EP1869687B1 - Safety switch for the safe disconnection of an electric consumer - Google Patents

Safety switch for the safe disconnection of an electric consumer Download PDF

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Publication number
EP1869687B1
EP1869687B1 EP06723180A EP06723180A EP1869687B1 EP 1869687 B1 EP1869687 B1 EP 1869687B1 EP 06723180 A EP06723180 A EP 06723180A EP 06723180 A EP06723180 A EP 06723180A EP 1869687 B1 EP1869687 B1 EP 1869687B1
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EP
European Patent Office
Prior art keywords
switching
evaluation
control unit
safety
supply voltage
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EP06723180A
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German (de)
French (fr)
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EP1869687A1 (en
Inventor
Thomas Nitsche
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Pilz GmbH and Co KG
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Pilz GmbH and Co KG
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    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01HELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H47/00Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
    • H01H47/002Monitoring or fail-safe circuits

Definitions

  • the present invention relates to a safety switching device for safely switching off an electrical load, in particular in an automated system, with at least one input for connecting a signaling device, with an evaluation and control unit, and with at least one switching element, which can be controlled by the evaluation and control unit is to interrupt a power supply path to the consumer, wherein the evaluation and control unit is adapted to functional tests at defined times perform to check a switching function of the at least one switching element.
  • Such a safety switching device is for example off DE 103 25 363 A1 known.
  • Safety switching devices are used to completely or partially shut down a technical system or a technical device, if this is necessary in order to avoid, for example, a hazard for operating personnel of the system or the device.
  • the safety switching devices have on the input side one or more connections for connecting one or more signaling devices, such as emergency stop buttons, safety door switches or photoelectric sensors.
  • the safety switching devices On the output side, the safety switching devices have at least one switching element with the aid of which a power supply path to the system or the device can be interrupted.
  • the evaluation and control unit is typically used to monitor the entire safety circuit including the connected signaling devices and possibly trigger a safety shutdown.
  • a safety switching device must still be able to switch off the system or the device if the output-side switching element of the safety switching device fails.
  • the contacts can be welded so that the relay can no longer be opened.
  • a transistor can alloy and thereby cause a short circuit, which prevents interruption of the power supply path to the consumer.
  • safety switching devices are generally constructed in a multi-channel-redundant manner, so that, for example, in the event of failure of a switching element, a redundant switching element arranged in series can interrupt the power supply path.
  • a redundant implementation in itself does not guarantee absolute error safety if the functionality of the individual channels is not regularly tested.
  • the aforementioned DE 103 25 363 A1 discloses a safety switching device having an evaluation and control unit (referred to therein as a signal processing part), which performs regular shutdown tests in operation to check whether the output side switching elements are still able to interrupt the power supply path to the consumer.
  • the evaluation and control unit has a two-channel redundant design to control any errors in the signal processing part of the safety switching device.
  • Another example of a two-channel redundant safety switching device is off DE 100 11 211 A1 known. Also in this case, the evaluation and control unit, which evaluates the input-side signaling devices and monitors and controls the switching elements, built two-channel redundant.
  • the two known safety switching devices are typical examples of implementations that meet the requirements of category 3 and even category 4 of the European standard EN 954-1 or comparable safety requirements according to ISO 13849-1 or IEC 61508.
  • the continuous redundant structure of the known safety switching devices is complicated and expensive.
  • PNOZ® X1 offers an emergency stop switchgear which has redundant (in series with each other) relay contacts on the output side in order to interrupt the power supply path to a consumer.
  • PNOZ® X1 is single-channel and has no special diagnostic options. Therefore, the PNOZ® X1 is approved without additional measures only for applications up to safety category 2 of EN 954-1.
  • this object is achieved by a safety switching device of the type mentioned, in which the at least one input for connecting the signaling device is also designed as an input for supplying a supply voltage, which is required for the operation of the at least one switching element.
  • the new safety switching device is thus characterized by the fact that the input for connecting the signaling device at the same time is also the input for supplying the supply voltage, which is required for the operation of the at least one switching element.
  • a signaling device is thus connected to the new safety switching device, that with the operation of the signaling device automatically the supply voltage for the at least one switching element is interrupted.
  • This is particularly easy to implement for signaling devices having one or more ⁇ ffneruttone that are opened upon actuation of the signaling device.
  • the invention is not limited to this and can be realized, for example, for signaling devices that provide a non-floating output signal.
  • the information (signaling signal from the signaling device) and the energy for the operation of the at least one switching element run simultaneously and in the same way.
  • the elimination of the supply voltage for the at least one switching element is identical to the information that a security request is present.
  • the supply voltage for the output-side switching elements is performed separately from the supply voltage for the output-side switching element in some conventional safety switching devices that meet higher safety categories. Since the information (signal from the annunciator) and the energy are then separated, relatively complex evaluation and control units are required to ensure an interruption of the power supply path to the consumer, as soon as the corresponding information (notification signal from the annunciator) is present. Since the evaluation of the message signal is a safety-critical task, the evaluation and control units of the known safety switching devices typically multi-channel redundant design. This effort is not required in the new safety switching device, which can therefore be realized significantly cheaper.
  • the new safety switching device has an evaluation and control unit, which is designed to perform functional tests in order to monitor the switching function of the at least one switching element.
  • the at least one input is also designed to supply a supply voltage, which is required for the operation of the evaluation and control unit.
  • the safety switching device includes a decoupling network, which is designed to decouple the supply voltage for the at least one switching element and the supply voltage for the evaluation and control unit from each other.
  • the decoupling network includes a first timer to delay the supply voltage for the at least one switching element relative to the supply voltage for the evaluation and control unit.
  • the supply voltages for the at least one switching element and the evaluation and control unit are not only decoupled from each other in terms of circuitry, but also separated from one another in terms of time. Since the evaluation and control unit receives its supply voltage according to this embodiment "earlier" than the at least one switching element, it is ensured that the evaluation and control unit can complete internal self-tests before it controls the at least one switching element. A faulty release of the power supply path to the consumer is thereby even better avoided.
  • the safety switching device includes a reset circuit, which is designed to bring the evaluation and control unit at each renewed return of the supply voltage in a defined start state.
  • This embodiment facilitates the realization of the evaluation and control unit with a (single-channel) microcontroller, microprocessor or the like.
  • a reset which is forced every time power is restored, ensures that the evaluation and control unit always starts from the same defined starting position. This ensures that the evaluation and control unit completes its self-tests each time before the power supply path to the Consumer is closed. Due to this, the evaluation and control unit can be easily realized with one channel.
  • the evaluation and control unit is designed as a single channel.
  • This embodiment benefits from the possibilities described above and enables a particularly cost-effective implementation of the new safety switching device.
  • the evaluation and control unit includes a microcontroller, which is designed to carry out the functional tests at the defined times, in particular before closing the power supply path to the consumer.
  • microcontroller is used here synonymously for comparable components whose functional scope can be determined at least by the manufacturer. It is therefore not limited to microcontrollers in the narrower sense, but also includes, for example, microprocessors with or without external memory or other programmable components. This embodiment allows a particularly simple and cost-effective implementation of the new safety switching device, wherein the respective range of functions can be set individually. As a result, for example, safety switching devices can be realized inexpensively, which are provided for different types of signaling devices and / or in connection with different types of switching elements.
  • the safety switching device includes a second timer, which is designed to block a connection between the evaluation and control unit and the at least one switching element for a defined period of time, measured from the application of the supply voltage.
  • This embodiment also helps to prevent premature and / or faulty closing of the power supply path to the consumer, even if the at least one switching element is driven by a single-channel evaluation and control unit. In combination with the embodiments already described above, an even higher level of safety is achieved when commissioning the consumer.
  • the new safety switching device includes at least two switching elements, which are arranged in series to redundantly interrupt the power supply path to the load, wherein the evaluation and control unit is adapted to a first dynamic control signal for a first of the at least two switching elements to generate, and a second, in particular static, control signal for a second of the at least two switching elements.
  • This embodiment of the invention uses redundant switching elements in the load circuit in order to enable shutdown of the load even if one of the switching elements fails during the switching operation.
  • the at least two redundant switching elements are still driven in a diversified manner to each other, that is, with two different control signals. Malfunction of the new safety switching device are thereby even less likely. It is particularly preferred if one of the control signals is a dynamic signal, while the other control signal is a static signal. That is to say, both types of control signals can be generated very easily with a microcontroller or a comparable component, wherein due to the different nature of the control signals a simultaneous fault control of the redundant switching elements is extremely unlikely.
  • the at least one switching element is a changeover switch with at least two mutually alternative switching paths, wherein a first switching path is in the power supply path to the consumer, and wherein a second switching path leads to a monitoring unit.
  • This embodiment which in itself represents an inventive development of known safety switching devices, allows a particularly cost-effective implementation of the new safety switching device, in particular with potential-free outputs.
  • the use of a changeover switch makes it possible to use "simple" changeover relays instead of much more expensive and larger relays with positively driven make and break contacts. Therefore, this embodiment allows a particularly cost-effective and small-scale safety switching device, with which nevertheless at least Category 3 of European standard EN 954-1 or a comparable level of security can be achieved.
  • FIG. 1 is an automated system in which the new safety switching device is used, designated in its entirety by the reference numeral 10.
  • the plant 10 here includes a robot 12 whose working space is secured by a protective fence with a protective door 14.
  • the open or closed position of the protective door 14 is detected with a protective door sensor 16.
  • the safety door sensor includes a first part 16a attached to the movable one
  • the first part 16a includes a transponder, which can only be recognized and evaluated by the second part 16b (reading device) when the protective door is closed.
  • the invention is not limited to this type of safety door sensors and moreover not to protective door sensors as signaling devices.
  • the invention can be equally used with other signaling devices, especially emergency stop buttons, as well as speed sensors, light barriers and other.
  • Reference numeral 18 denotes a safety switching device according to the present invention. It serves to switch off the robot 12 when the protective door 14 is opened.
  • the system 10 is also shown here with an emergency stop button 20 as a further reporting device.
  • the emergency stop button 20 is evaluated with another safety switching device 22 according to the present invention.
  • the safety switching devices 18 and 22 have in the embodiment shown each potential-free outputs (hereinafter referred to FIG. 2 explained in more detail), which are connected in series with each other to construct a logical AND operation.
  • two contactors 24, 26 are arranged, whose normally open contacts are in series with each other in a power supply path 28 to the robot 12.
  • the normally open contacts of the two contactors 24, 26 are normally open contacts, which are therefore closed only when the input circuits of the contactors 24, 26 with a working voltage are excited, which is higher than the tightening or holding voltage of the contactors 24, 26.
  • the working voltage 30 is for example 24 volts and is looped in this embodiment via the series-connected output contacts of the safety switching devices 18 and 22 to the shooters 24, 26.
  • the safety switching devices 18, 22 interrupt the current path, via which the input circuits of the contactors 24, 26 are connected to the working voltage 30.
  • the shooters 24, 26 fall off, the robot 12 is turned off.
