EP0505774A1 - Dispositif de commutation de sécurité - Google Patents

Dispositif de commutation de sécurité Download PDF

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Publication number
EP0505774A1
EP0505774A1 EP92103648A EP92103648A EP0505774A1 EP 0505774 A1 EP0505774 A1 EP 0505774A1 EP 92103648 A EP92103648 A EP 92103648A EP 92103648 A EP92103648 A EP 92103648A EP 0505774 A1 EP0505774 A1 EP 0505774A1
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EP
European Patent Office
Prior art keywords
switching device
safety switching
input
signal
time monitoring
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.)
Granted
Application number
EP92103648A
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German (de)
English (en)
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EP0505774B1 (fr
Inventor
Karl Stipak
Udo Ratey
Hubert Strobel
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.)
Pilz GmbH and Co KG
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Pilz GmbH and Co KG
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Publication of EP0505774A1 publication Critical patent/EP0505774A1/fr
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
    • G08B29/18—Prevention or correction of operating errors
    • G08B29/185—Signal analysis techniques for reducing or preventing false alarms or for enhancing the reliability of the system
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
    • G08B29/16—Security signalling or alarm systems, e.g. redundant systems

Definitions

  • the invention relates to a safety switching device with the features of the preamble of claim 1.
  • a generic safety switching device in the form of a speed monitoring device is known.
  • the speed monitoring device works with two sensors, for example monitoring an engine speed, which emit an analog signal proportional to the speed at their output.
  • An analog / digital converter is connected to each sensor and emits a binary signal at its output. In this way, two binary are independent of each other Generates signals that indicate whether the monitored motor is running below a permissible maximum speed or has exceeded the maximum speed.
  • the two output signals of the analog / digital converters are linked to one another in a switching stage, which generates a total of four inhibit signals that reach a subsequent switching stage.
  • the switching stage contains an oscillator that can be locked via the inhibit inputs. After rectification, the output voltage of the oscillator is used to supply power to relays that are in the control circuit of the monitored device.
  • the time window begins after the contact closes and closes within a specified time, it also remains closed, so that the safety switching device can no longer switch to the other state. On the other hand, it changes to a self-holding state when the signals present at the input switch from the idle value to the work value within the defined time window. On the other hand, the time windows can only be started when both signals at the inputs return to the idle value.
  • time windows are set to approximately the same values.
  • the length of the time window depends on the time within which experience has shown that both signals at the inputs switch from the idle value to the work value if all parts function properly.
  • Improved safety can be achieved if an inverter is connected between each input of the safety switching device and the associated time monitoring circuit. Depending on the dimensioning of the inverter and the subsequent circuit, dangerous states or the self-start of the circuit can be avoided if the supply voltage is switched off and on again and the signals at the inputs of the safety switching device both have the working value.
  • the easiest way to implement the time monitoring circuit is to use a non-triggerable monoflop, the flip time of which determines the length of the time window and which is only started when the input signal at the input concerned changes from the idle value to the work value.
  • the easiest way to implement the feedback circuit is to use two relays, each of which has positively driven contacts. With the help of the contacts of the relays, the self-holding state of the safety switching device can be achieved very easily, so that regardless of the duration of the time window, the relevant initial state is maintained as long as both signals have the working value at the inputs.
  • the time window can also be activated in the other time monitoring circuit in this way, while reactivation is excluded if the relevant relay gets stuck.
  • the activation of the time window in the other time monitoring circuit is prevented if a signal is present at the auxiliary input for the time monitoring circuit under consideration, which in itself enables switching through when the signal at the relevant input of the safety switching device assumes the work value.
