DE102012103593A1 - Driving apparatus for driving entrance gate used in hospital, has control device provided to stop or adjust drive motor on reverse rotation direction when difference between actual and target phase position exceeds predetermined limit - Google Patents

Abstract

The driving apparatus (1) has a transducer (7) for detecting the motion coordinates of the moving object (2). A drive motor (3) is connected with electric power supply (5) and control device (6). The drive motor is designed for operation in phase control. The motion coordinates of the object is associated with predetermined target phase position. The control device is provided to stop or adjust drive motor on reverse rotation direction when difference between the actual and the target phase position is exceeded predetermined limit. An independent claim is included for method for controlling driving apparatus.

Description

The present invention relates to a drive device for a movable between two end positions along a defined travel object, with a first position transducer for detecting the movement coordinates of the object an electric drive motor and connectable to the drive motor and the object gear, wherein the drive motor with an electrical power supply and connected to a control device which is adapted to set the power supply to the motor in response to the movement coordinates according to a setpoint course, and when exceeding a limit value of the deviation of the actual value of the power supply from the setpoint at least one alarm or stop signal for the engine to produce.

Furthermore, the present invention relates to a method for controlling a drive device for such an object, in particular for a garage or entrance gate, with an electric drive motor, a transmission, a first position transducer and a control device.

The use of drive devices not only serves the convenience of a user, but is a simple necessity in the case of extra large and / or heavy objects. The term "gate" is to be interpreted broadly in this context and includes not only gates but also all other similar sized and heavy objects that are movable between two end positions and whose movement should be stopped automatically in case of disturbances and especially obstacles in the movement path. For the sake of simplicity, the invention will be explained and defined with reference to gates, where "gate" may be any object, as long as specific, described features to set the properties of a gate in the usual sense.

Gates are therefore transferred from such initial driving position to an end position with such drive devices and methods of controlling a drive device. In this case, the travel path along which the door is to be moved is predominantly by suitable guidance means, such as e.g. Guide rails or the like, given. In addition to a repeatability of the movement, the guide also determines the start or end position of the movement. The reaching of the end or initial position is detected by so-called limit switches, which send a corresponding signal to the control device. After the control device has received such a signal, this switches off the drive motor and thus also stops the movement of the gate.

In general, safety devices are also provided which trigger a stop of movement in the event of a malfunction before reaching the final or initial position. However, the known devices, such as those which detect the power of the drive motor, often respond only with a certain delay, so that the drive motor initially still drives the gate, although it has already encountered an obstacle, so that this or even the gate considerably damaged can be.

The electrical energy needed to drive the door is provided by an electrical power supply to which the electric drive motor is connected. The electric drive motor converts the electrical energy provided into a mechanical kinetic energy, which is transmitted in the form of a torque initially to the transmission and ultimately to the gate.

The movement of different weight and / or large gates requires differently dimensioned drive motors. For some applications, it is advantageous if the movement of the gate at a predetermined speed, ie fast or slow, or different speeds. In this case, a movement which is as uniform as possible is preferred, since it protects the components used, in particular the transmission and the drive motor, and moreover is particularly energy-saving. In addition, it is known that the force to be applied for the movement of the door can vary greatly along the respective travel path. To compensate for these disadvantages, but also to produce the drive motors cost-effectively in mass production, oversized drive motors are used in some drive devices. In addition, the force required for a desired movement will generally vary depending on the particular position. As a result, the drive motors develop considerably more force along at least part of the travel path than is necessary for the actual movement of the door. If there is a collision with an obstacle in the path of travel, the excessive force development can therefore lead to a considerable damage to property or even personal injury.

In order to minimize any damage in the event of a collision with an obstacle located in the travel path, conventional drive devices have, for example, a current sensor which detects the current drawn by the drive motor and forwards it to the control device. The control device compares the detected force of the drive motor with a predetermined limit value and switches off the drive motor when the limit value is exceeded. In conventional drive devices, the varying power requirement is provided by the provision of limit value tables whose limits are adapted to the varying power requirements along the travel path.

The response of the known sensors is not fast enough to safely avoid damage due to collisions with obstacles even under unfavorable conditions.

Against this background, it is an object of the present invention to provide a drive device and a method for controlling a drive device with the aforementioned features that cause a collision of the moving of the drive motor object with an obstacle in the pathway faster response and thus the risk from further damage.