  • the contactors 24, 26 and (indirectly) the robot 12 are thus consumers in the context of the present invention.
  • the system 10 is shown here in a simplified manner. In particular, only two simple safety circuits for switching off the robot 12 are shown here. In practice, there are typically more safety circuits available.
  • the contactors 24, 26 typically still have positively-open contact contacts returned to at least one of the safety switching devices 18, 22 to prevent the robot 12 from turning on when one of the contactors 24, 26 is welded.
  • an operation control (not shown) is typically provided which controls the normal operation of the robot 12.
  • FIG. 2 shows the safety switching device 22 in further details.
  • the safety switching device 18 can basically be constructed in the same way, or even have a two-channel evaluation and control unit and potential-free outputs of conventional design.
  • the components of the safety switching device 22 are arranged in a conventional manner in a compact device housing 36.
  • the housing 36 has connections, for example in the form of screw or spring terminals.
  • the reference numerals 38, 40, two terminals are designated, which serve both for connecting the emergency stop button 20 and for supplying a supply voltage 42 for the safety switching device 22 here.
  • the supply voltage 42 is shown here as a DC voltage, and it is connected via one NC contact of the emergency stop button 20 to the terminals 38, 40.
  • the voltage 42 could in principle also be an alternating voltage.
  • Reference numerals 46, 48 designate two further connection terminals, to which a series circuit comprising a start button 50 and two normally closed contacts 52, 54 is connected.
  • the normally closed contact 52 is part of the contactor 24 FIG. 1 and is forcibly guided with the normally open contacts of the contactor 24.
  • the opener contact 54 is forcibly guided with the normally open contacts of the contactor 26.
  • the safety switching device 22 is shown here with a total of four switching elements 56, 56 ', 58, 58'.
  • the switching elements 56, 58 and 56 ', 58' are each arranged in series with each other, and they form two power supply paths, via which the two contactors 24, 26 can be excited.
  • the second power supply path with the switching elements 56 ', 58' is shown only partially for reasons of clarity, namely without the details of the control of the switching elements 56 ', 58'.
  • the control of the switching elements 56 ', 58' takes place in the same manner as the control of the switching elements 56, 58. For this reason, the following explanations apply equally to the switching elements 56 ', 58', unless stated otherwise.
  • the switching elements 56, 58 are realized here as a changeover switch. Each switching element 56, 58 has three terminals 60, 62, 64, which are designated here only for switching element 56 for reasons of clarity.
  • the three terminals 60, 62, 64 form two mutually alternative switching paths.
  • a first switching path 66 extends between the terminals 62 and 64 (in FIG FIG. 2 shown in dashed line).
  • a second, alternative switching path 68 extends from port 60 to port 64 (shown in solid line).
  • the connection 64 thus forms a common root of the alternative switching paths 66, 68. Only one of the switching paths 66, 68 can be closed at a time. The other one is open in this case.
  • the changeover switches 56, 58 in one embodiment of the invention are changeover relays, each with a contact that is switched between the terminals 60, 62. In further embodiments, however, the changeover switches can also be realized as or at least with the aid of semiconductor switching elements.
  • the terminal 62 of the switching element 56 is connected to a terminal 70 on the housing 36 of the safety switching device 22.
  • the terminal 66 of the switching element 58 is connected to an external terminal 72 of the safety switching device 22.
  • the roots 64 of the two switching elements 56, 58 are connected in series with each other. This is the first one Switching paths 66 of the two switching elements 56, 58 a power supply path between the terminals 70, 72 of the safety switching device 22 ready, which may be closed or interrupted depending on the switching position of the switching elements 56, 58.
  • the switching elements 56 ', 58' provide a second power supply path between terminals 74, 76 of the safety switching device 22.
  • To the terminals 72, 76 are in accordance with the application FIG. 1 the contactors 24, 26 connected.
  • the working voltage 30 is applied, which is possibly looped through the safety switching device 18 in the same manner as described here.
  • the second switching paths 68 of all four switching elements 56, 56 ', 58, 58' are connected in series in this embodiment, and this series circuit is connected to a monitoring unit, which in FIG. 2 designated by reference numeral 78.
  • the monitoring unit 78 may be formed two-channel, which is in FIG. 2 is indicated schematically. However, it is also possible to design the monitoring unit 78 in one channel.
  • the task of the monitoring unit 78 is to feed a test signal 80 into the series connection of the second switching paths 68 of the switching elements 56, 58, 56 ', 58'. If the monitoring unit 78 can read back the test signal 80 via the said switching paths, this means that all the switching elements in the in FIG. 2 are shown switching position.
  • the power supply paths to the shooters 24, 26 are therefore interrupted.
  • the monitoring unit 78 is connected to a microcontroller 82, which is an evaluation and control unit in the sense of the present invention.
  • a microcontroller 82 is an evaluation and control unit in the sense of the present invention.
  • the microcontroller 82 is configured to adjust the switching position of the switching elements 56, 58, 56 ', 58'. He also performs in the manner described below, functional tests to check the switching function of the switching elements 56, 58, 56 ', 58'.
  • the switching elements 56, 58 need to switch a supply voltage, which is applied to a line 84 and a capacitor 86.
  • the supply voltage 84, 86 here largely corresponds to the supply voltage 42, which is applied to the terminals 38, 40 of the safety switching device 22.
  • the voltage on the line 84 is passed through the input circuit of the switching elements 56, 58 and in each case one transistor 90, 92. With the aid of the transistors 90, 92, the microcontroller 82 can close or interrupt the excitation circuit to each switching element 56, 58. When the excitation circuit is closed and a supply voltage across the capacitor 86 and the line 84, which is higher than the pull-in voltage of the switching elements 56, 58, the changeover switches to the first switching path 66.
  • the switching elements fall back into their default switching position, in which the second switching path 68 is closed. The power supply paths to the shooters 24, 26 are then interrupted.
  • Reference numeral 88 denotes a voltage and reset circuit. This includes a voltage regulator (not shown separately) which generates an individual supply voltage for the microcontroller 82 from the general supply voltage 42. In addition, the voltage and reset circuit 88 causes the microcontroller 38 to start at each of the terminals 38, 40 in a defined manner after each voltage return (reset function). Therefore, in one embodiment, the voltage and reset circuit still includes a pulse generator (not shown separately) connected to a reset input of the microcontroller 82. The supply voltages for the microcontroller 82 and for the switching elements 56, 58 are thus both generated from the supply voltage 42, which is applied to the input of the safety switching device 22.
  • a decoupling network 94 is provided, which in the present embodiment includes a diode and a resistor 95, which together with the capacitor 86 form an RC element.
  • the resistor 95 determines the charging time until the capacitor 86 is completely charged. Therefore, the RC element comprising the resistor 95 and the capacitor 86 forms a timing element which ensures that the supply voltage for the switching elements 56, 58 does not arrive until after a certain delay, measured from the application of the supply voltage 42 to the terminals 38, 40, is reached.
  • the reference numeral 96 denotes a so-called watchdog, which includes a second timer.
  • the watchdog 86 serves on the one hand to monitor the function of the microcontroller 82 in a conventional manner. For this purpose, the watchdog 96 waits for regularly recurring pulses from the microcontroller 82 must be delivered.
  • the watchdog 86 is connected to a plurality of AND gates 98, by means of which it can prevent transmission of the control signals from the microcontroller 82 to the transistors 90, 92.
  • the control of the switching elements 56, 58 takes place in this embodiment diversified, that is, with mutually different control signals.
  • the control of the switching element 56 (and the switching element 56 ') takes place here with a dynamic control signal (defined pulse train), which provides the microcontroller 82 at an output 100.
  • the control signal 100 is fed via an AND gate and a capacitor 102 to the transistor 90.
  • Transistor 90 only becomes conductive when microcontroller 82 generates the pulse train at output 100 at the intended frequency and amplitude, and when watchdog 96 switches this pulse train on to capacitor 102.
  • the switching elements 58, 58 ' are controlled by the microcontroller 82 with a static signal 104.
  • the switching elements 56, 58 could also be respectively controlled with a dynamic or in each case a static signal, wherein it is generally preferred if the control signals 100, 104 differ from each other.
  • the monitoring unit 78 testing the switching function of the changeover switches 56, 58 together with the microcontroller 82 before the power supply path to the load is closed. For this purpose, the monitoring unit 78 generates the test signal 80 and feeds it into the series connection of the second switching paths 68. If all connected changeover switches are in their de-energized default state, the monitoring unit 78 must be able to read back the test signal 80. In the next step, for example, the changeover switch 56 is switched over by the microcontroller 82. The test signal 80 may now no longer be read back if the switching of the changeover switch worked properly and no short circuit between the terminals 60, 62, 64 is present. If this test is passed, the monitoring unit checks in turn the other changeover switches.
  • test signal 80 can be read back in one of the test cases, one of the abovementioned errors is present.
  • the monitoring unit 78 informs the microcontroller 82 accordingly and closing the power supply path to the contactors 24, 26 is prevented. If, on the other hand, all changeover switches pass the test, the power supply path to the contactors 24, 26 can be closed. If a changeover switch does not switch to the first switching path 66, the connected consumers can not turn on. Despite the (untested) error so a safe state would be guaranteed.
  • the top course of time 110 shows the application of the supply voltage 42 of the safety switching apparatus 22, except when switching on of the system or during the closing of the emergency stop button 20. It is assumed that the emergency stop button 20 at a time t 1 is actuated, so that the supply voltage 42 is disconnected from the safety switching device 22.
  • the second time course 112 shows the supply voltage for the microcontroller 82, which is generated with the aid of the voltage and reset circuit 88.
  • the microcontroller 82 performs internal functional tests, as is known from the operation of microcontrollers in safety switching devices.
  • the third time profile 116 shows the course of the supply voltage to the exciter circuits of the switching elements 56, 58.
  • the supply voltage increases here at the beginning slower, which is due to the timing of the RC element 95, 86.
  • the dimensioning of the components is selected so that the supply voltage to the switching elements 56, 58 only fully applied when the microcontroller 82 has completed its internal self-tests.
  • the fourth time course 118 is the output signal at the watchdog 96. With this signal, the outputs 100, 104 of the microcontroller 82 are switched through to the transistors 90, 92 at the switching elements 56, 58. Only from the time t 2 , the microcontroller 82 is thus able to control the switching elements 56, 58.
  • the fifth course shows the test signal 80, which is fed by the monitoring unit 78 into the circuit of the second switching paths 68.
  • control signals 100 and 104 for the switching elements 56, 58 are shown.
  • a control signal is respectively activated for a time period 120 or 122, wherein the time periods 120, 122 are offset from one another.
  • the control signals in the periods 120, 122 are at the same time as the test signal 80. If the test signal 80 can not be read back by the monitoring unit 78 during the periods 120 and 122, respectively, which is described in US Pat FIG. 3 is indicated schematically, the switching of the corresponding switching element 56, 58 was successful.
  • the microcontroller 82 may switch the switching elements 56, 58 to their first switching position 66 and thereby terminate the power supply paths to the contactors 24, 26 (time t 3 ).
  • the bottom diagram finally shows the curve 124 of the working voltage 30 at the input circuits of the contactors 24, 26.
  • the contactors 24, 26 can be tightened from the time t 3 , the robot 12 can go into operation. If at time t 1 the emergency stop button 20 is actuated, falls (after a not considered here Discharge time for the capacitor 86), the supply voltage for the switching elements 56, 58 away. In addition, the control signals 100, 104 for the switching elements 56, 58 are omitted. Both events cause the power supply path to the contactors 24, 26 to be interrupted.
  • the functionality of the monitoring unit 78 may be at least partially integrated into the microcontroller 82. It is preferred, for example, if the test signal 80 is coupled by the microcontroller 82 via an optocoupler, a capacitive or an inductive coupling in the monitoring circuit of the second switching paths.
  • the part designated here as monitoring unit 78 can then contain, for example, the optocoupler or a transformer.
  • embodiments of the invention may include that the changeover switches 56, 58 each have a plurality of parallel switch contacts. In this case, the readback paths of the monitoring unit 78 can be performed in parallel.
  • the changeover switches 56, 58 have their own monitoring unit 78, which generates a test signal which is individual for the respective changeover switch.
  • the plurality of monitoring units may then be connected to the microcontroller 82 to report the results of the functional tests to the microcontroller 82.
  • the second switching paths of the changeover switches 56, 58 may be connected in series with each other, while the second switching paths of the changeover switches 56 ', 58' form a second series connection, the is formed separately from the series connection of the changeover switches 56, 58.
  • the present invention can also be implemented with "conventional" switching elements at the output of the safety switching device 22, be it with positively driven relays or with semiconductor switching elements such as those described in US Pat DE 100 11 211 A1 are shown.

