via communication links 8 'and / or for wireless communication via wireless communication links 8, as indicated schematically in FIG. Such a wireless communication link 8 can be formed, for example, by a connection according to the WLAN or Bluetooth standard or by a standardized radio link for industrial environments.
    The control system 1 furthermore comprises at least one portable, mobile hand-held operating device 9. The at least one hand-held operating device 9 or an electronic control device 10 of the manual operating device 9 can in turn signal or data-technically via a wireless communication link 8 with one or more of the stationary control devices 7 of the control system 1 be connected. The at least one handheld terminal 9 is provided or designed for use by an operator 11, wherein a signal or data exchange between the handheld terminal 9 and a control device 7 via the wireless communication link 8 can take place. Alternatively or in combination with it, between the individual control devices 7,10 and wired communication links 8 'may be provided.
    In principle, the stationary control devices 7 may be functional control units of a system 2 or system component 3, which serve, for example, to implement automatically generated control commands, or to implement control commands entered or triggered on the manual control unit 9. Such control devices 7 can be designed, for example, for controlling actuators or drives for specific system components 3 or for detecting the signals from sensors or position switches. For this purpose, the control devices 7 have a plurality of input and output interfaces for establishing line connections to a technical system 2 to be controlled. It is also possible to provide further control devices 7, for example higher-level control devices 7, which in particular process automated processes or transmission processes between individual plant components 3 in automated or semi-automated fashion, as illustrated by way of example on the right-hand edge of FIG. Preferably, the at least one handheld terminal 9, in particular the control device 10 built therein, via the wireless and / or the wired communication interface 8, 8 'with at least one of the stationary control devices 7 of the control system 1 signal or data technically in communication connectable.
    In the context of this document, a transmission of signals or data is basically also understood as a provision of signals or data.
    For displaying information or data, the at least one handheld terminal 9 has at least one output element 12, in particular at least one display or a touch screen. To enter settings and / or for the manual triggering of control commands, the handheld terminal 9 at least one input element 13, for example, buttons, switches, rotary control, a joystick or the like. The particular embodiment of the output elements 12 and the input elements 13 of the at least one handheld terminal 9 can be adapted to the various requirements and needs or the respective application.
    For the purpose of an at least temporarily mains-independent, electrical power supply, the handheld terminal 9 may also have an internal power supply unit 14, which preferably comprises at least one electrochemical accumulator. This internal power supply unit 14 is necessary in particular for a purely wireless operation of the handheld terminal 9, that is necessary in the operating state without connecting a power supply or data cable to the electrical components of the manual control unit 9 independently of a wired power supply terminal to provide electrical energy and operate. In the case of a signal or data technology connection only via the wireless communication interface 16, a battery-powered, internal power supply unit 14 is thus a component of the manual control unit 9.
    At least one of the handheld operating devices 9, which is functionally einbindbar in the control system 1, has at least one manually operable safety switching element 15, with which when actuated by an operator 11, for example, an immediate shutdown of the technical system 2 or a specific system component 3, or an overpass the technical system 2 or a specific system component 3 can be triggered in a safe state. Such a safety switching element 15 may be formed by we least one so-called emergency stop or emergency stop switch and / or defined by at least one enabling button with so-called panic switching position.
    According to a practical embodiment, the handheld terminal 9 has a wireless, control-technical communication interface 16 and also a control-technical communication interface 18 which can be set up via a connection cable 17. With each of these two communication interfaces 16, 18 is a signal or data technology integration of the handheld terminal 9 in the control system 1 allows, the scope of the available on the handheld control unit 9 control commands depends on which of the communication interfaces 16,18 for the signal or data integration is currently being used or whether both are used simultaneously. To increase the safety in the control technology operation or influencing of technical equipment 2, which can pose potential dangers to people or serious damage to the technical system 2 or to be machined objects or workpieces, is the manual control unit 9 already mentioned above , at least one safety switching element 15 is provided.