According to the invention, this object is achieved with regard to the drive device in that a phase control is provided for the drive motor and the drive motor is designed accordingly, wherein the movement coordinates of the gate is assigned a predetermined desired phase position of the phase control, and wherein the control device is designed for exceeding a predetermined Difference between the actual and desired phase position stop the drive motor or set to a reverse direction of rotation.

For better readability, the drive device according to the invention is described below in connection with a gate, wherein the door can be replaced by any object movable with a drive device.

For the underlying idea of the invention it is irrelevant whether the movement of the door is a rotation or translation movement. Also combined rotational and translational movements are included.

One advantage of the invention is that the movement of whatever kind along a defined travel path of an object driven by the drive device can be prevented very quickly in the event of a collision with an obstacle located in the travel path. It is understood that instead of a collision, other disturbances may occur which may affect the safe operation of the drive device or damage the drive device itself. Such disturbances, such as tilting of the door or jamming of guide elements can also be detected by the drive device and / or the method for controlling the drive device, provided that the disturbances affect at least the phase angle of the phase control.

If the gearbox is connected free of play both with the drive motor and with the gate, the movement coordinates of the gate are uniquely related to the motion coordinates of the drive motor or the gearbox. Consequently, the first displacement transducer can be mounted in a compact design on the drive motor, the transmission, the gate or on a guide for a guide element of the door, such as on a guide rail in which a guide pin or a guide roller of the door runs.

For the purposes of the present invention, the term "motion coordinates" includes information about the position of the respectively monitored component or individual components thereof and variables derived therefrom, e.g. Way, speed and acceleration, understood. The motion coordinates may be scalar or vectorial quantities and thus also include directional information about the aforementioned quantities.

Particularly quickly and reliably, a collision with an obstacle located in the travel path of the door can be detected by monitoring the phase position of a phase control. During operation with a phase control, the drive motor is supplied with energy as a function of the set phase angle. The phase angle or the phase angle denote a phase angle between a zero crossing of the AC voltage supplying the drive motor with energy and a point at which the voltage is supplied to the motor winding. Accordingly, by shifting the phase position, the energy supplied to the drive motor can be increased or decreased.

In this case, the set to a certain speed drive motor automatically changes the phase position when more or less energy is required to obtain the speed, which is particularly the case when the moving object or gate encounters an obstacle. It has been found that in such a case, a change in the phase angle with less effort or much faster and safer can be detected as a change in the motor current, although the latter is also indirectly linked to the phase.

Even if the speed of the drive motor and the force required for the drive of the peat vary along the travel, which of course also changes the phase position, nevertheless, a deviation of the phase angle of the detected in the trouble-free operation of the Phase position can be determined. For this purpose, only the recorded in trouble-free operation history of the phase position must be stored as a setpoint and compared in the controller with the actual course.

Since smaller deviations between the desired phase position and the actual phase position due to structural manufacturing tolerances are unavoidable, it is provided that the control device stops the drive motor when the deviation between the desired and actual phase position exceeds a predetermined limit.

The same applies to the reversal of the direction of rotation of the drive motor, which should only take place if the deviation between the desired and actual phase position exceeds a predetermined limit. By reversing the direction of rotation of the drive motor, the door can be moved away from the obstacle in the event of a collision, so that any pressure exerted on the obstacle can be reduced.

In one embodiment, the drive motor is a DC motor.

To further increase the safety of the drive device, in one embodiment of the invention and between the drive motor and the gate, a slip clutch and before the slip clutch, a second displacement sensor and for detecting the movement coordinates of the drive motor is provided, wherein the first displacement sensor is located behind the slip clutch and the first and second displacement sensors can be connected to the control device for evaluating the motion coordinates.

The indications "before" and "behind" refer to the drive train according to which the torque of the drive motor is transmitted to the gate.

If the force applied by the drive motor exceeds a predetermined limit, the slip clutch will interrupt the drive train until the force falls below the limit again. A force exceeding the limit value of the slip clutch can not be transmitted to the gate or an obstacle.

With the first displacement sensor arranged behind the friction clutch, the actual movement of the door can be detected even if the friction clutch has interrupted the drive train and thus the kinetic relationships between the movement of the drive engine, the transmission and the gate has been temporarily resolved. So that nevertheless the movement of the door can be detected at any time and independently of a release of the slip clutch, it is expedient if the first displacement sensor is arranged behind the slip clutch. In order to detect a triggering of the slip clutch, it is expedient if the second displacement sensor is arranged in the drive train in front of the slip clutch.

