WO2019134806A1 - Commande de sécurité ayant au moins un contact de commutation semi-conducteur - Google Patents

Commande de sécurité ayant au moins un contact de commutation semi-conducteur Download PDF

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Publication number
WO2019134806A1
WO2019134806A1 PCT/EP2018/085003 EP2018085003W WO2019134806A1 WO 2019134806 A1 WO2019134806 A1 WO 2019134806A1 EP 2018085003 W EP2018085003 W EP 2018085003W WO 2019134806 A1 WO2019134806 A1 WO 2019134806A1
Authority
WO
WIPO (PCT)
Prior art keywords
output channel
line
control unit
safety control
output
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/085003
Other languages
German (de)
English (en)
Inventor
Dennis NÖRMANN
Thomas PAULA
Thomas Pfister
Philipp SETZMÜLLER
Gerhard Werner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Priority to EP18829279.1A priority Critical patent/EP3735619A1/fr
Publication of WO2019134806A1 publication Critical patent/WO2019134806A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G05B19/0425—Safety, monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24054—Self diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24184—Redundant I-O, software comparison of both channels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24187—Redundant processors run identical programs

Definitions

  • the invention relates to a safety control unit which is designed to check the state of at least one component of the safety control unit on its functionality and to produce a functional safety signal indicative of this, comprising an output interface having at least one digital output channel, wherein the at least one output channel to two Turning one of the safety control unit external electrical device formed electrical connections has, and wherein the at least one output channel in depen dence of the safety signal has either a floating closed switching state or a potential free offe switching state.
  • a Servomotor tonguevor- device which has an inverter for driving a ser derotors by converting a direct current into an alternating current and feeding the converted alternating current into the servo motor, a Stromlichnabschalt Vietnamese to Un tercios the supply of direct current in the inverter, a servomotor control circuit for controlling the In verters such that the alternating current is fed to the servo motor when a safety signal is received, and for controlling the inverter so that the alternating current is not fed into the servo motor, if noradassig signal Received, and a Servomotorüberwachungs circuit has to stop the servomotor by interrupting the transmission of the safety signal to Servomo gate control circuit when it is determined to stop the servo motor, and stopping the servo motor by interrupting the supply of DC in the Inverter by means of Stromierennabschalt Vietnamesees and stopping the transmission of A safety signal to the servomotor control circuit when it
  • the object of the invention is to provide a safety control unit, in particular to provide a safety control unit as part of a robot control, i.
  • a robot safety control unit in which the switching state of at least one semiconductor switching contact of the safety control unit can be monitored in its function.
  • a safety control unit which is designed to check the condition of at least one component of the safety control unit for its functionality and to generate a functional signal indicative of this safety feature, pointing to an output interface which has at least one digital output channel.
  • the at least one output channel has two for switching a control unit of the external electrical safety device formed electrical connections, and wherein the at least ei ne output channel depending on the safety signal ent neither a floating closed switching state or a floating open switching state, wherein the output interface
  • the semiconductor switching contact having a coupler connected to the second line of the at least one output channel and which forms out, the voltage applied to the first line of the at least one output channel by the voltage source from the second line of the at least one output channel, if the Semiconductor switching contact in its closed state and is formed, depending on the voltage on the second line of the at least one output channel grabbed voltage to produce a switching state of the semiconductor switching contact characterizing diagnostic signal.
  • a robot controller may be characterized in particular in that it is designed to automatically adjust the motors which automatically adjust the joints of a robot arm according to a robot program or in a hand-held mode by manual inputs or by manual operation.
  • a robot controller may have redundant safety components.
  • the safety components can also be diversified, ie the redundant safety components can have at least double components or assemblies which are designed in different designs and / or are programmed in different ways.
  • a robot controller may typically have at least two separate control channels.
  • a robot controller may have, for example, a monitoring device for the electrical power supply of the robot controller.
  • the inputs and / or the outputs can also be designed with at least two channels and they can be monitored for their function.
  • a robot controller also includes means for initiating a safe state of the robot.
  • a secure state can be Stopping a movement of the robot arm.
  • Such an on hold can be done by the motors are stopped by the ro boter control, the motors and / or the Ge the steering of the robot arm associated brakes closed who the and / or an emergency stop is performed.
  • the initiation of a safe state of the robot can be triggered by one or more re safety signals that are generated by the robot controller, in particular by the safety control unit.
  • the safety control unit may be a control component of the robot safety controller, which monitors the operability of one or more control components of the robot controller and, in the event of a fault, generates a signal indicating the no longer safe state of the robot controller.
  • the safety control unit can therefore be part of the robot control or a separate control unit for the robot control.