  • a very reliable combination of the output signals of both time monitoring circuits is achieved if the two connected relays have two make contacts or two normally closed contacts, which are connected in series or in parallel and whose switching state represents the output signal of the safety switching device.
  • the safety device 1 illustrates a safety device 1 which is used to evaluate the electrical signals from sensors 2 and 2 'which monitor one and the same operating parameter of a system in order to increase redundancy and reliability.
  • the two sensors 2 and 2 ' are, for example, door contact switches with the aid of which it is determined whether an access door in a protective fence for a system, for example an industrial robot, is open or closed.
  • the system behind the protective fence may only be put into operation when it is closed.
  • the closing of the door is indicated by the fact that the two switches 2 and 2 'representing the sensors are closed, while the switches are also open when the door is open.
  • door contact switches 2 and 2 'shown instead of the door contact switches 2 and 2 'shown, other sensors, for example speed sensors, light barriers and the like, can also be used. be connected, which emit an electrical binary signal at their output.
  • sensors for example speed sensors, light barriers and the like, can also be used. be connected, which emit an electrical binary signal at their output.
  • the safety switching device 1 essentially contains two channels 3 and 3 'of the same structure and therefore the corresponding components and assemblies in the two channels are provided with the same reference number, an apostrophe being appended to the reference number in the case of channel 3'.
  • Channel 3 has an input 4, into which the signal from sensor 2 is fed. From there, the input signal arrives at an input circuit 5, which can contain the incoming input signal, for example to the signal level suitable for further processing in the safety switching device 1, to suppress interference signals at the input 4 or also makes a resistance adjustment.
  • the input circuit 5 can also carry out an analog / digital conversion, so that the binary digital signal required for further processing only arises at its output 6.
  • An inverter 7 is connected to the output 6 of the input circuit 5, the output 8 of which emits a signal which, on the one hand, arrives in a time monitoring circuit 9 belonging to the channel and in a feedback circuit 11 which electrically connects the two channels 3 and 3 'to one another. Electrical signals enter the time monitoring circuit 9 via inputs 12 and 13 and an auxiliary input 14. The output signal of the time monitoring circuit 9 is output via an output 15 to a relay winding 16 of a relay 17.
  • the time monitoring circuit 9 contains a non-triggerable monoflop 18, the inverting input of which simultaneously represents the input 12 of the time monitoring circuit 9.
  • the monoflop 18 is connected to an input 19 of an OR gate 21, the other input 22 of which represents the auxiliary input 14.
  • a tracking circuit with an inverting input can also be used instead of the monoflop 18 with an inverting input.
  • the time monitoring circuit 9 contains an AND gate 23 with two inputs 24 and 25, the input 25 being negated, and an output 26, which forms the output 15 of the time monitoring circuit 9.
  • the input 24 of the AND gate 23 is connected to the output of the OR gate 21, while the negated input 25 is connected to the input 13 of the time monitoring circuit 9.
  • Channel 3 ' has the same structure as channel 3 and is assigned to sensor 2'.
  • Each of the two relays 17 and 17 ' contains a normally closed contact 17a or 17a' and a normally open contact 17b or 17b ', the normally open and normally closed contacts 17a and 17b or 17a' and 17b 'being positively coupled to one another such that , if the work contact is burnt down and does not open, the associated break contact cannot close or vice versa.
  • the two relays 17 and 17 ' also contain two make contacts 28 and 28', which are connected in series and form a potential-free output 29 of the safety switching device. The switching state of the two working contacts 28 and 28 'connected in series represents the switching state of the safety switching device 1.
  • the two contacts 28 and 28' are also positively guided with the other two contacts 17a, 17b or 17a 'and 17b'.
  • the contacts 17a to 17b ' form the feedback circuit 11 in such a way that the normally closed contact 17a lies in a connecting line 31 which connects the output 8 of the inverter 7 to the input 12', while a connecting line 31 'connects the output 8' of the inverter 7 'connects to the input 12.