If the slip clutch breaks the drive train because the force of the drive motor exceeds the limit of the slip clutch, movement of the gate is inhibited while the drive motor continues to run. At the same time, however, the phase angle of the gate control also changes to apply the corresponding force to the slip clutch, so that the control device stops the engine immediately.

The first and / or second displacement sensor for detecting the angle of rotation of a shaft of the drive motor may, as provided in a further embodiment, an incremental, rotary pulse generator, preferably an encoder or a Hall element, be. Incremental, rotary pulse generators are light and largely insensitive to vibrations. In particular, optical encoders or Hall elements are suitable for non-contact detection of the angle of rotation of a shaft of the drive motor. Both the direction of rotation and the speed of the drive motor can be detected with the first and / or second displacement sensor, so that from the speed or angular velocity on the rotational speed and thus the expected speed of movement of the door or its position can be closed.

In principle, the first and second transducers can operate according to a resistive, capacitive, inductive, opto-electronic or magnetic operating principle.

The first and / or second displacement sensor for detecting the motion coordinates of the drive motor may also be an angle transmitter. Such an angle transmitter assigns a clear signal to each rotation angle of the drive motor within a predetermined resolution limit.

In a further embodiment, it is provided that the first position transducer for detecting the movement coordinates of the door is an absolute value encoder, preferably an analog absolute value encoder and particularly preferably a potentiometer. If the first displacement transducer detects the absolute movement coordinates of the door, then the control device has information about the absolute position of the door at all times. The controller may thus at any time adjust the absolute position of the gate with predetermined positions and / or desired phase angles to determine if the goal is within an expected range Position is or is controlled with a corresponding actual phase position. Furthermore, the predetermined positions can be assigned special holding functions or behavior patterns which simplify the driving of the door and make the drive device versatile. For example, the door can only be partially opened to let people or smaller vehicles pass.

To detect the absolute movement coordinates of the gate, a potentiometer, preferably a multi-turn helical potentiometer and more preferably a ten-speed Wedelpotentiometer, provided as these relatively easy and on the other hand also record a relatively large travel of drive elements or parts of the door itself can. The motion coordinates can thus be resolved very finely into correspondingly well distinguishable voltage values.

In addition, with the absolute encoder and the start and end positions of the travel can be detected, so that can be dispensed with in one embodiment to separate limit switch for the initial or final positions.

In order for the drive device to be used permanently and to be able to react quickly to external control commands without the energy requirement being unnecessarily high for this purpose, it is provided in one embodiment that the control device is electrically connected to a standby power supply. If the drive device is temporarily not operated, so the power consumption of the drive device can be reduced. On the other hand, as soon as the control device receives a control signal, for example from a remote condition, the control device can change from the standby mode to the normal mode and execute the control command accordingly. It is understood that for this purpose the control device has a receiver designed to receive the control signal or is connected thereto.

In a further embodiment of the drive device, two TRIACs are provided for phase-angle control of the drive motor. The short form TRIAC stands for "triode for alternating current". This is a so-called two-direction thyristor triode with which the energy supplied to the drive motor can be set particularly easily and precisely for both half-waves of an alternating voltage by selecting the corresponding phase positions. The phase angle corresponds to the respective ignition point of the TRIACs. By appropriate choice of the ignition points of the TRIACs, moreover, the direction of rotation of the drive motor can be changed.

If the drive motor, as in a further embodiment, can be connected to a power supply via a relay, wherein the relay can be switched via the control device, the drive motor can be disconnected from the energy supply quickly and reliably when a fault occurs.

In a further embodiment it is provided that the drive device has a receiver for receiving electromagnetic control signals, which is electrically connected to the control device. Also, in yet another embodiment, the drive device comprises an automatic proximity and / or a light barrier, which are connected to the control device such that an approach of an obstacle is detected, thus preventing a collision by stopping the drive motor or an evasive movement of the gate is triggered. For example, it is provided in a further developed embodiment that the door opens automatically as soon as a person or vehicle approaches the gate and is detected accordingly by the proximity sensor.

The subject of the invention is also a driven gate, in particular a garage door or entrance gate, which has a drive device according to one of claims 1 to 11.

Moreover, the above object is achieved by a method for controlling a drive device for a gate, in particular for a garage or entrance gate, with an electric drive motor, a transmission, a first position transducer and a control device, which has the features of claim 13.

The drive motor is operated in phase control, wherein the energy supplied to the drive motor is adjustable by the choice of the actual phase position. If a location-dependent desired phase position of the door along the travel path is known, this can be compared with the actual phase position. It has been shown that deviations in the actual phase position of previously determined in a trouble-free operation of the drive device, location-dependent desired phase angles indicate disturbances in the movement.