  • the at least two outputs may be part of an output interface.
  • the least two outputs can each form a switch designed in a secure technology. With such a switch, external devices, which have, for example, the Ro boter control additional functionalities are to be controlled.
  • a device controlled via the output interface of the robot safety controller in particular via the at least two outputs of the output interface of the robot safety controller, can be, for example, another safety controller or at least one safety actuator and / or sensor
  • the robot arm tool such as a welding gun, a laser tool, a glue gun or the like.
  • the at least two outputs can form a redundant, secure switch which an electrical function of each connected to the output interface of the robot controller device can optionally turn on and / or off. Since we least two outputs only form a switch sol len, the outputs should in particular be floating or potential-free switch to the electrical radio tion of the external, not connected to the output interface NEN device to disturb.
  • the external electrical device is thus a device that operates separately from the robot controller and that is actuated switchingly only by the outputs of the robot controller, but that carries out its respective main function independently.
  • An output of the output interface can accordingly have two electrically conductive paths which are separate from one another and can thus be referred to as output channels or which form two separate output channels.
  • Each individual output channel can form one of two switches of the output.
  • Each output channel may have to fulfill a switch in safe technology, at least two electrical or elec tronic switching contacts, which are connected in series. By a series connection is ensured in the case of functional efficient electrical or electronic switch contacts that a closed switching state of the respective output channel is only shown when all connected in series electrical or electronic
  • Switching contacts in particular both of two electrical or electronic switch contacts are closed.
  • the switching state of each output channel is co-determined by each of the individual electrical or electronic switching contact.
  • each individual electrical or electronic switch contact is predetermined by a respective safety signal of the safety control unit.
  • a respective safety signal of the safety control unit JE the individual electrical or electronic switching contact can be controlled by its own safety signal, in particular a safety signal independent of the respective other safety signals. Every switching contact
  • each at least one semiconductor switching contact may also be referred to as a switch or semiconductor switch.
  • At least one of at least two switching contacts of the output interface is formed as an electronic switching contact in the design of a semiconductor switching contact.
  • This at least one semiconductor switching contact is monitored in its operatability by a voltage source connected to a first line of the first output channel and a coupler connected to a second line of the first output channel and which is formed by the voltage source applied to the first line of the first output channel voltage from the second line of the first output channel when the semiconductor switch contact is in its closed state and is formed, depending on the tapped at the second Lei device of the first output channel voltage, a switching state of Semiconductor switching contact identify the first diagnostic signal to produce.
  • the diagnostic signal indicates the actual instantaneous switching state of the semiconductor switching contact regardless of the state of its on control, which predetermines the switching state in a functional state of the semiconductor switching contact. About averages the diagnostic signal a different switching state for the semiconductor switching contact, as it provides the controlled to stand for the semiconductor switching contact, it is concluded that an error in the semiconductor switching contact.
  • the output interface may have a first semiconductor switching contact co-determining the switching state of the at least one output channel. is connected to the first line of the at least one output channel, which leads to the first terminal of the at least one output channel, and on the other hand to the second line of the at least one output channel is closed to the second terminal of the leads at least one exit channel,
  • a first coupler connected to the second line of the at least one output channel and configured to pick up the voltage applied by the voltage source to the first line of the at least one output channel from the second line of the at least one output channel the first semiconductor switch contact is in its closed state and is formed in depen dence on the second line of the at least one output voltage tapped off voltage to generate a switching state of the first semiconductor switching contact characterizing first Diag nosesignal, wherein the output interface au ßerdem a the switching state of at least a Popeka nals mitbepeddes, connected to the first semiconductor switch contact in series mechanical relay, which is angesteu ert by the safety signal of the safety control unit and the one hand to the first line of mindes least one output channel angesc is connected to the two th connection of the at least one output channel, and on the other hand to a third line of the at least one output channel is connected, which leads to the first terminal of the at least one output channel, and
  • a second coupler connected to the third line of the at least one output channel and configured to apply the voltage applied by the voltage source to the first line of the at least one output channel from the third line of the at least one output line; nals if the mechanical relay in his
  • Closed state is and is formed, depending on the voltage tapped at the third line of the at least one réellesska nals, a switching state of the mechanical relay African characterizing second diagnostic signal to testify he.