  • the auxiliary input 14 is included via a line 32 and the normally open contact 17b at the output 6 'of the input circuit 5', while the normally open contact 17b 'lies in the connecting line 32' which between the output 6 of the input circuit 5 and the auxiliary input 14 ' Establishes connection.
  • the necessary pull-up or pull-down resistors are not shown and result from the functional description.
  • the safety switching device 1 described so far operates as follows, starting from the idle state shown in FIG. 1, in which the two sensors 2 and 2 'emit a signal corresponding to the idle value, this leads to the fact that the two relays 17 and 17 'have dropped out, so that their contacts assume the shown idle states, in which the normally closed contacts are closed and the working contacts are open. Based on this situation, it is assumed that the door contact switch 2 representing the sensor closes, as a result of which the positive supply voltage U B is connected to the input 4, which corresponds to an H signal.
  • This H signal reaches the output 6 of the input circuit 5 with a corresponding level adjustment and thus once to the feedback circuit 11 and to the inverter 7.
  • the H signal cannot reach the time monitoring circuit 9 'since the normally open contact 17b' is open.
  • the signal reaches the time monitoring circuit 9 inverted as an L signal from the output 8, specifically via the input 13 to the inverting input 25 of the AND gate 23.
  • the door contact switch 2 At the time in question, the door contact switch 2 'has not yet closed, which is why the signals there have potential for quiescent. Consequently, there is no pulse at the inverting input of the monoflop 18 either.
  • the monoflop 18 remains in its idle state with L at the output and since the other input 22 of the OR gate 21 also does not receive an H signal due to the open normally open contact 17b, the input 24 of the AND gate 23 remains at L and consequently also the signal at exit 26.
  • the normally open contact 17b ' closes and the normally closed contact 17a' opens.
  • the L signal from the channel 3' reaches the inverting input of the non-triggerable monoflop 18 via the closed normally closed contact 17a ', which is then at its output switches to H.
  • This H signal passes through the OR gate 21 to the AND gate 23, which now also has states at its input which lead to an H signal at the output 26, as a result of which the relay 17 is also switched over.
  • the other two contacts 17a and 17b in the feedback circuit 11 also flip over to the other state.
  • the door contact switch 2 If, after the door contact switch 2 has been closed, the door contact switch 2 'only closes after the tilting time of the monoflop 18' has elapsed, the H signal at the input 24 'disappears, which means that the door contact holder 2' is now closed at the inverting input 25 '. generates an L signal, while, on the other hand, the non-inverting input 24 'of the AND gate 23' has already resulted in the AND gate 23 'being blocked.
  • Closing the door contact switch 2 triggers the monoflop 18, whereby an H signal is generated, which reaches the AND gate 23 via the OR gate 21, which leads to the relay 17 being energized, but only requires its switching an opening of the normally closed contact 17a, whereby the existing L level on the line 31 for the monoflop 18 'is retained.
  • the switching of the relay 17 it does not provide any other signal at its output than before after the flipping time has expired. Since only one of the two relays 17, 17 'has thus picked up, the output 29, 29' of the safety switching device 1 also remains open.
  • the safety switching device 1 can only be reset by also opening the previously closed door contact switch 2, so that the signals at the inverting inputs of both non-triggerable monoflops 18 and 18 'return to the H state in order to Prepare monoflops 18 and 18 'for a next trigger operation.
  • the time monitoring circuit 9 and 9 ' fines, as can be seen from the description, with the aid of the monoflops 18 and 18' contained therein, each a time window and, as can be seen from the above description, both door contact switches 2 and 2 'within the Switch the time window into the closed state at the same time so that the safety switching device also switches over both relays 17 and 17 '.
  • the open door contact switch 2, 2 ' corresponds to the idle value', an L potential being generated at the input 4, 4 ', while the closed door contact switch 2, 2' produces the signal corresponding to the work value.
  • FIG. 2 shows a detailed circuit diagram of how the safety switching device 1 specified in block form in FIG. 1 and described with regard to its function can be implemented.
  • discrete components are provided, whereby under certain circumstances logic functions to which a block is assigned in FIG. 1 are implicitly implemented by certain circuit measures.