If the difference between the actual and desired phase position exceeds a predetermined limit value, the drive motor can be stopped or the direction of rotation of the drive motor can be reversed.

In one embodiment, the method of control further comprises the step of switching the drive motor by switching one between the drive motor and its power supply arranged relay is disconnected from the power supply when the deviation between the actual and desired phase position exceeds a predetermined limit.

If the drive device for controlling the rotational speed and direction of rotation of the drive motor has two TRIACs, the speed of the drive motor can be reduced by varying the ignition points of the TRIACs and the movement of the drive motor can be completely stopped.

Similarly, the direction of rotation of the drive motor can also be changed by a suitable choice of the ignition points.

By adjusting the ignition points of the TRIACs, a particularly uniform movement of the door can be achieved even in normal operation.

In a further embodiment of the method for controlling a drive device, it is provided that in the event that the control device determines a movement by evaluating the movement coordinates detected by the first transducer while the actual phase position is ZERO, the control device controls the drive motor such that the gate moves in the direction of the detected movement. Such a method allows the triggering of a movement by pushing, pushing or pulling the gate. Especially in facilities with special hygiene requirements, such as hospitals, laboratories, etc., or in facilities where the operating personnel usually have no hands to operate the drive device, it is advantageous if the object to be moved, such as a door, by Anschubsen can be moved in the desired direction. It can further be provided that the control device executes the movement of the object until it reaches a predetermined position. Conveniently, the control device adjusts the rotational speed of the drive motor to a predetermined value for this purpose. The achievement of the predetermined position can be displayed with a limit switch, but also with a designed as an absolute encoder first transducer.

In a further embodiment, the method comprises the step that after opening the gate, this is moved back to the starting position after a predetermined period of time has elapsed.

For setting initial, final and / or intermediate positions, the power transmission device can be brought from a starting position into the desired position, wherein the configured as an absolute encoder first position transducer detects the position and the control device stores this setting. For example, such large gates for passing smaller vehicles or people can only partially be opened, saving time and energy compared to a full opening through the partial opening.

Further advantages, features and possible applications of the present invention will become apparent from the following description of preferred embodiments and the associated figures.

Show it:

1 a schematic circuit diagram of a drive device according to the invention according to a first embodiment;

2 FIG. 2: a schematic circuit diagram of a third embodiment of the invention. FIG.

The Indian 1 schematically illustrated circuit diagram of a drive device according to the invention 1 for a goal 2 has an electric drive motor 3 and one with the drive motor 3 and the gate 2 connected gearbox 4 on. The gear 4 do this by the drive motor 3 provided torque in a rotational or translational motion around, with the gate 2 along a predetermined path from an initial position to an end position can be transferred. The electric drive motor 3 is this with an electrical power supply 5 connected.

The speed and direction of rotation of the drive motor 3 is with a control device 6 controlled, the drive motor 3 is operated in phase control. By changing the actual phase position of the phase control, the drive motor 3 supplied energy will be changed, so the gate 2 is movable along the travel by adjusting the actual phase position with a uniform or otherwise controlled movement. The position of the gate 2 is doing along the path with a first transducer 7 detected and with the control device 6 evaluated. In a trouble-free operation of the drive device can so along the travel of the gate 2 a course of the desired phase position can be recorded, the course of the energy requirement for a desired movement of the gate 2 equivalent.

As a result of a fault, for example due to a collision of the gate 2 with an obstacle in the path, requires the drive motor 3 to maintain the predetermined movement a larger driving force. Consequently, the phase control tries by a Variation of the actual phase position of the drive motor 3 to provide more energy so that this the predetermined movement of the gate 2 can cause. This leads to a deviation between the actual and the desired phase position, that of the control device 6 is evaluated. If the deviation exceeds a predetermined limit value, the control device stops 6 the drive motor 3 and thus prevents further movement of the gate 2 ,

The Indian 2 schematically illustrated circuit diagram of another drive device according to the invention 1' for a goal 2 , has an electric drive motor 3 and one with the drive motor 3 and the gate 2 connectable transmission 4 on. With the transmission 4 is both the gate 2 as well as the drive motor 3 connected by the drive motor 3 provided torque through the gearbox 4 in a rotational or translational movement of the gate 2 is implemented. The gear 4 this drive device 1' also includes a slip clutch 12 ,

The slip clutch 12 prevents a force exceeding a predetermined limit from the transmission 4 on the gate 2 or from the gate 2 on the gearbox 4 is transmitted. In addition, the slip clutch allows 12 that the gate 2 manually, ie without actuation of the drive motor 2 , can be moved along the travel path.