  • the first output channel may have a mechanical relay connected in series with the semiconductor switch contact, where a load switch of the relay has a first load switch contact which is connected to the first line of the first output channel leading to the semiconductor switch contact of the first output channel. a second Lastschaltkon contact, which is connected to a third line of the first output channel, which leads to the first terminal of the first output channel and wherein a monitoring switch of the relay is connected to the safety unit, for transmitting a switching state of the relay characterizing second Diagnostic signal to thebutein unit.
  • the first output channel has a mechanical relay connected in series with the semiconductor switch contact
  • a redundant as well as diverse structure of the first output channel formed in a secure technique is created.
  • the voltage source and the coupler is used exclusively for the semiconductor switching contact and on the mechanical relay's a contact of a monitoring circuit to Be provision of an associated diagnostic signal is used.
  • the clamping voltage source and a first coupler is used and for providing a diagnostic signal of the mechanical relay and this voltage source and a second coupler, ie a is used by the first coupler different coupler.
  • the mechanical relay can therefore be monitored electronically, without having to use for example a mechanically forcibly guided contact of a monitoring circuit of the relay.
  • the contact of the relay may also be used to provide redundant and diverse monitoring in addition to electronic monitoring by means of voltage source and second coupler as a supplementary monitoring means.
  • the output interface As an alternative to a relay in the same output channel or in another, in particular second output channel, the output interface
  • a first coupler connected to the second line of the at least one output channel and configured to pick up the voltage applied by the voltage source to the first line of the at least one output channel from the second line of the at least one output channel the first semiconductor switching contact is in its closed state and which is designed, depending on the voltage tapped on the second line of the at least one output channel, to generate a first diagnostic signal indicative of the switching state of the first semiconductor switching contact, the output interface being
  • a switching state of the at least one output channel co-determining second semiconductor switch contact has, which is connected to the first semiconductor switching contact in series and which is driven by a second safety signal of the safety unit and on the one hand to the first line of the at least one output channel is closed, the leads to the first semiconductor switching contact, and on the other hand connected to a third line of the at least one output channel, which leads to the first connection of the at least one output channel, and
  • a second coupler connected to the third line of the at least one output channel and adapted to pick up the voltage applied to the first line of the at least one output channel by the voltage source from the third line of the at least one output channel second semiconductor switch contact is in its closed state and is formed in depen dence of the third line of the at least one output channel tapped off voltage to generate a switching state of the second semiconductor switching contact characterizing second Di agnosesignal.
  • the output interface may accordingly have a the Heidelberg state of the first output channel co-determining second semiconductor switch contact, which is connected in series with the first semiconductor switch and is angesteu ert by a two tes safety signal of the safety control unit and connected on the one hand to the first line of the first output channel is that leads to a first semiconductor switching contact, and on the other hand connected to a third line of the first output channel leading to the first terminal of the first output channel, the output interface having a second coupler connected to the third line of the first output channel and which is formed by the voltage source the voltage applied to the first line of the first output channel voltage from the third line of the first output channel, when the second semiconductor switch contact is in its closed state and which is formed, depending on the voltage on the third line of the first output channel, a the switching state of second half conductor switching contact characterizing to generate second diagnostic signal.
  • the first voltage source and a first coupler is used exclusively for the first semiconductor switch contact, and the first voltage source and a second coupler are used exclusively for the second semiconductor switch contact.
  • the output interface may alternatively or additionally
  • the second output channel may be analogous to the first output channel.
  • Various of the described variants of the first output channel can optionally be varied with different variants for the second output channel and combined accordingly.
  • Corresponding variants emerge from the patent claims, which are hereby incorporated by reference for the purpose of disclosure in the present specification.
  • the second output channel may accordingly comprise, for example, a mechanical relay connected in series with the third semiconductor switch contact, a load switch of the relay having a first load switching contact connected to the first line of the second output channel leading to the third semiconductor switch contact of the second output channel , a second load switching contact, which is connected to a third line of the second output channel, leading to the first terminal of the second output channel and wherein a monitoring switch of the relay is connected, for generating a switching state of the Re lais characterizing fourth diagnostic signal.
  • the second channel having a mechanical relay connected in series with the third semiconductor switch contact, a redundant as well as diverse design of the second output channel formed in a secure technique will be provided.