    According to an expedient measure, it is provided that only potentially dangerous functions or control commands can be executed by means of the handheld terminal 9 when the handheld terminal 9 is integrated into the control system 1 via the connection cable 17, ie via a multi-pole electrical cable connection or via a plurality of cable cores is connected to the control system 1. In particular, this makes it possible to carry out the switching or safety functions of the safety switching element 15 via the multi-pole connection cable 17 and thus to achieve a highly available or particularly reliable and temporally substantially instantaneous switch-off function by means of the safety switching element 15. In the event that the handheld terminal 9 is used in its purely wireless operating mode (wireless mode), that is integrated exclusively via its wireless communication interface 16 in the control system 1, the operator 11 by means of the manual control unit 9 mainly Be obachtungsfunktionen or uncritical control functions to disposal. In addition, a so-called hybrid function can be provided in the control system 1, by means of which the handheld terminal 9 can be placed in a wired state (cable mode) in which the functions of the safety switching element 15 are also available with high reliability. In contrast, in a purely wireless operating mode (wireless mode) of the handheld terminal 9, the functions of the handheld terminal 9 on observation or. Visualization functions restricted. In a purely wireless connection (wireless mode) of the manual control unit 9 to the control system 1, the functionality of a safety switching element 15 would theoretically also be implemented, the required technical effort to achieve the highest possible availability while maintaining the reliability of a wirelessly coupled safety switching element 15 is relatively high and thus complex or expensive. Accordingly, with the specified control system 1, the functionality of the safety switching element 15 is wirelessly integrated into the control system 1 and instead a "hybrid function" or a "semi-wireless functionality" of the handheld terminal 9 is provided, wherein the switching between "wireless -Mode "and" cable mode "- and vice versa - controlled by the internal control device 10, among others.
    The at least one actuatable by an operator 11 safety switching element 15 on the handheld terminal 9 may be formed by a so-called emergency stop switch and / or a three-stage enabling switch with so-called panic switching position. Such a safety switching element 15 is provided-as is known per se-for the execution and / or termination of potentially safety-critical control commands or sequences of motion of the technical system 2.
    The at least one safety switching element 15 is integrated in at least one electrical safety circuit 19 of the control system 1 or the technical system 2. In order to comply with relevant standards, this safety circuit 19 can be designed dual-circuit redundant. At relatively low security requirements, however, it can also be carried out in a single circuit. Of the
    Safety circuit 19 is closed in the normal state, in particular as an uninterrupted electrical path or as a safety loop. Upon the occurrence of a potentially dangerous state, the safety circuit 19 can be converted into an interrupted or open state. This is done by activating or activating at least one of the safety switching elements 15. Such a safety switching element 15, which can be actuated by an operator 11 if required, comprises at least one, preferably two normally closed and positively-operated normally closed contacts. Typically, a number of safety switch elements 15, which are distributed at favorable positions of the technical system 2, are provided in the form of so-called emergency-off switches. In the open or interrupted state of at least one of the safety circuits 19, a shutdown of potentially dangerous movements or processes of the technical system 2 is provided, or it is brought about a safe state of a technical system 2, if the at least one safety circuit 19 via at least one safety switching element 15th is activated, in particular is transferred to the interrupted state.
    As can best be seen from a combination of FIGS. 1 and 2, the wired, control-technical communication interface 18 has a contact-type plug-in interface 20 on the handheld terminal 9. By means of this plug-in interface 20, the cable connection between the handheld terminal 9 and the control system 1 or one of the control devices 7, if necessary, constructed and canceled. This plug-in interface 20 comprises a first coupling element 21, for example a socket, on the hand control unit 9, in particular on the housing, and a relation to the first coupling element 21 as needed on and uncoupled second coupling element 22, which corresponds to the first coupling element 21. The second coupling element 22, which may be designed in the manner of a plug, is embodied at one of the two ends of the connecting cable 17.
    According to a practical embodiment can be provided that also the second end of the connecting cable 17, in particular the remote from the hand control unit 9 remote end of the connecting cable 17, if necessary, on and disengaged is executed. In particular, a second plug-in interface 23 for on-demand, tool-free executable plugging and unplugging relative to the control system 1, in particular with respect to at least one of the stationary control devices 7, may be provided. As is known per se, the second plug-in interface 23 comprises a cable plug 24 on the connecting cable 17 and at least one socket 25 corresponding thereto at suitable positions of the control system 1 or at the various stationary control devices 7. If at least one plug-in interface 23 is provided on the system this is preferably as well as the device-side plug-in interface 20 for the manual operating device 9 without tools operable. It should be noted in this context that at least the plug-in interface 23 closest to the technical system 2 can also be permanently, in particular non-detachable, in that the connecting cable 17 is connected directly to the respective control device 7 and connected inseparably therewith.