For the provision of the torque is the drive motor 3 , which is a DC motor, through a transformer 15 with an electrical power supply 5 , namely an AC voltage source connected here. The direction of rotation and speed of the drive motor 3 is done with the help of two TRIACs 11 set, the ignition points can be adjusted by selecting appropriate phase angles. The drive motor operated in phase control 3 can thus be supplied with the required amount of energy to a predetermined movement of the gate 2 to effect.

So that damage to property and / or personal injury can be reliably avoided or reduced in the event of a fault, there are further two transducers 7 . 8th provided, wherein the first position transducer 7 behind the slip clutch 12 for detecting the movement coordinates of the gate 2 and the second transducer 8th before the slip clutch 12 for detecting the movement coordinates of the drive motor 3 is arranged. At the first transducer 7 it is an absolute encoder, namely a potentiometer, which is the absolute position of the gate 4 as a proportional to a distance running voltage signal describes. Thus, the actual position of the gate 2 at any time with the first transducer 7 detectable. As along the travel a predeterminable desired phase position for reaching the predetermined speed of the drive motor 3 is required, this can be determined and stored in trouble-free operation of the device, wherein the desired phase angle of the position of the gate 2 depends.

The second transducer 8th also describes a position, but the rotation angle of the drive motor 3 However, in normal operation, the position or the movement coordinates of the door clearly reproduces the second transducer 8th sets as incremental, rotary position transducer, the rotational movement of the drive motor 3 into a voltage signal. Changes in the angle of rotation of the drive motor 3 Taking into account the kinematic relationships, should lead to corresponding changes in the movement coordinates recorded by the first displacement transducer. When triggering the slip clutch, the signals of the first and second transducers run 7 . 8th apart, this recognizes the control device 6 as a fault and sets the speed of the drive motor 3 to zero. The movement of the drive motor 3 and with it the movement of the gate 2 is stopped.

Furthermore, the drive device 1' a with the control device 6 connected relay 13 on. With the relay 13 can the controller 6 the drive motor 3 optionally from the power supply 5 disconnect or connect to it. Will the drive device 1' for example, not actuated, the control device 6 the drive motor 3 from the power supply 5 disconnect to save energy. During the power saving mode, the controller becomes 6 with a standby power supply 10 energized, with which the control device 6 is also connected for this purpose. Upon receipt of a control command, the controller may 6 the drive motor 3 by switching the relay 13 again with the power supply 5 connect. In addition, the relay is used 13 as a further safety device with the drive motor 3 permanently from the power supply 5 can be disconnected if the controller 6 detects a persistent failure.

For a convenient and easy operation of the drive device 1' , this further indicates inputs and outputs 16 for control signals, with which the control device 6 can be controlled. Due to the received control signals then the controller 6 the drive motor 3 drive. There is also a receiver 9 provided with the control device 6 is connectable and that of communication with a radio remote control 17 serves.

For purposes of the original disclosure, it is to be understood that all such features as will become apparent to those skilled in the art from the present description, drawings and dependent claims, even though they have been specifically described only in connection with certain further features, both individually and can be combined in any combination with other features or feature groups disclosed herein, unless this has been expressly excluded or technical conditions make such combinations impossible or pointless. Also, the comprehensive, explicit representation of all conceivable combinations of features and the emphasis on the independence of the individual features of each other is omitted here only for the sake of brevity and readability of the description.

LIST OF REFERENCE NUMBERS

1, 1 '

 driving device

2

 gate

3

 Electric drive motor

4

 Power transmission device

5

 electric energy supply

6

 control device

7

 First transducer

8th

 Second transducer

9

 receiver

10

 Standby power supply

11

 TRIAC

12

 slip clutch

13

 relay

14

 Current sense resistor

15

 transformer

16

 Inputs and outputs

17

 radio remote control

Claims (15)