  • the second voltage source and the third coupler is used exclusively for the third semiconductor switching contact ge and on the mechanical relay contact of a monitoring circuit over to provide an associated diagnostic sesignals is used.
  • the second voltage source and a third coupler is used and for providing a diagnostic signal of the mechanical relay also this second voltage source and a fourth coupler, ie a different coupler from the third coupler is used.
  • the mechanical relay can be electronically monitored according to, for example, without having to use ei NEN mechanically forcibly guided contact of a monitoring circuit of the relay.
  • the contact of the relay may also be used to provide redundant and diverse monitoring in addition to electronic monitoring by means of the second voltage source and fourth coupler as a supplementary monitoring means.
  • the output interface may accordingly have a Wegfest the state of the second channel co-determining fourth semiconductor switch contact, the switch contact with the third semiconductor is connected in series and is angesteu ert by a four-tes safety signal of the safety control unit and connected on the one hand to the first line of the second output channel is that leads to the third semiconductor switch contact, and on the other hand connected to a third line of the second output channel, which leads to the first terminal of the second output channel, wherein the output interface
  • the safety control unit can be embodied in all variants of execution, to evaluate the diagnostic signal, in particular the first diagnostic signal, the second diagnostic signal, the third diagnostic signal and / or the fourth diagnostic signal within the safety control unit and, depending on an evaluation result, the operability of the respective semiconductor switch contact and / or To generate respective relay characteristic safety signal.
  • the safety control unit may be configured to derive the diagnostic signal, in particular the first diagnostic signal, the second diagnostic signal, the third diagnostic signal and / or the fourth diagnostic signal for further processing from the safety control unit and to supply an external evaluation separated from the safety control unit.
  • At least one of the first coupler, second coupler, third coupler, and fourth coupler couplers may be configured as an opto-coupler.
  • the respective opto-coupler is adapted to transmit a signal between tween two galvanically isolated circuits, wherein the opto-coupler may comprise at least one light emitter, such as a light emitting diode or a laser diode, and we least a light receiver, such as a photo diode or may have a phototransistor.
  • At least one of the first coupler, second coupler, third coupler, and fourth coupler couplers may be formed as an inductive coupler.
  • the jewei time inductive coupler may be, for example, a transformer.
  • At least one of the first coupler, second coupler, third coupler, and fourth coupler couplers may be formed as a magnetic coupler.
  • the respective magnetic coupler may have, for example, a coil and a reed switch.
  • At least one of the first coupler, second coupler, third coupler, and fourth coupler couplers may be configured as a capacitive coupler.
  • the voltage source in particular the first voltage source and / or the second voltage source, may be a voltage source which is galvanically isolated from a high-voltage circuit of converters of the drives of the rooter.
  • the voltage source in particular the first voltage source and / or the second voltage source, can be designed as a voltage supply isolated from the first channel of the output interface and from the second channel of the output interface, in particular as a DC / DC converter.
  • the voltage source in particular the first voltage source and / or the second voltage source, may each be an iso lated DC / DC converter, which is available, for example, integrated by different manufacturers.
  • the voltage source in particular the first voltage source and / or the second voltage source, may also be constructed discretely. Thus, one of all other voltages indei ge (potential-free) voltage can be generated between the two semiconductor switch contacts or between a semiconductor switch contact and a mechanical relay is fed.
  • At least one of the semiconductor switch contacts from the group of first semiconductor switch contact, second semiconductor switch contact, third semiconductor switch contact and fourth semiconductor switch contact can be configured as at least one field effect transistor (FET) or bipolar transistor (BJT).
  • FET field effect transistor
  • BJT bipolar transistor
  • semiconductor switch contacts with anti-riell switched FETs can be used as a load contact.
  • the semiconductor switch contacts can be controlled directly via a series resistor, for example, by a microcontroller pin of a safety unit designed as a microcontroller.
  • the switching structure can accordingly be controlled by a safety-oriented microcontroller structure.
  • About read-back pins (15.1 and 15.2 in Fig. 2) the switching state of the semiconductor switching contacts can be determined.
  • the semiconductor switching contacts should be cyclically switched off briefly and the state change at the read-back pins checked. As soon as it has been checked on the read back pins whether the off state has been reached, the semiconductor switch contacts can be switched on again. This produces test pulses that should be repeated at regular intervals.
  • a useful path is understood in particular to be an output channel of the control device or of the control unit, which is designed for electrically and / or electronically switching and / or controlling a device that is external to the control device or the control unit, in particular in a secure technique.
  • a second payload path to the first payload path can accordingly be connected in parallel in both channels. If the semi-conductor relay tested in the first payload, only these are opened, whereby the useful signal is passed through the second payload. So arise with no test pulses on the connection side, wes half connected actuators or sensors are not disturbed who the.