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Abstract

A safety switching apparatus for safe disconnection of an electrical load has at least one input for connecting a signaling device. The safety switching apparatus further has an evaluation and control unit and at least one switching element which can be controlled by the evaluation and control unit in order to interrupt an electrical power supply path to the load. The evaluation and control unit is designed to carry out functional tests at defined instances of time in order to check at least one switching function of the at least one switching element. Moreover, the at least one input for connecting the signaling device is further designed as an input for supplying a supply voltage required for operation of the at least one switching element.

Description

Die vorliegende Erfindung betrifft eine Sicherheitsschaltvorrichtung zum sicheren Abschalten eines elektrischen Verbrauchers, insbesondere in einer automatisiert arbeitenden Anlage, mit zumindest einem Eingang zum Anschließen eines Meldegerätes, mit einer Auswerte- und Steuereinheit, und mit zumindest einem Schaltelement, das von der Auswerte- und Steuereinheit ansteuerbar ist, um einen Stromversorgungspfad zu dem Verbraucher zu unterbrechen, wobei die Auswerte- und Steuereinheit dazu ausgebildet ist, zu definierten Zeitpunkten Funktionstests durchzuführen, um eine Schaltfunktion des zumindest einen Schaltelements zu überprüfen.The present invention relates to a safety switching device for safely switching off an electrical load, in particular in an automated system, with at least one input for connecting a signaling device, with an evaluation and control unit, and with at least one switching element, which can be controlled by the evaluation and control unit is to interrupt a power supply path to the consumer, wherein the evaluation and control unit is adapted to functional tests at defined times perform to check a switching function of the at least one switching element.

Eine solche Sicherheitsschaltvorrichtung ist beispielsweise aus DE 103 25 363 A1 bekannt.Such a safety switching device is for example off DE 103 25 363 A1 known.

Sicherheitsschaltvorrichtungen im Sinne der vorliegenden Erfindung werden dazu verwendet, eine technische Anlage oder ein technisches Gerät ganz oder teilweise abzuschalten, wenn dies erforderlich ist, um beispielsweise eine Gefährdung für Bedienpersonal der Anlage oder des Gerätes zu vermeiden. Die Sicherheitsschaltvorrichtungen besitzen eingangsseitig einen oder mehrere Anschlüsse zum Anschließen von einem oder mehreren Meldegeräten, wie zum Beispiel Not-Aus-Tastern, Schutztürschaltern oder Lichtschranken. Ausgangsseitig besitzen die Sicherheitsschaltvorrichtungen zumindest ein Schaltelement, mit dessen Hilfe ein Stromversorgungspfad zu der Anlage oder dem Gerät unterbrochen werden kann. Die Auswerte- und Steuereinheit dient typischerweise dazu, den gesamten Sicherheitskreis einschließlich der angeschlossenen Meldegeräte zu überwachen und ggf. eine Sicherheitsabschaltung auszulösen.Safety switching devices according to the present invention are used to completely or partially shut down a technical system or a technical device, if this is necessary in order to avoid, for example, a hazard for operating personnel of the system or the device. The safety switching devices have on the input side one or more connections for connecting one or more signaling devices, such as emergency stop buttons, safety door switches or photoelectric sensors. On the output side, the safety switching devices have at least one switching element with the aid of which a power supply path to the system or the device can be interrupted. The evaluation and control unit is typically used to monitor the entire safety circuit including the connected signaling devices and possibly trigger a safety shutdown.

Es ist leicht einzusehen, dass der technische Aufwand für die Realisierung von Sicherheitsschaltvorrichtungen steigt, je höher die jeweiligen Sicherheitsanforderungen sind. Beispielsweise muss eine Sicherheitsschaltvorrichtung im Sinne der vorliegenden Erfindung auch dann noch in der Lage sein, die Anlage oder das Gerät abzuschalten, wenn das ausgangsseitige Schaltelement der Sicherheitsschaltvorrichtung versagt. Es können bei einem Relais zum Beispiel die Kontakte verschweißen, so dass sich das Relais nicht mehr öffnen lässt. Ein Transistor kann durchlegieren und dadurch einen Kurzschluss verursachen, der ein Unterbrechen des Stromversorgungspfades zu dem Verbraucher verhindert. Um derartige Fehler zu beherrschen, werden Sicherheitsschaltvorrichtungen in der Regel mehrkanalig-redundant aufgebaut, so dass beispielsweise bei Ausfall eines Schaltelements ein in Serie dazu angeordnetes, redundantes Schaltelement den Stromversorgungspfad unterbrechen kann. Eine redundante Realisierung gewährleistet für sich genommen jedoch noch keine absolute Fehlersicherheit, wenn die Funktionsfähigkeit der einzelnen Kanäle nicht regelmäßig getestet wird.It is easy to see that the higher the respective security requirements, the greater the technical effort involved in implementing safety switching devices. For example, a safety switching device according to the present invention must still be able to switch off the system or the device if the output-side switching element of the safety switching device fails. For example, in the case of a relay, the contacts can be welded so that the relay can no longer be opened. A transistor can alloy and thereby cause a short circuit, which prevents interruption of the power supply path to the consumer. In order to control such errors, safety switching devices are generally constructed in a multi-channel-redundant manner, so that, for example, in the event of failure of a switching element, a redundant switching element arranged in series can interrupt the power supply path. However, a redundant implementation in itself does not guarantee absolute error safety if the functionality of the individual channels is not regularly tested.

Die eingangs genannte DE 103 25 363 A1 offenbart eine Sicherheitsschaltvorrichtung mit einer Auswerte- und Steuereinheit (dort als Signalverarbeitungsteil bezeichnet), die im Betrieb regelmäßige Abschalttests durchführt, um zu überprüfen, ob die ausgangsseitigen Schaltelemente noch in der Lage sind, den Stromversorgungspfad zu dem Verbraucher zu unterbrechen. Die Auswerte- und Steuereinheit ist zweikanalig-redundant aufgebaut, um eventuelle Fehler im Signalverarbeitungsteil der Sicherheitsschaltvorrichtung zu beherrschen.The aforementioned DE 103 25 363 A1 discloses a safety switching device having an evaluation and control unit (referred to therein as a signal processing part), which performs regular shutdown tests in operation to check whether the output side switching elements are still able to interrupt the power supply path to the consumer. The evaluation and control unit has a two-channel redundant design to control any errors in the signal processing part of the safety switching device.

Ein anderes Beispiel für eine zweikanalig-redundante Sicherheitsschaltvorrichtung ist aus DE 100 11 211 A1 bekannt. Auch in diesem Fall ist die Auswerte- und Steuereinheit, die die eingangsseitigen Meldegeräte auswertet und überwacht und die Schaltelemente ansteuert, zweikanalig-redundant aufgebaut.Another example of a two-channel redundant safety switching device is off DE 100 11 211 A1 known. Also in this case, the evaluation and control unit, which evaluates the input-side signaling devices and monitors and controls the switching elements, built two-channel redundant.