    If at least one second plug-in interface 23 is implemented, it can be provided that a coupling state detection means 26 for automatically detecting the presence or absence of the cable plug 24 at the plug-in interface 23 is provided at the stationary control device 7 or at a corresponding coupling point.
    To improve the control system 1 or to optimize the operation of the technical system 2 and the control system 1, is directly on or in the second coupling element 22 and / or in close proximity to the second coupling element 22, in particular on or in the next adjacent end portion of the connecting cable 17, at least one electronically or sensory detectable end identifier 27 is formed. With regard to its presence or with respect to its characteristic or peculiarity, this final identifier 27 can be detected electrotechnically or electronically and thus automatically detected. For this purpose, an electronic end-of-registration detection means 28 is provided. This termination identifier detection means 28 may be part of a software and / or hardware technology implemented monitoring electronics 29 in the control system 1 and in at least one of the stationary control devices 7. Typically, the end identifier detection means 28 and a corresponding monitoring electronics 29 are implemented externally or remote from the control device 10 of the manual control unit 9.
    By means of this termination identifier detection means 28 can be detected automatically, whether the connection cable 17 is likely to be in a proper or scheduled state, in particular whether the scheduled line connections to the second coupling element 22 of the connection cable 17 most likely exist. In the event that this termination indicator 27 is not detected or in an abnormal characteristic, it is assumed by the monitoring electronics 29 and the end of the license plate detecting means 28 that the connection cable 17 is damaged, severed, partially severed, or from elsewhere Reasons is not available and thus an unscheduled, possibly safety-critical condition exists. In particular, it can be automatically or partially automatically detected by the control system 1 or by at least one of the control devices 7, whether a scheduled connection via the connecting cable 17, starting from the stationary control device 7 in the direction of the handheld terminal 9 - and vice versa - is present or likely to be established and whether in case of danger, a safe shutdown or emergency stop initiation over the safety switch element 15 can be made on the handheld terminal. However, an essential effect of this measure lies in the fact that a simple and reliable distinction can be made between a deliberate separation of the communication connection 8 'via the connection cable 17 and a disruption due to an accident, for example an accidental severance of the connection cable 17 or a wire break ,
    The termination indicator 27 is to be understood as an indicator or as a feedback element on the assignable to the handheld terminal 9 end of the connecting cable 17. In the simple case, the electronically or sensory he tangible completion indicator 27 is formed by an electrical connection bracket 30 or by a defined, ohmic resistance. A corresponding termination indicator 27 can be connected between two wires of the connection cable 17, or alternatively between a wire and an electromagnetic shielding, in particular a shielding braid or a shielding foil, of the connection cable 17. The connection bracket 30 or the end identifier 27 can act as an electrical bridge.
    The automated or electrotechnically detectable termination mark 27 can also be formed by at least one electrical component with frequency-dependent or non-linear properties, for example by inductances or capacitances, in particular by electrical filters. Alternatively, an active transmitting device for electrical signals is conceivable, which is connected to a wire or an electromagnetic shielding of the connecting cable 17. When receiving adequate transmission or response signals which are emitted by a corresponding end identifier 27, it can be assumed by the monitoring electronics 29, in particular by the end identifier detection means 28, that the cable connection starting from the control device 7 toward the second coupling element 22 on the connection cable 17 is OK and thus can be assumed that a proper system state. In order to increase security, a redundant arrangement of two or more substantially identical end marks 27 may also be provided.
    It is expedient here if the respective end identifier 27 is permanently or in principle permanently connected to the second coupling element 22 or to the next-assigned end of the connecting cable 17. In particular, it is provided that the respective end identifier 27 for an operator 11 or for a standard user is not detachably arranged on or in the second coupling element 22 or permanently connected to the connecting cable 17. This can be done for example by soldering or clamping connections or by basically inaccessible screw. This ensures that in usual or standard
    Use cases, a decrease or detachment of the end plate 27 of that end portion of the connecting cable 17, which is provided for on-demand coupling and decoupling with respect to the manual control unit 9, is prevented.