  • a further simplification and increase in security is also achieved in that the output signal of the input circuit simultaneously becomes the power supply for the rest of the two channels 3 and 3 '.
  • the time window function is implemented somewhat differently with the aid of the discrete components. The time window function is generated with the help of the aforementioned overrun circuit.
  • the channel 3 contains in its input circuit 5 a transistor 36 connected with its emitter to a positive supply voltage 35, the base of which is connected on the one hand to the positive supply voltage 35 via a resistor 37 and on the other hand to the input 4 via a resistor 38.
  • the collector of transistor 36 is connected to the circuit ground via a resistor 39.
  • a voltage divider made up of resistors 41 and 42 which are connected in series and are connected to positive supply voltage 35.
  • the voltage divided using the voltage divider 41, 42 reaches the base of a transistor 43, which is the active element of the inverter 7.
  • the transistor 43 has its emitter connected to the positive supply voltage 35, while its collector is connected to the circuit ground via a voltage divider made up of resistors 44 and 45.
  • the voltage generated by the voltage divider 44, 45 enters the input 13 of the time monitoring circuit 9, the input 13 being formed by the base of a transistor 46 which is on the emitter side of the circuit ground.
  • the base of a transistor 47 is connected to the collector of transistor 46, the collector of which is in turn connected to the base of a transistor 48.
  • Transistors 47 and 48 are also on the emitter side of the circuit ground.
  • the collector of transistor 48 is connected to one end of relay winding 16, the other end of which is connected to two resistors 49 and 51. Resistor 49 leads from relay winding 16 to the collector of transistor 46 and resistor 51 leads to the collector of transistor 47.
  • a time-determining capacitor 52 is connected in parallel with the series circuit comprising the relay winding 16 and the bipolar NPN transistor 48.
  • Two resistors 53 and 54 extend from the hot end of the capacitor 52, one of which connects to the normally open contact 17b and the other connects to the normally closed contact 17a '.
  • the channel 3 is constructed identically, which is why the same reference numerals are used for the components of the channel 3' supplemented by an apostrophe.
  • a connection 55 is made from the collector of the transistor 36 via a diode 55 to the normally closed contact 17a by means of a line 56.
  • the line 56 has a correspondence 56' through which the collector of the transistor 36 'has a Diode 55 'is connected to the normally closed contact 17a'.
  • connection 57 via which the collector of transistor 43 is connected to the normally open contact 17b '.
  • Line 57 ' is switched accordingly.
  • transistor 36 is conductive.
  • its collector practically carries the voltage on line 35, which leads via diode 55, which is operated in the forward direction, and closed normally closed contact 17a, that capacitor 52 'is charged via resistor 54'.
  • the capacitor 52 is charged via the transistor 36 ', which is also conductive when the door is open, so that the supply voltage is switched on at the hot ends of the two relay windings 16 and 16'.
  • the H potential at the collector of the transistor 36 leads to a blocking of the transistor 43, with the result that the transistor 46 is also blocked.
  • the transistor 47 can come into the conductive state because its base receives current from the voltage applied to the capacitor 52 via the resistor 49.
  • the conductive state of the transistor 47 leads to a potential close to the ground potential at its collector, as a result of which the following transistor 48 is blocked and, consequently, no current can flow through the relay winding 16.
  • both relays 17 and 17' have dropped out, so that their contacts 17a ... 17b 'are in the rest position shown.
  • the door is closed and one of the switch contacts opens, for example the switch contact at input 4, the downstream transistor 36 is subsequently blocked. This prevents the capacitor 52 'from being recharged via line 35.
  • the diode 55 prevents the capacitor 52 'from discharging to ground via the resistor 39.
  • transistor 43 now becomes conductive and switches transistor 46 on.
  • transistor 47 is blocked and transistor 48 is switched to the conductive state, whereupon relay 17 picks up, since it both via charged capacitor 52 and via resistor 54, closed normally closed contact 17a 'and transistor 36, which is still conductive 'Receives electricity.
  • its normally open contact 17b closes and its normally closed contact 17a opens.
  • the opening of the normally closed contact 17a has no influence on the further function in the fault-free operation, since the recharging of the capacitor 52 'is interrupted anyway because of the blocked transistor 36.