  • the individual digital feedback signals from the first payload path can be combined with the associated feedback signals of the second payload. Another way to reduce the number of signal lines is to run tests in parallel. Thus, the first payload path can be completely independent of the second one Usable path to be tested. This allows a reduction of the drive lines.
  • the at least one output channel is executed in duplicate within the safety control unit and thereby two payloads are formed for densel ben output channel, such that a first line together with a second line and a third line a first payload is parallel to a first Lei device, a second line and a third line of a second Nutzpfades connected, and the safety control unit is set to provide a Nutzpfad the potenti alelle closed or open switching state for the external electrical device to be switched and on the other useful path to check the state of at least one compo nent this Nutzpfades on its operability over and to produce a functional characterizing this Si security signal.
  • the safety control unit can be formed in a first Vari ante to switch the potential-free closed or open switching state for switching to external electrical cal device on the other payload path and then on the respective vacant payload the state of at least one component this freed Nutz path to check its operability and to generate a functionality that characterizes this safety signal.
  • the safety control unit may be formed in a second variant, such that the output interface has a first output channel and a second output channel, wherein in the first output channel a first Line together with a second line and a third line forms a first payload, in the second output channel from a first line together with a second Lei device and a third line of a second payload forms, and the output interface has a third payload, which optionally in Change for either the first output channel or the second output channel is connected in parallel to this, to check the state of the at least one compo te of the selected first or second Nutzpfades the first output channel or the second output channel to its operability and aforensicsfä this ability characterizing security signal to create.
  • the safety control unit may be configured such that a plurality of safety signals of a plurality of output channels are connected to a common signal line and led out of the safety control unit via a common connection.
  • Fig. 1 is a schematic representation of an exemplary
  • Robot safety controller with a erfindungsge MAESSEN output interface 2 shows a circuit of an exemplary output interface with four semiconductor switch contacts
  • FIG. 4 shows a reduced circuit of an exemplary output interface with only one channel, which may optionally have semiconductor switch contacts and / or relays, and
  • Fig. 5 is a schematic representation of a two-channel
  • a robot controller 1 is shown schematically Darge.
  • the robot controller 1 has at least two independent control units 2.1, 2.2. which are designed to execute a common robot program 3 in parallel.
  • the robot controller 1 also has a safety control unit 4 which is designed to check the status of at least one component of the robot controller 2 and / or at least one component of the robot 5 for its functionality and to generate a safety signal characterizing this functionality ,
  • the safety control unit 4 has an output interface 6, which has an at least two-channel digital output 7.1, 7.2.
  • FIG. 2 shows an embodiment of an inventive output interface 6 in the form of a circuit Darge presents, which has an at least two-channel digital output 7.1 and 7.2, each output channel A, B two to Switching an external electrical device (not illustrated) formed electrical connections 8.1, 8.2, 9.1,
  • the output interface 6 has a switching state of the first channel A co-determining first Halbleiterschaltkon- contact 11.1, which is controlled by the security signal of the security unit 4 and which is connected on the one hand to a first line 12.1 of the first output channel A, to the first terminal 8.1 the first output channel A leads, and on the other hand connected to a second line 12.2 of the first output channel A, which leads to a second terminal 8.2 of the first output channel.
  • the output interface 6 also has a voltage source 13.1, which is connected to the first line 12.1 of the first output channel A.
  • the output interface 6 has a first coupler 14.1, which is connected to the second line 12.2 of the first output channel A and which is formed, the voltage applied by the voltage source 13.1 to the first line 12.1 of the first output channel A voltage from the two ten line 12.2 of the first output channel A tap when the first semiconductor switching contact 11.1 in his
  • the first coupler 14.1 is also designed, depending on the voltage tapped on the second line 12.2 of the first output channel A, a switching state of the first th semiconductor switching contact 11.1 indicative first Di agnosesignal to produce.
  • the first diagnostic signal can be tapped in the case of the present embodiment via the micro rocontrollerpin 15.1.
  • the output interface 6 also has egg nen second coupler 14.2, which is connected to the third line 12.3 of the first output channel A and forms out, the voltage applied by the voltage source 13.1 to the first line 12.1 of the first output channel A of access the third line 12.3 of the first output channel A from when the second semiconductor switch contact 11.2 is in its closed state.
  • the second coupler 14.2 is also designed in dependence de the tapped on the third line 12.3 of the first output channel A voltage to generate a switching state of the second semiconductor switching contact 11.2 characterizing two tes diagnostic signal.
  • the second diagnostic signal can be tapped via the Mikrocontrollerpin 15.2 in the case of the present embodiment.
  • the second semiconductor switch contact 11.2 is replaced by a mechanical relay 11.2a and the fourth semiconductor switch contact 11.4 by a mechanical relay 11.4a.
  • the second diagnostic signal would be fed back to the safety unit 4 via the microcontroller pin 15.2.
  • the second output channel B with the mechanical Re lais 11.4a is constructed analogously to the first output channel A.