    The termination indicator 27 is preferably implemented in such a way that, starting from at least one of the stationary control devices 7 and the implemented monitoring electronics 29, in particular by means of the termination identifier detection means 28, it can also be detected if the contact-type plug-in interface 20 is located between the connection cable 17 and the handheld terminal 9 is disconnected or inactive. Thus, the end plate 27 is also active or detectable when the second coupling element 22 is deducted from the handheld terminal 9. That is, the contact interface 20 may be disconnected while the termination tag 27 is still detectable if the wire connections between the controller 7 and the coupling element 22 are intact, or at least the respective wires to which the termination tag 27 is connected are. The respective passive or active termination indicator 27 is therefore also detectable when the connection cable 17 is disconnected from the handheld terminal 9 and was staked and also expected as a proper or scheduled functional state of the connection cable 17 and the second coupling element 22 and / or a Any formed second plug-in interface 23 is present.
    In combination with or in addition to said termination indicator detection means 28, the control system 1 or at least one of the stationary control devices 7, in particular the implemented monitoring electronics 29, comprises a handheld terminal detection means 31. This manual operation detection means 31 serves to detect the presence or absence of one Control technology connection of a manual control unit 9 to the control system 1 or to one of the stationary control devices 7. The manual control unit detection means 31 can be implemented by software technology and / or hardware technology and thereby either in the control
    Device 7 or be executed in a corresponding monitoring electronics 29.
    The handheld terminal detection means 31 can be carried out in a simple manner by a current measurement, in particular be implemented by a determination of the electrical energy consumption. Alternatively or in combination with this, the handheld terminal detection means 31 can also be defined by a software technical means which evaluates or monitors the data or signal communication via the connection cable 17. In cases in which the electrical energy consumption or the data communications via the connection cable 17 falls below a certain threshold or becomes zero, it can be assumed on the part of the handheld terminal detection means 31 that no handheld terminal 9 is connected to the second coupling element 22. In particular, it can be detected with such a handheld terminal detection means 31 whether the second plug-in interface 20 is or has been disconnected, in particular whether the second coupling element 22 has been detached from the handheld terminal 9 by being removed from the corresponding coupling element 21.
    A current measuring unit 32, which is preferably implemented at the individual coupling points, in particular in the control devices 7, is provided either for measuring or for the fundamental detection of an electric current conducted via a supply wire 33 of the connecting cable 17. In this case, the presence of a current flow or a significant current flow can only be determined by the current measuring unit 32 if the handheld terminal 9 is properly connected to the control system 1, in particular if the coupling element 22 on the connection cable 17 is properly coupled to the corresponding coupling element 21 on the handheld terminal 9 has been. In a made by the operator 11 separation of the corresponding plug-in interface 20, the current flow through the supply line 33 to zero or almost zero and can be drawn to a reversal of the connection to the handheld terminal 9 inference.
    It is essential that a combinatorial evaluation of the results of the end identifier detection means 28 and the handheld terminal detection means 31, a relatively reliable distinction between a deliberately or deliberately staked manual control unit 9 and a disturbed or caused by disruption or damage of the connection cable 17 can be distinguished ,
    Thus, the control system 1 is designed according to an expedient embodiment such that the respective stationary control device 7 or implemented in the control device 7 monitoring electronics 29 upon detection of non-presence of a handheld terminal 9, in particular in a change from a presence to a non-existence a control technology connection of a manual control unit 9 and the simultaneous detection of a completion indicator 27 automatically detects an operator 11 consciously or actively carried out separation of the contact-type plug-in interface 20 on the handheld terminal 9 automatically detects or evaluating assumed. Accordingly, a bridging of the safety circuit 19 in the course of staking off the handheld terminal 9 is performed by the stationary control device 7 or a corresponding monitoring electronics 29 as a substitute for the uncoupled or now ineffective safety switching element 15 to be disconnected or just uncoupled handheld terminal 9. This means that in the presence of said case states, the control system 1 is acted or programmed such that the safety circuit 19, for example, at the coupling point of the manual control unit 9 is transferred directly to the closed state and thus an unintentional shutdown of the technical system 2 due to intentional or deliberate stakeout of the handheld terminal 9 is prevented. In particular, it may be provided that the control system 1 is provided in the case of the above case for switching from at least one spare or parallel contact 34, 34 'to the safety switching element 15 on the uncoupled handheld terminal 9. In particular, it may be provided that in such as intentionally or as planned recognized decoupling of the handheld terminal 9, in which there is no emergency or dangerous condition and no fault condition on the connection cable 17, the executed as normally closed contacts spare or parallel contacts 34th , 34 'in the idle state, that is, be transferred to the closed state, to avoid unwanted shutdown of the technical system 2 and system components 3. This substitute bridging of the safety circuit 19 by the control device 7 or by the monitoring electronics 29 and the concomitant continuation of the electrically closed state of the safety circuit 19 is given in particular when the safety switching element 15 on the handheld terminal 9 immediately before disconnecting the connecting cable 17 from the handheld terminal 9 is in its dormant state, so was not pressed.