  • the closing of the normally open contact 17b is prepared for self-holding if the power supply via the normally closed contact 17a 'is interrupted.
  • This interruption occurs at the moment when the contact at the input 4 'also opens, whereby the transistor 36' is blocked.
  • the power supply via the still closed normally closed contact 17a ' is interrupted because the collector of the transistor 36' is now connected to the ground via the resistor 39 '.
  • the transistor 43 ' comes into the conductive state, so that the power supply of the relay 17 via the now closed normally open contact 17b from the line 35 is ensured.
  • the safety switching device 1 thereby comes into a state in which only one of the two relays, namely relay 17 in the case explained, has picked up, so that only contact 28 is closed between output terminals 29 and 29 ', while contact 28' remains open .
  • the discharge time of the capacitor 52 'or the capacitor 52 in the opposite case defines the time window within which the two signals at the inputs 4 and 4' must change to the working value. If one of the signals changes outside the time window, it is only possible to switch the safety switching device 1 to the state with the output switched through if the signal at the other input disappears in the meantime, because otherwise it can no longer charge the relevant, now discharged capacitor 52 or 52 'come.
  • the AND link shown in FIG. 1 by the AND gate 23 between the signal at the input 4 and the output of the monoflop 18 is achieved in the circuit according to FIG. 2 in that the input signal via the transistors 43, 46, 47, 48 or 43 ', 46', 47 ', 48' is fed to one end of the relay winding 16 or 16 ', while the output signal of the monoflop 18 is fed into the other end.
  • the monoflop 18 is modified to a release-delayed circuit, realized essentially by the capacitor 52 ′ and the discharge circuit effective when the relay 17 is switched off resistor 51 and transistor 47; the same applies analogously to channel 3 '.
  • a time window is realized which begins when the signal is switched on at one of the inputs 4, 4 'and which closes when either the flip-over time of the monoflop 18 has expired or the capacitor 52, 52' has discharged to such an extent that the voltage is no longer sufficient to attract relay 17 or 17 '.
  • a precise analysis of the circuit according to FIG. 2 shows that switching on of the two working contacts 28 and 28 'is also prevented with certainty if one of the components of the safety switching device 1 fails in the manner typical for the component.
  • the safety switching devices 1 shown in the figures make it possible to monitor the sensors connected to them redundantly, so that no switching on at the output of the safety switching device 1 can occur even if the sensors signal the "good state" one after the other outside the intended time window.
  • the safety switching device 1 assumes that both sensors connected to it must change to the "good state" within the time window. Simultaneity is only lost if one of the sensors fails.
  • the new safety switching device 1 Since the time condition must be observed, a device monitored with the new safety switching device 1 cannot be put into operation even if the other "good condition" in question is set later because the time condition cannot be maintained by hand. With the help of the new safety switching device 1, however, it is possible to clearly to recognize when one of the sensors has failed and, for example, always shows the "good condition", i.e. does not return to its idle value, but sticks to the work value. In the case of the door contact switch, this would be the state that always signals the closed door. Without simultaneity, the system would only be controlled with one contact, which would not be visible to the outside.
  • time window makes the malfunction recognizable from the outside, because due to the missing change from the work value to the idle value at the defective sensor in the relevant channel 3 or 3 ', the time window is no longer started and consequently also the safety switching device 1 no longer in can return to a state with the output switched through.
  • This behavior of the circuit after voltage recovery can also be realized in the arrangement according to FIG. 1 and depends on where the switching thresholds of the individual logic elements are. If this switching behavior is undesirable, it can be avoided by correspondingly selecting the switching points of the logic elements in the circuit according to FIG. 1. It is also possible to use the add-on shown in Fig. 3, which monitors the voltage on the supply line 35 and initially forcibly simulates the idle value when the voltage returns at the inputs 4 and 4 ', even if the sensors produce a signal corresponding to the work value deliver.