  • the output interface 6 also has a switching state of the second output channel B co-determining third semiconductor switch contact 11.3, which is controlled by a thirdggissig signal of the safety control unit 4 and on the one hand to a first line 16.1 of the second réelleka nals B is connected, which leads to a first terminal 9.1 of the second output channel B, and on the other hand to a second line 16.2 of the second output channel B is ruled out, which leads to a second terminal 9.2 of the second gangskanals B.
  • the output interface 6 also has a second voltage source 13.2, which is connected to the first line 16.1 of the second output channel B.
  • the output interface 6 has a third th coupler 14.3, which is connected to the second line 16.2 of the second output channel B and is thoroughlybil det, the voltage applied by the second voltage source 13.2 on the ers th line 16.1 of the second output channel B voltage from the second line 16.2 of the second output channel B, when the third semiconductor switching contact 11.3 is in its closed state.
  • the third coupler 14.3 is also designed in dependence de the tapped on the second line 16.2 of the second output channel A voltage to produce a switching state of the third semiconductor switching contact 11.3 characterizing third diagnosis signal tes.
  • the third diagnostic signal can be tapped via the Mikrocontrollerpin 15.3 in the case of the present embodiment.
  • the output interface 6 has a four th coupler 14.4, which is connected to the third line 16.3 of the second output channel B and is thoroughlybil det, the voltage applied by the second voltage source 13.2 on the ers th line 16.1 of the second output channel B clamping voltage from the third line 16.3 of the second output channel B, when the fourth semiconductor switch contact 11.4 is in its closed state.
  • the fourth coupler 14.4 is also designed, in depen dence of the third line 16.3 of the second output channel B tapped voltage to generate a switching state of the fourth semiconductor switching contact 11.4 indicative four tes diagnostic signal.
  • the fourth diagnostic signal can be tapped via the Mikrocontrollerpin 15.4 in the case of the present embodiment.
  • the fourth semiconductor switching contact 11.4 replaced by the mechanical cal relay 11.4a.
  • the second output channel B has a to the third semiconductor switch contact 11.3 connected in series mechanical relay 11.4a, wherein a load switch of the relay 11.4a has a first load switching contact, which is connected to the first line 16.1 of the second output channel B. leading to the third semiconductor switch contact 11.3 of the second output channel B, having a second load switching contact connected to the third line 16.3 of the second output channel B leading to the first terminal 9.1 of the second output channel B, a monitor switch of the Re lais is connected to the safety control unit 4, for generating a switching state of the relay indicative fourth diagnostic signal. Also in this case the fourth diagnostic signal will be tapped via the microcontroller pin 15.4.
  • Both the first voltage source 13.1 and the second voltage source 13.2 are each formed as a galvanically separated from egg nem high voltage circuit of converters of the drives of Robo age 5 voltage source.
  • both the first voltage source 13.1 and the second voltage source 13.2 are designed as a voltage supply isolated from the first channel A of the output interface 6 and from the second output channel B of the output interface 6, in particular as a DC / DC converter.
  • the fourth semiconductor switch contact 11.4 each as at least one semiconductor field effect transistor (FET) forms out.
  • FET semiconductor field effect transistor
  • Fig. 4 shows schematically a single-channel variant of the safety control unit 4 with only a single output channel from.
  • the individual output channel according to FIG. 4 has two electrical connections 8.1, 8.2 for switching an electrical device external to the safety control unit 4, the individual, ie sole output channel depending on a safety signal, either a potenti al-free closed switching state or a potential-free open switching state can have.
  • This output interface has a switching state of the sole output channel co-determining individual Halbleiterschaltkon clock 11.1, which by the safety signal of the Si safety control unit 4 is driven and on the one hand to a first line 12.1 of the individual output channel is connected, the (indirectly via the second semiconductor switch contact 11.2 and the third line 12.3) leads to a ers th 8.1 connection of the single output channel, and on the other hand to a second line 12.2 of the individual output channel is connected, which leads (directly) to a second terminal 8.2 of the individual output channel.
  • the output interface also includes a single voltage source 13.1 connected to the first line 12.1 of the single output channel, and a first coupler 14.1 connected to the second line 12.2 of the single output channel and formed by the chip Source 13.1 applied to the first line 12.1 of the single output channel voltage from the second line 12.2 of the single output channel, when the semiconductor switch contact 11.1 is in its closed state and is formed, depending on the second line 12.2 of the individual output channel by means of the remindlesepins
  • each output channel A, B within the safety control unit 4 is executed in duplicate and thereby two payload paths 17.1, 17.2 for the same output channel A, B are formed, such that the respective first Nutzpfades 17.1 is connected in parallel to the second Nutzpfad 17.2, and the safety control unit 4 is rich tet, on the one Nutzpfad 17.1, 17.2 the potential-free closed or open switching state for switching to external electrical Device to provide and on the respective other useful path 17.1, 17.2 the state of we least one component of this Nutzpfades 17.1, 17.2 to check its operability and to generate this operatability capability indicative security signal.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Electronic Switches (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