Die beiden bekannten Sicherheitsschaltvorrichtungen sind typische Beispiele für Realisierungen, die die Anforderungen der Kategorie 3 und sogar der Kategorie 4 der europäischen Norm EN 954-1 oder vergleichbare Sicherheitsanforderungen nach ISO 13849-1 oder IEC 61508 erfüllen. Der durchgehend redundante Aufbau der bekannten Sicherheitsschaltvorrichtungen ist allerdings aufwändig und teuer.The two known safety switching devices are typical examples of implementations that meet the requirements of category 3 and even category 4 of the European standard EN 954-1 or comparable safety requirements according to ISO 13849-1 or IEC 61508. The continuous redundant structure of the known safety switching devices, however, is complicated and expensive.

Die Anmelderin der vorliegenden Erfindung bietet unter der Bezeichnung PNOZ® X1 ein Not-Aus-Schaltgerät an, das ausgangsseitig redundante (in Serie zueinander liegende) Relaiskontakte aufweist, um den Stromversorgungspfad zu einem Verbraucher zu unterbrechen. Im übrigen ist das PNOZ® X1 allerdings einkanalig und ohne besondere Diagnosemöglichkeiten ausgebildet. Daher ist das PNOZ® X1 ohne zusätzliche Maßnahmen nur für Anwendungen bis zur Sicherheitskategorie 2 der EN 954-1 zugelassen.The assignee of the present invention, under the name PNOZ® X1, offers an emergency stop switchgear which has redundant (in series with each other) relay contacts on the output side in order to interrupt the power supply path to a consumer. Incidentally, however, the PNOZ® X1 is single-channel and has no special diagnostic options. Therefore, the PNOZ® X1 is approved without additional measures only for applications up to safety category 2 of EN 954-1.

Vor diesem Hintergrund ist es eine Aufgabe der vorliegenden Erfindung, eine Sicherheitsschaltvorrichtung der eingangs genannten Art anzugeben, mit der sich zumindest die Anforderungen der Kategorie 2 der europäischen Norm EN 954-1 (oder vergleichbare Sicherheitsanforderungen) erfüllen lassen, die jedoch kostengünstiger und kleinbauender realisiert werden kann als bisherige Sicherheitsschaltvorrichtungen, die diese Anforderungen erfüllen.Against this background, it is an object of the present invention to provide a safety switching device of the type mentioned, with at least meet the requirements of category 2 of the European standard EN 954-1 (or comparable safety requirements), but which are realized more cost effective and kleinbauender can be used as previous safety switching devices that meet these requirements.

Gemäß einem Aspekt der Erfindung wird diese Aufgabe durch eine Sicherheitsschaltvorrichtung der eingangs genannten Art gelöst, bei der der zumindest eine Eingang zum Anschließen des Meldegerätes außerdem als Eingang zum Zuführen einer Versorgungsspannung ausgebildet ist, die für den Betrieb des zumindest einen Schaltelements erforderlich ist.According to one aspect of the invention, this object is achieved by a safety switching device of the type mentioned, in which the at least one input for connecting the signaling device is also designed as an input for supplying a supply voltage, which is required for the operation of the at least one switching element.

Die neue Sicherheitsschaltvorrichtung zeichnet sich also dadurch aus, dass der Eingang zum Anschließen des Meldegerätes gleichzeitig auch der Eingang zum Zuführen der Versorgungsspannung ist, die für den Betrieb des zumindest einen Schaltelements benötigt wird. Ein Meldegerät wird also so an die neue Sicherheitsschaltvorrichtung angeschlossen, dass mit der Betätigung des Meldegerätes automatisch auch die Versorgungsspannung für das zumindest eine Schaltelement unterbrochen wird. Dies ist besonders einfach für Meldegeräte zu realisieren, die einen oder mehrere Öffnerkontakte aufweisen, die bei Betätigung des Meldegerätes geöffnet werden. Die Erfindung ist hierauf jedoch nicht beschränkt und kann beispielsweise auch für Meldegeräte realisiert werden, die ein potentialgebundenes Ausgangssignal liefern.The new safety switching device is thus characterized by the fact that the input for connecting the signaling device at the same time is also the input for supplying the supply voltage, which is required for the operation of the at least one switching element. A signaling device is thus connected to the new safety switching device, that with the operation of the signaling device automatically the supply voltage for the at least one switching element is interrupted. This is particularly easy to implement for signaling devices having one or more Öffnerkontakte that are opened upon actuation of the signaling device. However, the invention is not limited to this and can be realized, for example, for signaling devices that provide a non-floating output signal.

Bei der neuen Sicherheitsschaltvorrichtung laufen die Informationen (Meldesignal vom Meldegerät) und die Energie für den Betrieb des zumindest einen Schaltelements zeitgleich und auf demselben Weg. Der Wegfall der Versorgungsspannung für das zumindest eine Schaltelement ist mit der Information, dass eine Sicherheitsanforderung vorliegt, identisch. Im Gegensatz dazu wird die Versorgungsspannung für die ausgangsseitigen Schaltelemente bei manchen herkömmlichen Sicherheitsschaltvorrichtungen, die höhere Sicherheitskategorien erfüllen, getrennt von der Versorgungsspannung für das ausgangsseitige Schaltelement geführt. Da die Information (Meldesignal vom Meldegerät) und die Energie dann getrennt voneinander geführt sind, werden relativ aufwändige Auswerte- und Steuereinheiten benötigt, die ein Unterbrechen des Stromversorgungspfades zu dem Verbraucher gewährleisten, sobald die entsprechende Information (Meldesignal vom Meldegerät) vorliegt. Da die Auswertung des Meldesignals eine sicherheitskritische Aufgabe ist, sind die Auswerte- und Steuereinheiten der bekannten Sicherheitsschaltvorrichtungen typischerweise mehrkanalig-redundant aufgebaut. Dieser Aufwand ist bei der neuen Sicherheitsschaltvorrichtung nicht erforderlich, die daher deutlich kostengünstiger realisiert werden kann.In the new safety switching device, the information (signaling signal from the signaling device) and the energy for the operation of the at least one switching element run simultaneously and in the same way. The elimination of the supply voltage for the at least one switching element is identical to the information that a security request is present. In contrast, the supply voltage for the output-side switching elements is performed separately from the supply voltage for the output-side switching element in some conventional safety switching devices that meet higher safety categories. Since the information (signal from the annunciator) and the energy are then separated, relatively complex evaluation and control units are required to ensure an interruption of the power supply path to the consumer, as soon as the corresponding information (notification signal from the annunciator) is present. Since the evaluation of the message signal is a safety-critical task, the evaluation and control units of the known safety switching devices typically multi-channel redundant design. This effort is not required in the new safety switching device, which can therefore be realized significantly cheaper.

Andererseits verfügt die neue Sicherheitsschaltvorrichtung über eine Auswerte- und Steuereinheit, die dazu ausgebildet ist, Funktionstests durchzuführen, um die Schaltfunktion des zumindest einen Schaltelements zu überwachen. Hierdurch unterscheidet sich die neue Sicherheitsschaltvorrichtung von einfachen Geräten, wie beispielsweise dem oben genannten PNOZ® X1. Da die (im Gegensatz zum PNOZ® X1) neue Auswerte- und Steuereinheit erfindungsgemäß jedoch nicht mehr alleine für die Übertragung der Information vom Meldegerät an das ausgangsseitige Schaltelement verantwortlich ist, kann die Auswerte- und Steuereinheit einkanalig und damit relativ preisgünstig ausgebildet sein.On the other hand, the new safety switching device has an evaluation and control unit, which is designed to perform functional tests in order to monitor the switching function of the at least one switching element. This distinguishes the new safety switching device from simple devices, such as the PNOZ® X1 mentioned above. Since the (in contrast to the PNOZ® X1) new evaluation and control unit according to the invention, however, is no longer solely responsible for the transmission of information from the signaling device to the output-side switching element, the evaluation and control unit can be single-channel and thus relatively inexpensive.

Insgesamt lassen sich mit der neuen Sicherheitsschaltvorrichtung zumindest die Anforderungen der Kategorie 3 der europäischen Norm EN 954-1 (oder vergleichbare Sicherheitsanforderungen) erfüllen, da sowohl eine redundante Abschaltung als auch definierte Funktionstests der Schaltelemente vorgesehen sind. Andererseits kann die Auswerte- und Steuereinheit der neuen Sicherheitsschaltvorrichtung, die für die Durchführung der Funktionstests verantwortlich ist, deutlich einfacher und kostengünstiger realisiert werden als bei vergleichbaren Sicherheitsschaltvorrichtungen.Overall, at least the requirements of category 3 of the European standard EN 954-1 (or comparable safety requirements) can be met with the new safety switching device, since both a redundant shutdown and defined functional tests of the switching elements are provided. On the other hand, the evaluation and control unit of the new safety switching device, which is responsible for carrying out the functional tests, can be realized much easier and cheaper than comparable safety switching devices.

Die oben genannte Aufgabe ist daher vollständig gelöst.The above object is therefore completely solved.

In einer Ausgestaltung ist der zumindest eine Eingang außerdem zum Zuführen einer Versorgungsspannung ausgebildet, die für den Betrieb der Auswerte- und Steuereinheit erforderlich ist.In one embodiment, the at least one input is also designed to supply a supply voltage, which is required for the operation of the evaluation and control unit.