    Conversely, such a spare or parallel contact 34, 34 'in the safety circuit 19 would be placed in the open state or remain in the open state when the safety switching element 15 has been operated on the manual control unit 9 or was before the connection cable 17 is disconnected. In this case, this switch-off state therefore remains even when the operator 11 disconnects the hand-held operating device 9 from the connecting cable 17, in particular disconnects the second coupling element 22 from the housing of the manual operating device 9 or withdraws it from the first coupling element 21.
    It should be expressly understood that the end-of-flag detection means 28 and the coupled-state detection means 26 may be integral to a respective monitoring electronics 29 and the respective control device 7, respectively. The corresponding electronic detection means can be implemented in terms of hardware and software, but can also be designed predominantly by software.
    Furthermore, it may be expedient if the final identifier detection means 28 or the corresponding monitoring electronics 29 is designed for continuous, periodic, event-dependent or stochastic detection of the present case of system-compatible terminal identifiers 27. In particular, it is intended to automatically check at regular or irregular intervals whether a compatible end identifier 27 is present or such is not detectable. It is essential in this context that the stationary control device 7 or the monitoring electronics 29 is provided at least for signaling a fault message, or the respective safety circuit 19 in the shutdown or emergency stop state, if the handheld terminal detection means 31 while the Connection of a manual control unit 9 detects, by means of the end-of-license plate detection means, however, the presence of a completion indicator 27 is not detectable. In such a case, in particular disturbances are present, which may be caused for example by a cable break or a wire break in the connection cable 17. Alternatively or in combination with incompatible or not provided connection cable 17 can be seen.
    It is also expedient if the at least one stationary control device 7 or the monitoring electronics 29 for the immediate termination of its bridging state with respect to the safety circuit 19 and for immediate functional or alternative integration of the at least one safety switching element 15 to a just or instant infected handheld terminal 9 is formed in the safety circuit 19, when the connection of a handheld terminal 9 is detected by means of the manual operating device detection means 31 and at the same time by means of the end identifier detection means 28 a completion indicator 27 is detected. This process is particularly useful when connecting a manual control unit 9 with an unactuated, at rest, safety switching element 15.
    If then the at least one safety switching element 15 is functionally integrated in the safety circuit 19 via discrete line connections by the handheld terminal 1 is connected by means of the connection cable 17 to the control system 1, the handheld terminal 9 for executing or influencing potentially dangerous control commands usable , In particular, when connecting the handheld terminal 9 via the connecting cable 17, it is provided that an observation or execution of potentially safety-critical sequences or control commands is made possible by means of the manual control unit 9. In this case, the at least one safety switching element 15 of the manual operating device 9 using the
    Connecting cable 17 functionally integrated into the safety circuit 19 of the technical Appendix 2 and its functional efficiency comparatively reliable available. Accordingly, in a so-called "cable mode" (cable mode), in which the handheld terminal 9 is connected by means of the connecting cable 17 to the control system 1 and thus also the at least one safety switching element 15 is connected via wires of the connecting cable 17 in the control system 1, the Execution or control of potentially dangerous control tasks allows. In contrast, the handheld terminal 9 or the control system 1 can also be operated in a pure "radio mode" (wireless mode), in which the connection cable 17 is disconnected or is not present. This relatively unrestricted mobility in the "wireless mode" on the one hand contributes to a particularly good visibility of the technical equipment 2 for the operator 11 and on the other hand, however, also allows the influence on operating conditions or the review of operating conditions at a great distance, i. without the operator having to be on site. In this "wireless mode" in which the handheld terminal 9 is integrated exclusively into the control system 1 by means of the wireless communication interface 16, the functions of the handheld terminal 1 are preferably restricted to data-technological observation functions or to safety-critical parameterization functions. As a result, the security and reliability of the control system 1 can be optimized or a high safety standard can be built thereby.