L'invention concerne une commande de sécurité (4) comprenant une interface de sortie (6) ayant au moins un canal de sortie (A, B), qui comporte : - un contact de commutation semi-conducteur (11.1) déterminant l'état de commutation du canal de sortie (A, B), qui est commandé par le signal de sécurité de la commande de sécurité (4) et qui est connecté, d'une part, à une première ligne (12.1, 16.1) du canal de sortie (A, B), cette ligne menant à une première connexion (8.1, 9.1) du canal de sortie (A, B), et est connecté, d'autre part, à une deuxième ligne (12.2, 16.2) du canal de sortie (A, B), cette ligne menant à une deuxième connexion (8.2, 9.1) du canal de sortie (A, B), - une source de tension (13.1, 13.2) qui est connectée à la première ligne (12.1, 16.1) du canal de sortie (A, B), et - un coupleur (14.1, 14.3) qui est connecté à la deuxième ligne (12.2, 16.2) du canal de sortie (A, B) et qui est conçu pour prélever, sur la deuxième ligne (12.2, 16.2) du canal de sortie (A, B), la tension appliquée par la source de tension (13.1, 13.2) à la première ligne (12.1, 16.1) du canal de sortie (A, B), pour générer un signal de diagnostic indiquant l'état de commutation du contact de commutation semi-conducteur (11.1).
PCT/EP2018/085003 2018-01-05 2018-12-14 Commande de sécurité ayant au moins un contact de commutation semi-conducteur Ceased WO2019134806A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18829279.1A EP3735619A1 (fr) 2018-01-05 2018-12-14 Commande de sécurité ayant au moins un contact de commutation semi-conducteur