Grundsätzlich wäre es denkbar, die Versorgungsspannung für die Auswerte- und Steuereinheit über einen anderen (weiteren) Eingang zuzuführen. Dies würde es ermöglichen, dass die Auswerte- und Steuereinheit in Betrieb bleibt, auch wenn das Meldegerät eine Sicherheitsanforderung signalisiert und damit gemäß der vorliegenden Erfindung die Versorgungsspannung für das zumindest eine Schaltelement unterbricht. Die bevorzugte Ausgestaltung ist jedoch einfacher zu realisieren. Sie ermöglicht außerdem eine Realisierung mit weniger Anschlussklemmen, so dass beispielsweise die Gehäusebreite der neuen Sicherheitsschaltvorrichtung reduziert werden kann. Darüber hinaus hat diese Ausgestaltung zur Folge, dass die Auswerte- und Steuereinheit nach jeder Sicherheitsanforderung zwangsläufig wieder initialisiert werden muss, was in vorteilhafter Weise dazu genutzt werden kann, die Auswerte- und Steuereinheit einem Selbsttest zu unterziehen.In principle, it would be conceivable to supply the supply voltage for the evaluation and control unit via another (further) input. This would allow the evaluation and control unit remains in operation, even if the signaling device signals a security request and thus interrupts the supply voltage for the at least one switching element according to the present invention. However, the preferred embodiment is easier to implement. It also allows a realization with fewer terminals, so that, for example, the housing width of the new safety switching device can be reduced. In addition, this design has the consequence that the evaluation and control unit must be inevitably reinitialized after each security request, which can be used in an advantageous manner to subject the evaluation and control unit to a self-test.

In einer weiteren Ausgestaltung beinhaltet die Sicherheitsschaltvorrichtung ein Entkoppelungsnetzwerk, das dazu ausgebildet ist, die Versorgungsspannung für das zumindest eine Schaltelement und die Versorgungsspannung für die Auswerte- und Steuereinheit voneinander zu entkoppeln.In a further embodiment, the safety switching device includes a decoupling network, which is designed to decouple the supply voltage for the at least one switching element and the supply voltage for the evaluation and control unit from each other.

Mit dieser Ausgestaltung wird eine Rückwirkung vom Lastkreis auf die Auswerte- und Steuereinheit vermieden. Die Auswerte- und Steuereinheit ist dadurch besser gegen Störeinflüsse von außen und dadurch hervorgerufene Fehlfunktionen geschützt.With this embodiment, a reaction from the load circuit to the evaluation and control unit is avoided. The evaluation and control unit is thus better protected against external interference and thus caused malfunctions.

In einer weiteren Ausgestaltung beinhaltet das Entkoppelungsnetzwerk ein erstes Zeitglied, um die Versorgungsspannung für das zumindest eine Schaltelement relativ zu der Versorgungsspannung für die Auswerte- und Steuereinheit zu verzögern.In a further embodiment, the decoupling network includes a first timer to delay the supply voltage for the at least one switching element relative to the supply voltage for the evaluation and control unit.

In dieser Ausgestaltung sind die Versorgungsspannungen für das zumindest eine Schaltelement und die Auswerte- und Steuereinheit nicht nur schaltungstechnisch voneinander entkoppelt, sondern auch zeitlich voneinander getrennt. Da die Auswerte- und Steuereinheit ihre Versorgungsspannung nach dieser Ausgestaltung "früher" erhält als das zumindest eine Schaltelement, ist gewährleistet, dass die Auswerte- und Steuereinheit interne Selbsttests abschließen kann, bevor sie das zumindest eine Schaltelement ansteuert. Eine fehlerhafte Freigabe des Stromversorgungspfades zu dem Verbraucher wird hierdurch noch besser vermieden.In this embodiment, the supply voltages for the at least one switching element and the evaluation and control unit are not only decoupled from each other in terms of circuitry, but also separated from one another in terms of time. Since the evaluation and control unit receives its supply voltage according to this embodiment "earlier" than the at least one switching element, it is ensured that the evaluation and control unit can complete internal self-tests before it controls the at least one switching element. A faulty release of the power supply path to the consumer is thereby even better avoided.

In einer weiteren Ausgestaltung beinhaltet die Sicherheitsschaltvorrichtung eine Resetschaltung, die dazu ausgebildet ist, die Auswerte- und Steuereinheit bei jeder erneuten Wiederkehr der Versorgungsspannung in einen definierten Startzustand zu bringen.In a further embodiment, the safety switching device includes a reset circuit, which is designed to bring the evaluation and control unit at each renewed return of the supply voltage in a defined start state.

Diese Ausgestaltung erleichtert die Realisierung der Auswerte- und Steuereinheit mit einem (einkanaligen) Mikrocontroller, Mikroprozessor oder dergleichen. Ein Reset, der bei jeder erneuten Spannungswiederkehr erzwungen wird, gewährleistet, dass die Auswerte- und Steuereinheit stets aus derselben definierten Startposition beginnt. Dadurch ist sichergestellt, dass die Auswerte- und Steuereinheit ihre Selbsttests jedes Mal vollständig durchläuft, bevor der Stromversorgungspfad zu dem Verbraucher geschlossen wird. Aufgrund dessen kann die Auswerte- und Steuereinheit ohne weiteres einkanalig realisiert werden.This embodiment facilitates the realization of the evaluation and control unit with a (single-channel) microcontroller, microprocessor or the like. A reset, which is forced every time power is restored, ensures that the evaluation and control unit always starts from the same defined starting position. This ensures that the evaluation and control unit completes its self-tests each time before the power supply path to the Consumer is closed. Due to this, the evaluation and control unit can be easily realized with one channel.

In einer weiteren Ausgestaltung ist die Auswerte- und Steuereinheit einkanalig ausgebildet.In a further embodiment, the evaluation and control unit is designed as a single channel.

Diese Ausgestaltung profitiert von den zuvor beschriebenen Möglichkeiten und sie ermöglicht eine besonders kostengünstige Realisierung der neuen Sicherheitsschaltvorrichtung.This embodiment benefits from the possibilities described above and enables a particularly cost-effective implementation of the new safety switching device.

In einer weiteren Ausgestaltung beinhaltet die Auswerte- und Steuereinheit einen Mikrocontroller, der dazu ausgebildet ist, die Funktionstests zu den definierten Zeitpunkten, insbesondere vor dem Schließen des Stromversorgungspfades zu dem Verbraucher, durchzuführen.In a further embodiment, the evaluation and control unit includes a microcontroller, which is designed to carry out the functional tests at the defined times, in particular before closing the power supply path to the consumer.

Der Begriff "Mikrocontroller" wird hier synonym für vergleichbare Bauelemente verwendet, deren Funktionsumfang zumindest herstellerseitig festgelegt werden kann. Er ist also nicht auf Mikrocontroller im engeren Sinne beschränkt, sondern umfasst beispielsweise auch Mikroprozessoren mit oder ohne externen Speicher oder andere programmierbare Bauelemente. Diese Ausgestaltung ermöglicht eine besonders einfache und kostengünstige Realisierung der neuen Sicherheitsschaltvorrichtung, wobei der jeweilige Funktionsumfang individuell festgelegt werden kann. Dadurch können beispielsweise Sicherheitsschaltvorrichtungen kostengünstig realisiert werden, die für verschiedene Arten von Meldegeräten und/oder in Verbindung mit verschiedenen Arten von Schaltelementen vorgesehen sind.The term "microcontroller" is used here synonymously for comparable components whose functional scope can be determined at least by the manufacturer. It is therefore not limited to microcontrollers in the narrower sense, but also includes, for example, microprocessors with or without external memory or other programmable components. This embodiment allows a particularly simple and cost-effective implementation of the new safety switching device, wherein the respective range of functions can be set individually. As a result, for example, safety switching devices can be realized inexpensively, which are provided for different types of signaling devices and / or in connection with different types of switching elements.

In einer weiteren Ausgestaltung beinhaltet die Sicherheitsschaltvorrichtung ein zweites Zeitglied, das dazu ausgebildet ist, eine Verbindung zwischen der Auswerte- und Steuereinheit und dem zumindest einen Schaltelement für eine definierte Zeitspanne, gemessen von dem Anlegen der Versorgungsspannung an, zu sperren.In a further embodiment, the safety switching device includes a second timer, which is designed to block a connection between the evaluation and control unit and the at least one switching element for a defined period of time, measured from the application of the supply voltage.

Auch diese Ausgestaltung trägt dazu bei, ein vorzeitiges und/oder fehlerhaftes Schließen des Stromversorgungspfades zu dem Verbraucher zu verhindern, selbst wenn das zumindest eine Schaltelement mit einer einkanaligen Auswerte- und Steuereinheit angesteuert wird. In Kombination mit den bereits zuvor beschriebenen Ausgestaltungen wird eine noch höhere Sicherheit bei der Inbetriebnahme des Verbrauchers erreicht.This embodiment also helps to prevent premature and / or faulty closing of the power supply path to the consumer, even if the at least one switching element is driven by a single-channel evaluation and control unit. In combination with the embodiments already described above, an even higher level of safety is achieved when commissioning the consumer.

In einer weiteren Ausgestaltung beinhaltet die neue Sicherheitsschaltvorrichtung zumindest zwei Schaltelemente, die in Reihe zueinander angeordnet sind, um den Stromversorgungspfad zu dem Verbraucher redundant zu unterbrechen, wobei die Auswerte- und Steuereinheit dazu ausgebildet ist, ein erstes dynamisches Steuersignal für ein erstes der zumindest zwei Schaltelemente zu erzeugen, sowie ein zweites, insbesondere statisches, Steuersignal für ein zweites der zumindest zwei Schaltelemente.In a further embodiment, the new safety switching device includes at least two switching elements, which are arranged in series to redundantly interrupt the power supply path to the load, wherein the evaluation and control unit is adapted to a first dynamic control signal for a first of the at least two switching elements to generate, and a second, in particular static, control signal for a second of the at least two switching elements.

Diese Ausgestaltung der Erfindung verwendet im Lastkreis redundante Schaltelemente, um ein Abschalten des Verbrauchers selbst dann zu ermöglichen, wenn eines der Schaltelemente beim Schaltvorgang versagt. Darüber hinaus werden die zumindest zwei redundanten Schaltelemente jedoch noch diversitär zueinander angesteuert, das heißt mit zwei voneinander verschiedenen Steuersignalen. Fehlfunktionen der neuen Sicherheitsschaltvorrichtung sind dadurch noch unwahrscheinlicher. Besonders bevorzugt ist es, wenn eines der Steuersignale ein dynamisches Signal ist, während das andere Steuersignal ein statisches Signal ist. Beide Arten von Steuersignalen lassen sich nämlich sehr einfach mit einem Mikrocontroller oder einem vergleichbaren Bauelement erzeugt werden, wobei aufgrund der unterschiedlichen Natur der Steuersignale eine zeitgleiche Fehlsteuerung der redundanten Schaltelemente äußerst unwahrscheinlich ist.This embodiment of the invention uses redundant switching elements in the load circuit in order to enable shutdown of the load even if one of the switching elements fails during the switching operation. In addition, however, the at least two redundant switching elements are still driven in a diversified manner to each other, that is, with two different control signals. Malfunction of the new safety switching device are thereby even less likely. It is particularly preferred if one of the control signals is a dynamic signal, while the other control signal is a static signal. That is to say, both types of control signals can be generated very easily with a microcontroller or a comparable component, wherein due to the different nature of the control signals a simultaneous fault control of the redundant switching elements is extremely unlikely.