    In this context, it may also be expedient if the control system 1 or the control device 10 makes apparent a present functional availability and / or a present ineffectiveness of the at least one safety switching element 15 on the handheld terminal 9 for the operator 11 or for other persons. It is expedient here if the control system 1 signals a present functional availability of the at least one safety switching element 15 on the handheld terminal 9 by activation of a lighting 35 of the at least one safety switching element 15. Preferably, this lighting 35 is integrated in the interior of the safety switching element 15 and at least partial sections of the safety switching element 15 are designed to be translucent or translucent. It is expedient if the safety switching element 15 or its housing sections in the unlit and therefore inactive state have a dark appearance or have slightly translucent housing sections and, for example, have a milky-gray appearance. In contrast, the safety switching element 15 is in its function-ready state in its appearance differently colored, in particular brighter or illuminated from the inside.
    It is expedient in this case if the lighting 35 which can be activated and deactivated in dependence on the functional availability or functional inefficiency of the safety switching element 15 is designed to emit red-colored light, if the safety switching element 15 is ready for operation, in particular for switching off or terminating potentially dangerous control - Is or motion processes ready, so a turn-off readiness for the technical system 2 or for plant components 3 is present. In this respect, the control system 1 or a monitoring electronics 29 'in the handheld terminal 9 for reliable deactivation of the lighting 35 of the safety switching element 15 is formed when the handheld terminal 9 is integrated exclusively via the wireless communication interface 16, ie via a radio link in the control system 1. The monitoring electronics 29 'in the manual control unit 9, which can be implemented software and / or hardware technology, can also be provided for situational activation of the illumination 35, which may comprise at least one LED.
    As already explained, the control system 1 can comprise distributed control devices 7, as exemplified in FIG. These control devices 7 are provided for the implementation of primary control tasks within the technical system 2. It is useful if the proposed control system 1 comprises at least one of the actual control devices 7 structurally remote, in particular separately formed connection control unit 36. The at least one connection control unit 36 is thereby line-connected to at least one of the control devices 7 and serves for the functional integration of the hand-held operating device 9 into the control system 1. It is expedient if, at each coupling point for integrating a hand-held operating device 9 into the control system 1. Control unit 36 is provided. The connection control unit 36 can be embodied in particular as a separate housing unit in the manner of a connection box. In this case, it is expedient for the monitoring electronics 29 to be implemented in this connection control unit 36, in particular the termination identification detection means 28 and / or the handheld terminal detection means 31 and / or the coupling state detection means 26.
    An expedient functional sequence in the control system 1 in the course of staking off the connection cable 17 during operation (hotunplugging) is as follows: The end identifier 27 in the second coupling element 22, for example a wire hanger, is supplied by the connection control unit 36 or the monitoring electronics 29 recognized. When the hand-held operating unit 9 is disconnected from the connection cable 17 at its plug-in interface 20, the following conditions occur: termination identification means 28 = "True", connection state detection means 26 = "True" and manual operation detection means 31 = "False". The corresponding local control device 7 or the connection control unit 36 and / or the monitoring electronics 29 thus detects the device-side, conscious staking out of the connection cable 17 and goes with respect to the safety circuit 19 in the lock-up state, to avoid unwanted shutdown of the technical system 2. A possible cable breakage would also be recognized in this case: end identifier detection means 28 = "False", handheld terminal detection means 31 = "False" and coupling state detection means 26 = "True".
    A plug-in operation of a manual control unit 9 during operation of the control system 1 (hot-plugging) is expediently as follows: When the stationary control device 7 and / or the monitoring electronics 29 and the terminal control unit 36 with respect to the safety circuit 19 in the bridging state and When a hand-held operating device 9 is plugged with a safety switching element 15, the control system 1 recognizes it as follows: hand-held device detecting means 31 = "True", coupling state detecting means 26 = "True" and end mark detecting means 27 = "True". As a result, the lockup condition is canceled immediately and the
    Safety switching element 15 on the handheld terminal 9 at least functionally coupled or galvanically integrated into the safety circuit 19. If necessary, such a safety switching element 15 starts to light up, if such a safety switching element 15 is present with activatable and deactivatable lighting 35 on the handheld terminal 9. Thus its function availability can be clearly signaled.
    The embodiments show possible embodiments, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are mutually possible and this variation possibility due to the teaching of technical action by representational invention in Can the expert working in this technical field.