Drive device ( 1 . 1' ) for a movable between two end positions along a defined trajectory object, with a first transducer ( 7 ) for detecting the movement coordinates of the object ( 2 ), an electric drive motor ( 3 ) and one with the drive motor ( 3 ) and the object ( 2 ) connectable gear ( 4 ), wherein the drive motor ( 3 ) with an electrical energy supply ( 5 ) and a control device ( 6 ), which is designed to set the energy supply to the motor in dependence on the movement coordinates according to a desired value course, and at least one alarm or stop signal for the deviation of the actual value of the energy supply from the desired value trigger the engine, characterized in that the drive motor ( 3 ) is designed for operation in phase control, wherein the movement coordinates of the object ( 2 ) is assigned a predetermined desired phase position, and wherein the control device ( 6 ) is designed, when exceeding a predetermined difference between the actual and desired phase position, the drive motor ( 3 ) or to set in reverse direction. Drive device ( 1 . 1' ) according to claim 1, characterized in that the object to be moved is a gate ( 2 ), in particular a garage or entrance gate, Drive device ( 1 . 1' ) according to claim 1 or 2, characterized in that the drive motor ( 3 ) is a DC motor. Drive device ( 1 . 1' ) according to one of claims 1 to 3, characterized in that the rotational speed and direction of rotation of the drive motor ( 3 ) on the basis of the evaluated motion coordinates by the control device ( 6 ) are controllable, Drive device ( 1 . 1' ) according to one of claims 1 to 4, characterized in that for the phase control of the drive motor ( 3 ) two TRIACs ( 11 ) are provided. Drive device ( 1 . 1' ) according to one of claims 1 to 5, characterized in that in front of one between the drive motor ( 3 ) and the gate ( 2 ) slip clutch ( 12 ) a second transducer ( 8th ) for detecting the movement coordinates of the drive motor ( 3 ), wherein the first position transducer ( 7 ) behind the slip clutch ( 12 ) and the first and second transducers ( 7 . 8th ) with the control device ( 6 ) are connectable to evaluate the motion coordinates. Drive device ( 1 . 1' ) according to one of claims 1 to 5, characterized in that the first and / or the second displacement transducer ( 8th ) for detecting the angle of rotation of a shaft of the drive motor ( 3 ) is an incremental, rotary pulse generator, preferably an optical encoder or a Hall element. Drive device ( 1 . 1' ) according to one of claims 1 to 6, characterized in that, characterized in that the first position transducer ( 7 ) for detecting the movement coordinates of the gate ( 2 ) is an absolute value encoder, preferably an analog absolute value encoder and particularly preferably a potentiometer. Drive device ( 1 . 1' ) according to claim 8, characterized in that the absolute value encoder directly to the gate ( 2 ) or a part thereof. Drive device ( 1 . 1' ) according to one of claims 1 to 9, characterized in that the control device ( 6 ) with a standby power supply ( 10 ) is electrically connected. Drive device ( 1 . 1' ) according to one of claims 1 to 10, characterized in that the drive motor ( 3 ) via a relay ( 13 ) with a power supply ( 5 ) is connectable, wherein the relay ( 13 ) via the control device ( 6 ) is switchable. Between two end positions along a defined path movable, driven object ( 2 ), in particular garage or entrance gate, characterized in that the driven object ( 2 ) a drive device ( 1 . 1' ) according to one of claims 1 to 11. Method for controlling a drive device ( 1 . 1' ) for an object movable between two end positions along a defined travel path ( 2 ), in particular for a garage door or entrance gate, with an electric drive motor ( 3 ), a transmission ( 4 ), a first transducer ( 7 ) and a control device ( 6 ), which controls the energy supply to the drive motor ( 3 ) depending on the motion coordinates of the object ( 2 ) controls in accordance with a desired value course and when an upper limit value of the deviation of the actual value from the desired value curve of the energy supply is exceeded an alarm or stop signal for the drive motor ( 3 ), characterized in that the method comprises the steps of: a) detecting the motion coordinates of the object ( 2 ) with the transducer ( 7 ); b) evaluating the movement coordinates; c) operating the drive motor ( 3 ) in phase-angle control, wherein the motion coordinates of the object ( 2 ) is assigned a predetermined desired phase position; d) comparing the predetermined desired phase position with the actual phase position of the phase control, e) controlling the drive motor ( 3 ) by the control device on the basis of the evaluated motion coordinates, f) stopping the drive motor ( 3 ) or reversing the direction of rotation of the drive motor ( 3 ), when the difference between the actual and desired phase position exceeds a predetermined limit. A method according to claim 13, characterized in that in the event that the control device ( 6 ) by evaluation of the first transducer ( 7 ) detected motion coordinates, while the actual phase position is zero, the control device ( 6 ) the drive motor ( 3 ) such that the object ( 2 ) is moved in the direction of the detected movement. A method according to claim 13 or 14, characterized in that after opening a gate ( 2 ), which is moved back to the starting position after a predetermined period of time.

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