In einer weiteren Ausgestaltung ist das zumindest eine Schaltelement ein Wechselschalter mit zumindest zwei zueinander alternativen Schaltpfaden, wobei ein erster Schaltpfad im Stromversorgungspfad zu dem Verbraucher liegt, und wobei ein zweiter Schaltpfad zu einer Überwachungseinheit führt.In a further embodiment, the at least one switching element is a changeover switch with at least two mutually alternative switching paths, wherein a first switching path is in the power supply path to the consumer, and wherein a second switching path leads to a monitoring unit.

Diese Ausgestaltung, die auch für sich genommen eine erfinderische Weiterbildung bekannter Sicherheitsschaltvorrichtungen darstellt, ermöglicht eine besonders kostengünstige Realisierung der neuen Sicherheitsschaltvorrichtung, insbesondere mit potentialfreien Ausgängen. Durch die Verwendung eines Wechselschalters ist es nämlich in diesem Fall möglich, "einfache" Wechslerrelais anstelle von wesentlich teureren und größeren Relais mit zwangsgeführten Schließer- und Öffnerkontakten einzusetzen. Diese Ausgestaltung erlaubt daher eine besonders kostengünstige und kleinbauende Sicherheitsschaltvorrichtung, mit der sich trotzdem zumindest die Kategorie 3 der europäischen Norm EN 954-1 bzw. eine vergleichbare Sicherheitsstufe erreichen lässt.This embodiment, which in itself represents an inventive development of known safety switching devices, allows a particularly cost-effective implementation of the new safety switching device, in particular with potential-free outputs. In this case, the use of a changeover switch makes it possible to use "simple" changeover relays instead of much more expensive and larger relays with positively driven make and break contacts. Therefore, this embodiment allows a particularly cost-effective and small-scale safety switching device, with which nevertheless at least Category 3 of European standard EN 954-1 or a comparable level of security can be achieved.

Es versteht sich, dass die vorstehend genannten und die nachstehend noch zu erläuternden Merkmale nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Kombinationen oder in Alleinstellung verwendbar sind, ohne den Rahmen der vorliegenden Erfindung zu verlassen.It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination given, but also in other combinations or in isolation, without departing from the scope of the present invention.

Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und werden in der nachfolgenden Beschreibung näher erläutert. Es zeigen:

Figur 1
einen Roboter als Beispiel für eine automatisiert arbeitende Anlage mit der neuen Sicherheitsschalt- vorrichtung,
Figur 2
eine schematische Darstellung eines ersten Aus- führungsbeispiels der neuen Sicherheitsschaltvorrich- tung, und
Figur 3
mehrere Zeitdiagramme zur Erläuterung der Funktions- weise eines Ausführungsbeispiels der neuen Sicher- heitsschaltvorrichtung.
Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description. Show it:
FIG. 1
a robot as an example of an automated system with the new safety switching device,
FIG. 2
a schematic representation of a first exemplary embodiment of the new safety switching device, and
FIG. 3
several timing diagrams for explaining the operation of an embodiment of the new safety switching device.

In Figur 1 ist eine automatisiert arbeitende Anlage, in der die neue Sicherheitsschaltvorrichtung zum Einsatz kommt, in ihrer Gesamtheit mit der Bezugsziffer 10 bezeichnet.In FIG. 1 is an automated system in which the new safety switching device is used, designated in its entirety by the reference numeral 10.

Die Anlage 10 beinhaltet hier einen Roboter 12, dessen Arbeitsraum durch einen Schutzzaun mit einer Schutztür 14 gesichert ist. Die geöffnete oder geschlossene Position der Schutztür 14 wird mit einem Schutztürsensor 16 detektiert. Der Schutztürsensor beinhaltet einen ersten Teil 16a, der an dem beweglichen Teil der Schutztür 14 befestigt ist, sowie einen zweiten Teil 16b am feststehenden Rahmen der Schutztür 14. In einem Ausführungsbeispiel enthält der erste Teil 16a einen Transponder, der nur bei geschlossener Schutztür von dem zweiten Teil 16b (Lesegerät) erkannt und ausgewertet werden kann. Die Erfindung ist jedoch nicht auf diese Art von Schutztürsensoren und darüber hinaus auch nicht auf Schutztürsensoren als Meldegeräte beschränkt. Die Erfindung kann gleichermaßen mit anderen Meldegeräten, insbesondere Not-Aus-Tastern, sowie Drehzahlsensoren, Lichtschranken und anderem verwendet werden.The plant 10 here includes a robot 12 whose working space is secured by a protective fence with a protective door 14. The open or closed position of the protective door 14 is detected with a protective door sensor 16. The safety door sensor includes a first part 16a attached to the movable one In one embodiment, the first part 16a includes a transponder, which can only be recognized and evaluated by the second part 16b (reading device) when the protective door is closed. However, the invention is not limited to this type of safety door sensors and moreover not to protective door sensors as signaling devices. The invention can be equally used with other signaling devices, especially emergency stop buttons, as well as speed sensors, light barriers and other.

Mit der Bezugsziffer 18 ist eine Sicherheitsschaltvorrichtung nach der vorliegenden Erfindung bezeichnet. Sie dient dazu, den Roboter 12 beim Öffnen der Schutztür 14 abzuschalten.Reference numeral 18 denotes a safety switching device according to the present invention. It serves to switch off the robot 12 when the protective door 14 is opened.

Die Anlage 10 ist hier ferner mit einem Not-Aus-Taster 20 als weiterem Meldegerät dargestellt. Der Not-Aus-Taster 20 wird mit einer weiteren Sicherheitsschaltvorrichtung 22 nach der vorliegenden Erfindung ausgewertet. Die Sicherheitsschaltvorrichtungen 18 und 22 besitzen in dem gezeigten Ausführungsbeispiel jeweils potentialfreie Ausgänge (wird nachfolgend anhand Figur 2 näher erläutert), die in Serie miteinander verbunden sind, um eine logische UND-Verknüpfung aufzubauen.The system 10 is also shown here with an emergency stop button 20 as a further reporting device. The emergency stop button 20 is evaluated with another safety switching device 22 according to the present invention. The safety switching devices 18 and 22 have in the embodiment shown each potential-free outputs (hereinafter referred to FIG. 2 explained in more detail), which are connected in series with each other to construct a logical AND operation.

An einem Ende der logischen Kette, in diesem Fall am Ausgang der Sicherheitsschaltvorrichtung 22, sind zwei Schütze 24, 26 angeordnet, deren Arbeitskontakte wiederum seriell zueinander in einem Stromversorgungspfad 28 zu dem Roboter 12 liegen. Bei den Arbeitskontakten der beiden Schütze 24, 26 handelt es sich um Schließerkontakte, die also nur geschlossen sind, wenn die Eingangskreise der Schütze 24, 26 mit einer Arbeitsspannung angeregt sind, die höher als die Anzugs- bzw. Haltespannung der Schütze 24, 26 ist. Die Arbeitsspannung 30 beträgt beispielsweise 24 Volt und wird in diesem Ausführungsbeispiel über die in Serie geschalteten Ausgangskontakte der Sicherheitsschaltvorrichtungen 18 und 22 zu den Schützen 24, 26 geschleift. Beim Öffnen der Schutztür 14 und/oder beim Betätigen des Not-Aus-Tasters 20 unterbrechen die Sicherheitsschaltvorrichtungen 18, 22 den Strompfad, über den die Eingangskreise der Schütze 24, 26 mit der Arbeitsspannung 30 verbunden sind. Dadurch fallen die Schütze 24, 26 ab, der Roboter 12 wird abgeschaltet. Die Schütze 24, 26 und (mittelbar) der Roboter 12 sind damit Verbraucher im Sinne der vorliegenden Erfindung.At one end of the logical chain, in this case at the output of the safety switching device 22, two contactors 24, 26 are arranged, whose normally open contacts are in series with each other in a power supply path 28 to the robot 12. In the normally open contacts of the two contactors 24, 26 are normally open contacts, which are therefore closed only when the input circuits of the contactors 24, 26 with a working voltage are excited, which is higher than the tightening or holding voltage of the contactors 24, 26. The working voltage 30 is for example 24 volts and is looped in this embodiment via the series-connected output contacts of the safety switching devices 18 and 22 to the shooters 24, 26. When opening the protective door 14 and / or upon actuation of the emergency stop button 20, the safety switching devices 18, 22 interrupt the current path, via which the input circuits of the contactors 24, 26 are connected to the working voltage 30. As a result, the shooters 24, 26 fall off, the robot 12 is turned off. The contactors 24, 26 and (indirectly) the robot 12 are thus consumers in the context of the present invention.

Es versteht sich, dass die Anlage 10 hier in vereinfachter Weise gezeigt ist. Insbesondere sind hier nur zwei einfache Sicherheitskreise zum Abschalten des Roboters 12 dargestellt. In der Praxis sind typischerweise weitere Sicherheitskreise vorhanden. Beispielsweise haben die Schütze 24, 26 typischerweise noch zwangsgeöffnete Öffner-Kontakte, die auf zumindest eine der Sicherheitsschaltvorrichtungen 18, 22 zurückgeführt sind, um ein Einschalten des Roboters 12 zu verhindern, wenn einer der Schütze 24, 26 verschweißt ist. Des Weiteren ist typischerweise eine Betriebssteuerung (hier nicht dargestellt) vorgesehen, die den normalen Betriebsablauf des Roboters 12 steuert.It is understood that the system 10 is shown here in a simplified manner. In particular, only two simple safety circuits for switching off the robot 12 are shown here. In practice, there are typically more safety circuits available. For example, the contactors 24, 26 typically still have positively-open contact contacts returned to at least one of the safety switching devices 18, 22 to prevent the robot 12 from turning on when one of the contactors 24, 26 is welded. Furthermore, an operation control (not shown) is typically provided which controls the normal operation of the robot 12.