    The scope of protection is determined by the claims. However, the description and drawings are to be considered to interpret the claims. Individual features or combinations of features from the illustrated and described different embodiments may represent for themselves inventive solutions. The task underlying the independent inventive solutions can be taken from the description. All statements of value ranges in the present description should be understood to include any and all sub-ranges thereof, e.g. is the statement 1 to 10 to be understood that all sub-areas, starting from the lower limit 1 and the upper limit 10 are included, ie. all sub-areas begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.
    For the sake of order, it should finally be pointed out that for a better understanding of the construction, elements have been shown partially unevenly and / or enlarged and / or reduced in size.
    LIST OF REFERENCE NUMERALS 1 Control system 26 Coupling state 2 Plant detection means 3 Plant component 27 Final marking 4 Industrial robots 28 Completion mark 5 Processing station Detecting means 6 Transporting device 29.29 'Monitoring electronics 7 Control device 29 Connecting bracket 8 Wireless communication device 30 Handheld device connection Detection means 8' Wired communications 31 Current measuring unit connection 32 Supply line 9 Handheld terminal 34, 34 'Spare or parallel contact 10 Control device 35 Lighting 11 Operator 36 Connection control unit 12 Output element 13 Input element 14 Power supply unit 15 Safety switching element 16 Communication interface (wireless) 17 Connection cable 18 Communication interface (wired) 19 Safety circuit 20 Plug-in interface 21 First coupling element 22 Second coupling element 23 second plug-in interface 24 cable plug 25 socket
    权利要求:
    Claims (15)
    [1]
    A control system (1) for technical systems (2), comprising at least one stationary control device (7) with input and output interfaces for establishing line connections to a technical system (2) to be controlled, at least one of an operator (11) portable and mobile usable, electronic hand-held operating device (9) for influencing and monitoring of control processes and states of the control system (1) and a connected thereto technical system (2), which handheld terminal (9) a wireless, control communication interface (16) and also via a Connecting cable (17) constructible, control-technical communication interface (18), with which communication interfaces (16,18) each a data technology integration of the handheld terminal (9) in the control system (1) is enabled, at least one of an operator (11) operable safety switching element ( 15) on the hand control advises which safety switching element (15) is provided at least for a termination of potentially safety-critical control commands or sequences of motion, a normally closed safety circuit (19), which safety circuit (19) can be converted into a broken or open state to ward off a hazardous condition and for switching off potentially dangerous movements or processes of a controlled technical system (2) or to bring about a safe state in a controlled technical system (2) is provided, and wherein the wired, control-technical Kommunikationsschnittstel- le (18) a contact-type plug-in interface (20) on the handheld terminal ( 9), which plug-in interface (20) has a first coupling element (21) on the handheld terminal (9) and a second coupling element (22) which can be coupled and uncoupled with the first coupling element (21) as required, which second K Uplugging element (22) on the connecting cable (17) is executed, characterized in that directly in the second coupling element (22) or in the immediate vicinity of the second coupling element (22) on or in the connecting cable (17) at least one end identifier (27) is formed, which The end identifier (27) can be detected electronically by an end-of-registration detection means (28) in that a hand-operating device detection means (31) is formed which is capable of detecting the presence or absence of a control-technical connection of a hand-held operating device (9) to the control system (1). is provided, and that the control system (1) upon detection of a change from a presence to a lack of control connection of a manual control unit (9) and simultaneous detection of a termination indicator (27) on the corresponding connection cable (17) to this decoupled manual control unit (9 ) one by an operator ( 11) consciously carried out separation of the contact-type plug-in interface (20) on this handheld terminal (9) and then as a replacement for the subsequently ineffective safety switching element (15) on uncoupled handheld terminal (9) the last valid switching state of the safety switching element (15) functionally equivalent in the safety circuit (19) coupled, respectively for bridging the safety circuit (19) in the course of stakeout of the handheld terminal (9) is formed, or for switching from at least one spare or parallel contact (34, 34 ') to the safety switching element (15) on the handheld terminal (9) provided that the safety switching element (15) on the uncoupled manual control unit (9) is present immediately before disconnecting the connecting cable (17) from the handheld terminal (9) in its non-actuated state or idle state.
    [2]
    2. A control system according to claim 1, characterized in that the completion flag detection means (28) for continuous, periodic or event-dependent detection of completion mark (27) is provided, and that the control system (1) is provided for signaling a fault message when the handheld terminal Detection means (31) detects the connection of a manual control unit (9), the Abschlusszeichennii chen detection means (28), the presence of a completion flag (27) is not detectable.