  • the safety switching device 1 has the structure shown in FIG. 2.
  • the door contact switches 2, 2 ' again assumed by way of example, are closed when the door is open and open when the door is closed, ie FIG. 3 shows the state with the door closed, namely the two contacts 2 and 2' are open.
  • the safety switching device 1 when the voltage returns, the safety switching device 1 would not change over to the corresponding switching state because the capacitors 52 and 52 'are discharged and immediately switch off the transistors 36 and 36' after the voltage return, so that the capacitors 52 are recharged and 52 'cannot take place.
  • the changeover switch has the idle state shown in FIG. 3, in which the input 4 is connected to the sensor 2 and the input 4 'to the sensor 2'.
  • the emitter of transistor 64 is connected to the circuit ground.
  • a base leakage resistor 65 is parallel to the base-emitter path of transistor 64.
  • there is also a capacitor 66 which connects the base of transistor 64 to the positive supply voltage U B.
  • This L state corresponds to the idle value, as it would also be achieved if the door was opened, because then the two door contact switches 2 and 2 'serving as sensors then close. In this way, even when the door is closed, the opening of the door is simulated, which has two consequences.
  • the safety switching device 1 starts up when the entire system is functioning properly, without the door actually having to be physically moved, and on the other hand, this leads to an inevitable test by which it is checked is whether the door contact switches 2, 2 'and the safety relay 1 are working properly.
  • FIG. 4 shows an embodiment of the safety switching device 1, which corresponds approximately to FIG. 3.
  • the inputs 4, 4' of the safety switching device 1 are connected to two sensors 2 and 2 ', which in the exemplary embodiment shown are tachometer generators coupled to a shaft. At their output to which the line 61, 61 'is connected, they deliver an output signal, for example between 0 and 5 V, depending on the speed.
  • This analog signal reaches the safety switching device 1 via the line 61, 61 ', which contains an analog / digital converter on the input side, for example in the form of a Schmitt trigger, the switching threshold of which is set to 4 V.
  • the safety switching device 1 comes into the ON state because voltages less than 4 V represent the work value, while voltages above 4 V correspond to the idle value at which the safety switching device 1 at its two output terminals 29, 29 'in the OFF position. Condition arrived.
  • each of the connecting lines 61 is connected to the positive supply voltage of 24 V via a pull-up resistor 68 or 68 '.
  • the two resistors 68 and 68 ' are large compared to the internal resistance of the two sensors 2 and 2', so that the voltage on the line 61 when the contact 62, 62 'is closed is practically determined only by the output voltage of the two sensors 2, 2'.
  • the circuit described works as follows: If the monitored machine parts are at a standstill or only run at low speed after the voltage recovery, the two sensors 2, 2 'on line 61 deliver a voltage of less than 4 V. However, as mentioned above, the safety switching device 1 , does not start itself, it would remain in the OFF state without the action of relay 63. After the voltage recovery, however, the capacitor 66 is first charged via the resistor 65, as a result of which the transistor 64, as mentioned, is turned on, which results in the relay 63 being pulled up.
  • the safety switching device 1 receives at its two inputs 4 and 4 'an input signal which corresponds to the above-mentioned idle value, in which the safety switching device 1 changes to a state in which the output side the connection between the connections 29 and 29 'is interrupted.
  • the safety switching device 1 switches through at its output, i.e. there is the galvanic connection between the connections 29 and 29 '.
  • the safety switching device 1 immediately switches on because all electrical connections are OK on the input side, but during operation the monitored machine reaches a speed range in which one of the sensors 2, 2 ' provides an output voltage greater than 4 V. As this corresponds to the idle value of the signal at the relevant input 4, 4 ', the safety switching device 1 immediately returns to the state in which the connection between the two outputs 29 and 29' is open.
  • the circuit variant shown in FIG. 4 is therefore not only able to monitor the machine part in question, but also monitors itself and in particular monitors the electrical connection to the two sensors 4 and 4 '. Operation is only enabled if both sensors return a signal after the relay 63 returns to the idle state, which is below the respectively selected switching threshold at inputs 4, 4 'of the safety switching device 1.

