B&r Industrial Automation Gmbh

Stefan Huber

Dominic Walter

Benjamin Reichenwallner

Christoph Obermair

Helmut Herzog

Stefan Flixeder

Michael Brucker

Alexander Almeder

Alexander Radak

Thomas Zehnder

In order to specify a method for controlling a transport unit (TE) of a transport device () in the form of a long-stator linear motor, said method allowing safe transport of an object (O) without exposing the object (O) to critical movement limit values, the invention provides that a movement profile of the transport unit (TE) is established at least in sections along the transport path () depending on a relative movement profile of a relative point (P) connected to the transport unit (TE) and spaced at a distance from a reference point (P) of the transport unit (TE).

Method for controlling a transport unit of a transport device in the form of a long-stator linear motor

In order to improve the planning and implementation of the manufacture of a product in a manufacturing plant, the manufacturing plant is modeled via a machine network plan modeling the manufacturing plant as a network of manufacturing nodes, and the product to be manufactured being modeled via a product synthesis plan modeling the hierarchical structure of the product in the form of a tree of product synthesis nodes. The machine network plan and the product synthesis plan are linked with each other to form a manufacturing sequence, in which a manufacturing node of the machine network plan is selected for each operation node of the product synthesis plan, which selected manufacturing node carries out the manufacturing process to be carried out at the relevant operation node. The manufacturing sequence is carried out in the manufacturing plant via a system controller in order to produce the product.

Method and manufacturing plant for producing a product

In order to improve control of a long-stator linear motor, a first measured value is ascertained in a first measurement section and a second measured value is ascertained in a second measurement section, in each case along a transport path in a movement direction. The first measurement section overlaps, in the movement direction, the second measurement section in an overlap region, and the first measured value and the second measured value represent the same actual value of a physical quantity. An operating parameter of the long-stator linear motor determined based on a deviation occurring between the first measured value and the second measured value.

Method for controlling a long-stator linear motor

In order to easily prevent a collision of transport units, which are moved along a conveyor line of a long stator linear motor, it is provided that a minimum distance to be maintained between the two transport units is changed as a function of the position of the two transport units along the conveyor line.

Method for operating a long stator linear motor with transport units and collision monitoring

To safely avoid a collision of two transport units in the switch area during operation of a conveyor in the form of a long stator linear motor with a switch, a collision zone is provided in the switch area, wherein the collision zone extends from the beginning of the switch in each case a length on the respective conveyor section, and to define the collision zone, the transport units are considered as two-dimensional objects and a position of the first transport unit on the first conveyor section is determined, which the first transport unit is allowed to occupy, so that the second transport unit can be moved as a two-dimensional object along the second conveyor section without collision through the switch and a distance between this first position and the beginning of the switch is determined and at least this distance is used as the first length.

Method for operating a long stator linear motor with switch

Transport device having a transport route, with a turnaround portion to change orientation of a transport unit by 180&#xb0; in the longitudinal direction along the transport route, including a turnaround portion with an entrance connected to a first transport route portion by a first entrance end and a second, open entrance end, and an exit connected to a second transport route portion by a first exit end and a second, open exit end. A common movement path is formed at least in some portions in a region of a first transfer position, and the transport unit is movable along the path. To be turned around, the transport unit is moved to the entrance of the turnaround portion, transferred from the entrance to the exit of the turnaround portion, and moved from the exit of the turnaround portion.

Transport device in the form of a long-stator linear motor having a turnaround portion

For a flexibly configurable and easily expandable transport route of a long stator linear motor with transport route modules, it is provided that, in a two-sided route section with a transport route module on both sides, an intermediate space is provided between two transport route modules in transverse direction, and the transport unit is arranged at least partially in this intermediate space. In this way, a movement path is formed midway of this intermediate space in transverse direction that the transport unit follows during movement in longitudinal direction by the guidance on the transport route modules, and the movement path is arranged by the arrangement of the transport route module in transverse direction at a distance of (r&#xb7;a) from the starting point and ending point, where r is an odd, whole number.

Transport route of a long stator linear motor

To make it possible to operate a conveyor installation () in the form of a long stator linear motor in a simple manner, a first trigger point (Tx) is defined in at least one first position (Px) on the conveying track () and a first program code (Fx) which can be executed in the system controller () and with which a transport unit (TEn) is moved along a track section of the conveying track () in accordance with a defined movement profile is assigned to the first trigger point (Tx), and this program code (Fx) is executed for each transport unit (TEn) that reaches the first trigger point (Tx).

Method for operating a long stator linear motor

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

Method for operating a transport assembly in the form of a linear stator linear motor

Modular transport line system for configuring a transport line of a long stator linear motor. The system includes plural modular transport line components, each having a starting point (An) and an end point (En), wherein the starting point (An) and the end point (En) of each modular transport line component lie on a raster corner point (p&#xb7;a)&#xd7;(q&#xb7;a) of an (a&#xd7;a) raster with a prespecified raster length a, wherein p, q are whole numbers. At least one of the plural modular transport line components is a curved transport line component formed by at least three modules.

Modular system of a plurality of transport line components of a long stator linear motor

In order to be able to plan and control the movement of a transportation unit of a conveying device along a conveying line more easily and more quickly, provision is made so that at least part of the conveying line () is assigned at least one logical sector (LSi), wherein the at least one logical sector (LSi) is allocated to one or more conveying segments (FSi) or parts thereof, a movement profile for the transportation unit (TEi) is allocated to the at least one logical sector (LSi), the transportation unit (TEi) is moved in accordance with the specified movement profiles along the at least one logical sector (LSi) and in doing so a new setpoint (S) of the movement is ascertained in each cycle step of the setpoint selection, and the setpoint (S) is transferred via the allocation to one or more conveying segments (FSi), or parts thereof, to the allocated conveying segment(s) (FSi) for adjustment.

Method for controlling the movement of a transportation unit

To be able to activate a smoothing filter for a setpoint, with which the movement of a drive axis (A, Ai) of a drive unit (AE) can also be controlled during the movement without a negative effect on the movement, it is provided that the smoothing filter () is initialized with a setpoint profile (S) so that a current movement phase ((S, {dot over (S)}, . . . , S)) is continued continuously and the repeated time derivative (S) of the highest time derivative (S) of the setpoint (S(t), S(k)) is limited.

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Salzburg, Austria

Stefan Huber