Figur 2 zeigt die Sicherheitsschaltvorrichtung 22 in weiteren Details. Die Sicherheitsschaltvorrichtung 18 kann grundsätzlich in gleicher Weise aufgebaut sein, oder auch eine zweikanalige Auswerte- und Steuereinheit sowie potentialfreie Ausgänge in konventioneller Bauart besitzen. FIG. 2 shows the safety switching device 22 in further details. The safety switching device 18 can basically be constructed in the same way, or even have a two-channel evaluation and control unit and potential-free outputs of conventional design.

Die Komponenten der Sicherheitsschaltvorrichtung 22 sind in an sich bekannter Weise in einem kompakten Gerätegehäuse 36 angeordnet. Das Gehäuse 36 besitzt Anschlüsse, beispielsweise in Form von Schraub- oder Federklemmen. Mit den Bezugsziffern 38, 40 sind zwei Anschlüsse bezeichnet, die hier sowohl zum Anschließen des Not-Aus-Tasters 20 als auch zum Zuführen einer Versorgungsspannung 42 für die Sicherheitsschaltvorrichtung 22 dienen. Die Versorgungsspannung 42 ist hier als Gleichspannung dargestellt, und sie ist über jeweils einen Öffnerkontakt des Not-Aus-Tasters 20 an die Anschlüsse 38, 40 angeschlossen. Alternativ hierzu könnte die Spannung 42 grundsätzlich auch eine Wechselspannung sein.The components of the safety switching device 22 are arranged in a conventional manner in a compact device housing 36. The housing 36 has connections, for example in the form of screw or spring terminals. The reference numerals 38, 40, two terminals are designated, which serve both for connecting the emergency stop button 20 and for supplying a supply voltage 42 for the safety switching device 22 here. The supply voltage 42 is shown here as a DC voltage, and it is connected via one NC contact of the emergency stop button 20 to the terminals 38, 40. Alternatively, the voltage 42 could in principle also be an alternating voltage.

Mit der Bezugsziffer 46, 48 sind zwei weitere Anschlussklemmen bezeichnet, an die eine Reihenschaltung aus einem Starttaster 50 und zwei Öffnerkontakten 52, 54 angeschlossen ist. Der Öffnerkontakt 52 gehört zu dem Schütz 24 aus Figur 1 und ist mit den Schließerkontakten des Schützes 24 zwangsgeführt. In gleicher Weise ist der öffnerkontakt 54 mit den Schließerkontakten des Schützes 26 zwangsgeführt.Reference numerals 46, 48 designate two further connection terminals, to which a series circuit comprising a start button 50 and two normally closed contacts 52, 54 is connected. The normally closed contact 52 is part of the contactor 24 FIG. 1 and is forcibly guided with the normally open contacts of the contactor 24. In the same way, the opener contact 54 is forcibly guided with the normally open contacts of the contactor 26.

Die Sicherheitsschaltvorrichtung 22 ist hier mit insgesamt vier Schaltelementen 56, 56', 58, 58' dargestellt. Die Schaltelemente 56, 58 bzw. 56', 58' sind jeweils in Serie zueinander angeordnet, und sie bilden zwei Stromversorgungspfade aus, über die die beiden Schütze 24, 26 angeregt werden können. Der zweite Stromversorgungspfad mit den Schaltelementen 56', 58' ist dabei aus Gründen der Übersichtlichkeit nur teilweise dargestellt, nämlich ohne die Details der Ansteuerung der Schaltelemente 56', 58'. Die Ansteuerung der Schaltelemente 56', 58' erfolgt jedoch in gleicher Weise wie die Ansteuerung der Schaltelemente 56, 58. Deswegen beziehen sich die nachfolgenden Erläuterungen gleichermaßen auch auf die Schaltelemente 56', 58', sofern nichts anderes angegeben ist.The safety switching device 22 is shown here with a total of four switching elements 56, 56 ', 58, 58'. The switching elements 56, 58 and 56 ', 58' are each arranged in series with each other, and they form two power supply paths, via which the two contactors 24, 26 can be excited. The second power supply path with the switching elements 56 ', 58' is shown only partially for reasons of clarity, namely without the details of the control of the switching elements 56 ', 58'. The control of the switching elements 56 ', 58', however, takes place in the same manner as the control of the switching elements 56, 58. For this reason, the following explanations apply equally to the switching elements 56 ', 58', unless stated otherwise.

Die Schaltelemente 56, 58 sind hier als Wechselschalter realisiert. Jedes Schaltelement 56, 58 besitzt drei Anschlüsse 60, 62, 64, die hier aus Gründen der Übersichtlichkeit nur beim Schaltelement 56 bezeichnet sind. Die drei Anschlüsse 60, 62, 64 bilden zwei zueinander alternative Schaltpfade aus. Ein erster Schaltpfad 66 verläuft zwischen den Anschlüssen 62 und 64 (in Figur 2 in gestrichelter Linie dargestellt). Ein zweiter, alternativer Schaltpfad 68 verläuft von dem Anschluss 60 zum Anschluss 64 (in durchgezogener Linie dargestellt). Der Anschluss 64 bildet somit eine gemeinsame Wurzel der alternativen Schaltpfade 66, 68. Zu einem Zeitpunkt kann jeweils nur einer der Schaltpfade 66, 68 geschlossen sein. Der andere ist in diesem Fall geöffnet.The switching elements 56, 58 are realized here as a changeover switch. Each switching element 56, 58 has three terminals 60, 62, 64, which are designated here only for switching element 56 for reasons of clarity. The three terminals 60, 62, 64 form two mutually alternative switching paths. A first switching path 66 extends between the terminals 62 and 64 (in FIG FIG. 2 shown in dashed line). A second, alternative switching path 68 extends from port 60 to port 64 (shown in solid line). The connection 64 thus forms a common root of the alternative switching paths 66, 68. Only one of the switching paths 66, 68 can be closed at a time. The other one is open in this case.

Die Wechselschalter 56, 58 sind in einem Ausführungsbeispiel der Erfindung Wechslerrelais mit jeweils einem Kontakt, der zwischen den Anschlüssen 60, 62 umgeschaltet wird. In weiteren Ausführungsbeispielen können die Wechselschalter jedoch auch als oder zumindest mit Hilfe von Haltleiterschaltelementen realisiert sein.The changeover switches 56, 58 in one embodiment of the invention are changeover relays, each with a contact that is switched between the terminals 60, 62. In further embodiments, however, the changeover switches can also be realized as or at least with the aid of semiconductor switching elements.

Der Anschluss 62 des Schaltelements 56 ist mit einem Anschluss 70 am Gehäuse 36 der Sicherheitsschaltvorrichtung 22 verbunden. In gleicher Weise ist der Anschluss 66 des Schaltelements 58 mit einem externen Anschluss 72 der Sicherheitsschaltvorrichtung 22 verbunden. Die Wurzeln 64 der beiden Schaltelemente 56, 58 sind in Reihe zueinander verbunden. Damit stellen die ersten Schaltpfade 66 der beiden Schaltelemente 56, 58 einen Stromversorgungspfad zwischen den Anschlüssen 70, 72 der Sicherheitsschaltvorrichtung 22 bereit, der abhängig von der Schaltstellung der Schaltelemente 56, 58 geschlossen oder unterbrochen sein kann. In gleicher Weise stellen die Schaltelemente 56', 58' einen zweiten Stromversorgungspfad zwischen Anschlussklemmen 74, 76 der Sicherheitsschaltvorrichtung 22 bereit. An die Anschlussklemmen 72, 76 sind in der Anwendung gemäß Figur 1 die Schütze 24, 26 angeschlossen. An den Anschlüssen 70, 74 liegt die Arbeitsspannung 30 an, die ggf. in gleicher Weise, wie hier beschrieben, durch die Sicherheitsschaltvorrichtung 18 geschleift wird.The terminal 62 of the switching element 56 is connected to a terminal 70 on the housing 36 of the safety switching device 22. Similarly, the terminal 66 of the switching element 58 is connected to an external terminal 72 of the safety switching device 22. The roots 64 of the two switching elements 56, 58 are connected in series with each other. This is the first one Switching paths 66 of the two switching elements 56, 58 a power supply path between the terminals 70, 72 of the safety switching device 22 ready, which may be closed or interrupted depending on the switching position of the switching elements 56, 58. Likewise, the switching elements 56 ', 58' provide a second power supply path between terminals 74, 76 of the safety switching device 22. To the terminals 72, 76 are in accordance with the application FIG. 1 the contactors 24, 26 connected. At the terminals 70, 74, the working voltage 30 is applied, which is possibly looped through the safety switching device 18 in the same manner as described here.

Die zweiten Schaltpfade 68 aller vier Schaltelemente 56, 56', 58, 58' sind in diesem Ausführungsbeispiel in Reihe miteinander verbunden, und diese Reihenschaltung ist mit einer Überwachungseinheit verbunden, die in Figur 2 mit der Bezugsziffer 78 bezeichnet ist. Die Überwachungseinheit 78 kann zweikanalig ausgebildet sein, was in Figur 2 schematisch angedeutet ist. Es ist jedoch auch möglich, die Überwachungseinheit 78 einkanalig auszubilden. Aufgabe der Überwachungseinheit 78 ist, ein Testsignal 80 in die Reihenschaltung der zweiten Schaltpfade 68 der Schaltelemente 56, 58, 56', 58' einzuspeisen. Wenn die Überwachungseinheit 78 das Testsignal 80 über die genannten Schaltpfade zurücklesen kann, bedeutet dies, dass sich sämtliche Schaltelemente in der in Figur 2 gezeigten Schaltposition befinden. Die Stromversorgungspfade zu den Schützen 24, 26 sind daher unterbrochen.The second switching paths 68 of all four switching elements 56, 56 ', 58, 58' are connected in series in this embodiment, and this series circuit is connected to a monitoring unit, which in FIG. 2 designated by reference numeral 78. The monitoring unit 78 may be formed two-channel, which is in FIG. 2 is indicated schematically. However, it is also possible to design the monitoring unit 78 in one channel. The task of the monitoring unit 78 is to feed a test signal 80 into the series connection of the second switching paths 68 of the switching elements 56, 58, 56 ', 58'. If the monitoring unit 78 can read back the test signal 80 via the said switching paths, this means that all the switching elements in the in FIG. 2 are shown switching position. The power supply paths to the shooters 24, 26 are therefore interrupted.