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  • Engineering & Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Safety Devices In Control Systems (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Control Of Combustion (AREA)
  • Air Bags (AREA)
EP92103648A 1991-03-09 1992-03-03 Dispositif de commutation de sécurité Expired - Lifetime EP0505774B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4107668A DE4107668C2 (de) 1991-03-09 1991-03-09 Sicherheitsschaltgerät
DE4107668 1991-03-09

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EP0505774A1 true EP0505774A1 (fr) 1992-09-30
EP0505774B1 EP0505774B1 (fr) 1996-11-27

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EP (1) EP0505774B1 (fr)
AT (1) ATE145746T1 (fr)
DE (2) DE4107668C2 (fr)
ES (1) ES2097227T3 (fr)

Cited By (4)

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DE19510332A1 (de) * 1995-03-22 1996-10-02 Pilz Gmbh & Co Schaltungsanordnung und Verfahren zum Testen von nicht intermittierenden Gebern
WO1998038664A1 (fr) * 1997-02-25 1998-09-03 Pilz Gmbh & Co. Commutateur de securite modulaire
DE10020074A1 (de) * 2000-04-22 2001-11-08 Pilz Gmbh & Co Modulares Sicherheitsschaltgeräte-System
WO2014049338A2 (fr) * 2012-09-28 2014-04-03 Sevcon Limited Commande de sécurité de moteur électrique

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DE19525217A1 (de) * 1995-07-11 1997-01-16 Teves Gmbh Alfred Erfassung und Auswertung von sicherheitskritischen Meßgrößen
DE19954460C2 (de) 1999-11-12 2002-02-28 Pilz Gmbh & Co Sicherheitsschaltgerät zum Ein- und sicheren Ausschalten eines elektrischen Verbrauchers, insbesondere einer elektrisch angetriebenen Maschine
DE10045651B4 (de) * 2000-09-15 2007-08-02 Pilz Gmbh & Co. Kg Sicherheitsschaltgerät
ES2257913B1 (es) * 2004-02-27 2007-07-16 Gtg Ingenieros, S.L. Mando inalambrico de seguridad.
DE102008045265B4 (de) * 2008-09-01 2022-05-05 Magna powertrain gmbh & co kg Verfahren und Vorrichtung zur zweikanaligen Überwachung von sicherheitsrelevanten Sensorsignalen

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EP0070364A2 (fr) * 1981-07-17 1983-01-26 Richard Hirschmann Radiotechnisches Werk Avertisseur de mouvement pour la surveillance d'une espace
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19510332A1 (de) * 1995-03-22 1996-10-02 Pilz Gmbh & Co Schaltungsanordnung und Verfahren zum Testen von nicht intermittierenden Gebern
US6034612A (en) * 1995-03-22 2000-03-07 Pilz Gmbh & Co. Circuitry and process for testing non-intermittent signal generators
WO1998038664A1 (fr) * 1997-02-25 1998-09-03 Pilz Gmbh & Co. Commutateur de securite modulaire
US6246318B1 (en) 1997-02-25 2001-06-12 Pilz Gmbh & Co. Modular safety switching
DE10020074A1 (de) * 2000-04-22 2001-11-08 Pilz Gmbh & Co Modulares Sicherheitsschaltgeräte-System
US6778080B2 (en) 2000-04-22 2004-08-17 Pilz Gmbh & Co. Modular safety switching device system
DE10020074B4 (de) * 2000-04-22 2004-10-14 Pilz Gmbh & Co. Modulares Sicherheitsschaltgeräte-System
DE10020074C5 (de) * 2000-04-22 2010-04-29 Pilz Gmbh & Co. Kg Modulares Sicherheitsschaltgeräte-System
WO2014049338A2 (fr) * 2012-09-28 2014-04-03 Sevcon Limited Commande de sécurité de moteur électrique
WO2014049338A3 (fr) * 2012-09-28 2014-07-31 Sevcon Limited Commande de sécurité de moteur électrique

Also Published As

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DE4107668A1 (de) 1992-09-17
ATE145746T1 (de) 1996-12-15
ES2097227T3 (es) 1997-04-01
DE59207567D1 (de) 1997-01-09
DE4107668C2 (de) 1994-11-03
EP0505774B1 (fr) 1996-11-27

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