    [3]
    3. Control system according to claim 1 or 2, characterized in that the control system (1) for the immediate termination of the bridging state with respect to the safety circuit (19) and the substitute, direct involvement of the at least one safety switching element (15) to a currently infected handheld terminal (9) in the safety circuit (19) of the control system (1) is formed when by means of the handheld terminal detection means (31) the connection of a manual control unit (9) is detected and by means of the end identifier detection means (28) detects a termination indicator (27) is.
    [4]
    4. Control system according to one of the preceding claims, characterized in that the terminator (27) by an electrical connection bracket (30) or an ohmic resistance between two wires of the connection cable (17), or alternatively between a wire and an electromagnetic shielding of the connection cable ( 17) is formed.
    [5]
    5. Control system according to one of claims 1 to 3, characterized in that the Abschlusskennzeichen (27) by at least one electrical cal component with frequency-dependent or non-linear properties, or by a transmitting device for electrical signals to a wire or an electromagnetic shielding of the connecting cable (17 ) is formed.
    [6]
    6. Control system according to one of the preceding claims, characterized in that the end identifier (27) with the second coupling element (22) or the connecting cable (17) is permanently connected.
    [7]
    7. Control system according to one of the preceding claims, characterized in that the termination indicator (27) is also detectable or active when the contact-type plug-in interface (20) is disconnected and the handheld terminal (9) is disconnected from the connection cable (17).
    [8]
    8. Control system according to one of the preceding claims, characterized in that a second plug-in interface (23) for on-demand, tool-free executable connecting and disconnecting a cable connector (24) of the connecting cable (17) is provided.
    [9]
    A control system according to claim 8, characterized in that a coupling state detection means (26) for detecting the presence or absence of the cable plug (24) is provided on the second plug-in interface (23).
    [10]
    10. Control system according to one of the preceding claims, characterized in that the control system (1) distributed control devices (7), which are provided for the implementation of primary control tasks, and that at least one of the control devices (7) structurally remote, with at least a control device (7) line-connected connection control unit (36) for integrating the manual control device (9) in the control system (1) is formed.
    [11]
    A control system according to claim 10, characterized in that the completion flag detecting means (28), the handheld terminal detecting means (31) and the coupling state detecting means (26) are implemented in the terminal control unit (36).
    [12]
    12. Control system according to one of the preceding claims, characterized in that the handheld terminal (9) for executing or influencing potentially dangerous control commands can be used when the handheld terminal (9) by means of the connecting cable (17) integrated into the control system (1) and the at least one safety switching element (15) of the manual operating device (9) is functionally integrated into the safety circuit (19).
    [13]
    13. Control system according to one of the preceding claims, characterized in that the control system (1) limits the functions of the handheld terminal (9) to data monitoring functions or safety-critical parameterization functions when the handheld terminal (9) exclusively by means of the wireless communication interface (16) in the control system (1) is integrated.
    [14]
    14. Control system according to one of the preceding claims, characterized in that the control system (1) signals a present functional effectiveness of the at least one safety switching element (15) on the handheld terminal (9) by activating a lighting (35) of the at least one safety switching element (15).
    [15]
    15. Control system according to claim 14, characterized in that the control system (1) for deactivating the lighting (35) of the safety switching element (15) is formed when the handheld terminal (9) exclusively via the wireless communication interface (16) in the control system (1 ) is involved.
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50420/2016A|AT518665B1|2016-05-06|2016-05-06|Control system for electrically controlled systems|ATA50420/2016A| AT518665B1|2016-05-06|2016-05-06|Control system for electrically controlled systems|
    US16/098,917| US10579034B2|2016-05-06|2017-05-05|Control system for electrically controlled systems|
    KR1020187034563A| KR102311709B1|2016-05-06|2017-05-05|Control systems for electrically controlled installations|
    JP2018558302A| JP6829270B2|2016-05-06|2017-05-05|Control system for electrically controlled equipment|
    EP17730033.2A| EP3452876B1|2016-05-06|2017-05-05|Control system for electrically controlled systems|
    PCT/AT2017/060118| WO2017190171A1|2016-05-06|2017-05-05|Control system for electrically controlled systems|
    CN201780028116.8A| CN109074032B|2016-05-06|2017-05-05|Control system for an electrically controlled device|
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