Applications Claiming Priority (2)

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DE102018200120.0 2018-01-05
DE102018200120.0A DE102018200120A1 (de) 2018-01-05 2018-01-05 Sicherheitssteuerung mit wenigstens einem Halbleiterschaltkontakt

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WO2019134806A1 true WO2019134806A1 (fr) 2019-07-11

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CN112003479B (zh) * 2020-09-01 2021-07-30 中车青岛四方车辆研究所有限公司 数字量采集电路及采集方法
EP4163739B1 (fr) * 2021-10-05 2024-01-31 B&R Industrial Automation GmbH Procédé de surveillance d'un agencement de commutation électrique

Citations (5)

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Publication number Priority date Publication date Assignee Title
DE1944242A1 (de) * 1969-08-28 1971-03-04 Licentia Gmbh Verfahren zur Funktionspruefung an zweikanaligen elektronischen Schutzsystemen
US6853292B1 (en) * 1997-03-27 2005-02-08 Elan Schaltelemente Gmbh & Co Kg Security control system, method for the operation thereof
DE102004020995A1 (de) * 2004-04-19 2005-11-10 Pilz Gmbh & Co. Kg Meldegerät für eine Sicherheitsschaltung
WO2014003722A1 (fr) * 2012-06-26 2014-01-03 Otis Elevator Company Circuit de chaîne de sécurité
DE102015001094A1 (de) 2014-01-30 2015-09-10 Fanuc Corporation Servomotorsteuerung und Produktionssystem damit

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Publication number Priority date Publication date Assignee Title
DE10127233C1 (de) * 2001-05-22 2002-11-28 Pilz Gmbh & Co Sicherheitsschaltmodul und Verfahren zur Prüfung des Abschaltvermögens eines Schaltelements in einem Sicherheitsschaltmodul
EP3336624B1 (fr) * 2016-12-19 2019-02-06 Siemens Aktiengesellschaft Système comprenant deux modules redondants se surveillant mutuellement

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1944242A1 (de) * 1969-08-28 1971-03-04 Licentia Gmbh Verfahren zur Funktionspruefung an zweikanaligen elektronischen Schutzsystemen
US6853292B1 (en) * 1997-03-27 2005-02-08 Elan Schaltelemente Gmbh & Co Kg Security control system, method for the operation thereof
DE102004020995A1 (de) * 2004-04-19 2005-11-10 Pilz Gmbh & Co. Kg Meldegerät für eine Sicherheitsschaltung
WO2014003722A1 (fr) * 2012-06-26 2014-01-03 Otis Elevator Company Circuit de chaîne de sécurité
DE102015001094A1 (de) 2014-01-30 2015-09-10 Fanuc Corporation Servomotorsteuerung und Produktionssystem damit

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DE102018200120A1 (de) 2019-07-11

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