Die Überwachungseinheit 78 steht mit einem Mikrocontroller 82 in Verbindung, der eine Auswerte- und Steuereinheit im Sinne der vorliegenden Erfindung darstellt. Gemäß einem bevorzugten Ausführungsbeispiel ist nur ein Mikrocontroller 82 vorhanden, wenngleich die Erfindung hierauf nicht beschränkt ist. Der Mikrocontroller 82 ist dazu ausgebildet, die Schaltposition der Schaltelemente 56, 58, 56', 58' einzustellen. Außerdem führt er in der nachfolgend beschriebenen Weise Funktionstests durch, um die Schaltfunktion der Schaltelemente 56, 58, 56', 58' zu überprüfen.The monitoring unit 78 is connected to a microcontroller 82, which is an evaluation and control unit in the sense of the present invention. In a preferred embodiment, only one microcontroller 82 is present, although the invention is not limited thereto. The microcontroller 82 is configured to adjust the switching position of the switching elements 56, 58, 56 ', 58'. He also performs in the manner described below, functional tests to check the switching function of the switching elements 56, 58, 56 ', 58'.

Die Schaltelemente 56, 58 benötigen zum Umschalten eine Versorgungsspannung, die an einer Leitung 84 bzw. einem Kondensator 86 anliegt. Die Versorgungsspannung 84, 86 entspricht hier weitgehend der Versorgungsspannung 42, die an den Anschlüssen 38, 40 der Sicherheitsschaltvorrichtung 22 anliegt. Die Spannung auf der Leitung 84 ist über den Eingangskreis der Schaltelemente 56, 58 sowie jeweils einen Transistor 90, 92 geführt. Mit Hilfe der Transistoren 90, 92 kann der Mikrocontroller 82 den Erregerkreis zu jedem Schaltelement 56, 58 schließen oder unterbrechen. Bei geschlossenem Erregerkreis und einer Versorgungsspannung am Kondensator 86 bzw. der Leitung 84, die höher ist als die Anzugsspannung der Schaltelemente 56, 58, schalten die Wechselschalter auf den ersten Schaltpfad 66 um. Fehlt entweder die Versorgungsspannung auf der Leitung 84 (oder sinkt die Spannung hier unter die Haltespannung der Schaltelemente) oder unterbricht der Mikrocontroller 82 den Erregerkreis mit Hilfe der Transistoren 90, 92, fallen die Schaltelemente in ihre Default-Schaltposition zurück, in der der zweite Schaltpfad 68 geschlossen ist. Die Stromversorgungspfade zu den Schützen 24, 26 sind dann unterbrochen.The switching elements 56, 58 need to switch a supply voltage, which is applied to a line 84 and a capacitor 86. The supply voltage 84, 86 here largely corresponds to the supply voltage 42, which is applied to the terminals 38, 40 of the safety switching device 22. The voltage on the line 84 is passed through the input circuit of the switching elements 56, 58 and in each case one transistor 90, 92. With the aid of the transistors 90, 92, the microcontroller 82 can close or interrupt the excitation circuit to each switching element 56, 58. When the excitation circuit is closed and a supply voltage across the capacitor 86 and the line 84, which is higher than the pull-in voltage of the switching elements 56, 58, the changeover switches to the first switching path 66. If either the supply voltage on the line 84 is missing (or if the voltage here drops below the holding voltage of the switching elements) or if the microcontroller 82 interrupts the exciter circuit with the aid of the transistors 90, 92, the switching elements fall back into their default switching position, in which the second switching path 68 is closed. The power supply paths to the shooters 24, 26 are then interrupted.

Mit der Bezugsziffer 88 ist eine Spannungs- und Resetschaltung bezeichnet. Diese beinhaltet hier einen Spannungsregler (nicht gesondert dargestellt), der aus der allgemeinen Versorgungsspannung 42 eine individuelle Versorgungsspannung für den Mikrocontroller 82 erzeugt. Außerdem sorgt die Spannungs- und Resetschaltung 88 dafür, dass der Mikrocontroller 38 nach jeder Spannungswiederkehr an den Anschlüssen 38, 40 in einer definierten Weise startet (Resetfunktion). In einem Ausführungsbeispiel beinhaltet die Spannungs- und Resetschaltung daher noch einen Impulsgenerator (nicht gesondert dargestellt), der mit einem Reseteingang des Mikrocontrollers 82 verbunden ist. Die Versorgungsspannungen für den Mikrocontroller 82 und für die Schaltelemente 56, 58 werden also beide aus der Versorgungsspannung 42 erzeugt, die an dem Eingang der Sicherheitsschaltvorrichtung 22 anliegt. Zur Entkopplung der beiden intern getrennten Versorgungsspannungen ist ein Entkopplungsnetzwerk 94 vorgesehen, das im vorliegenden Ausführungsbeispiel eine Diode und einen Widerstand 95 beinhaltet, die zusammen mit dem Kondensator 86 ein RC-Glied bilden. Der Widerstand 95 bestimmt die Ladezeit bis zum vollständigen Aufladen des Kondensators 86. Daher bildet das RC-Glied aus dem Widerstand 95 und dem Kondensator 86 ein Zeitglied, das dafür sorgt, dass die versorgungsspannung für die Schaltelemente 56, 58 erst mit einer gewissen Verzögerung, gemessen von dem Anlegen der Versorgungsspannung 42 an die Anschlüsse 38, 40, erreicht ist.Reference numeral 88 denotes a voltage and reset circuit. This includes a voltage regulator (not shown separately) which generates an individual supply voltage for the microcontroller 82 from the general supply voltage 42. In addition, the voltage and reset circuit 88 causes the microcontroller 38 to start at each of the terminals 38, 40 in a defined manner after each voltage return (reset function). Therefore, in one embodiment, the voltage and reset circuit still includes a pulse generator (not shown separately) connected to a reset input of the microcontroller 82. The supply voltages for the microcontroller 82 and for the switching elements 56, 58 are thus both generated from the supply voltage 42, which is applied to the input of the safety switching device 22. For decoupling of the two internally separated supply voltages, a decoupling network 94 is provided, which in the present embodiment includes a diode and a resistor 95, which together with the capacitor 86 form an RC element. The resistor 95 determines the charging time until the capacitor 86 is completely charged. Therefore, the RC element comprising the resistor 95 and the capacitor 86 forms a timing element which ensures that the supply voltage for the switching elements 56, 58 does not arrive until after a certain delay, measured from the application of the supply voltage 42 to the terminals 38, 40, is reached.

Mit der Bezugsziffer 96 ist ein sogenannter Watchdog bezeichnet, der ein zweites Zeitglied beinhaltet. Der Watchdog 86 dient einerseits dazu, die Funktion des Mikrocontrollers 82 in an sich bekannter Weise zu überwachen. Hierzu wartet der Watchdog 96 auf regelmäßig wiederkehrende Impulse, die von dem Mikrocontroller 82 geliefert werden müssen. Darüber hinaus ist der Watchdog 86 mit mehreren UND-Gliedern 98 verbunden, mit deren Hilfe er eine Übertragung der Steuersignale vom Mikrocontroller 82 zu den Transistoren 90, 92 unterbinden kann.The reference numeral 96 denotes a so-called watchdog, which includes a second timer. The watchdog 86 serves on the one hand to monitor the function of the microcontroller 82 in a conventional manner. For this purpose, the watchdog 96 waits for regularly recurring pulses from the microcontroller 82 must be delivered. In addition, the watchdog 86 is connected to a plurality of AND gates 98, by means of which it can prevent transmission of the control signals from the microcontroller 82 to the transistors 90, 92.

Die Ansteuerung der Schaltelemente 56, 58 erfolgt in diesem Ausführungsbeispiel diversitär, das heißt mit voneinander verschiedenen Steuersignalen. Die Ansteuerung des Schaltelements 56 (und des Schaltelements 56') erfolgt hier mit einem dynamischen Steuersignal (definierte Impulsfolge), das der Mikrocontroller 82 an einem Ausgang 100 bereitstellt. Das Steuersignal 100 ist über ein UND-Glied sowie einen Kondensator 102 zu dem Transistor 90 geführt. Der Transistor 90 wird nur dann leitfähig, wenn der Mikrocontroller 82 die Impulsfolge am Ausgang 100 mit der vorgesehenen Frequenz und Amplitude erzeugt, und wenn der Watchdog 96 diese Impulsfolge auf den Kondensator 102 durchschaltet.The control of the switching elements 56, 58 takes place in this embodiment diversified, that is, with mutually different control signals. The control of the switching element 56 (and the switching element 56 ') takes place here with a dynamic control signal (defined pulse train), which provides the microcontroller 82 at an output 100. The control signal 100 is fed via an AND gate and a capacitor 102 to the transistor 90. Transistor 90 only becomes conductive when microcontroller 82 generates the pulse train at output 100 at the intended frequency and amplitude, and when watchdog 96 switches this pulse train on to capacitor 102.

Demgegenüber werden die Schaltelemente 58, 58' vom Mikrocontroller 82 mit einem statischen Signal 104 angesteuert. Alternativ hierzu könnten die Schaltelemente 56, 58 auch jeweils mit einem dynamischen oder jeweils einem statischen Signal angesteuert werden, wobei es generell bevorzugt ist, wenn sich die Steuersignale 100, 104 voneinander unterscheiden.In contrast, the switching elements 58, 58 'are controlled by the microcontroller 82 with a static signal 104. Alternatively, the switching elements 56, 58 could also be respectively controlled with a dynamic or in each case a static signal, wherein it is generally preferred if the control signals 100, 104 differ from each other.

Bei einer Fehlerbetrachtung der Wechselschalter 56, 58 nach IEC 62061 sind folgende Fehler zu berücksichtigen:

  1. 1. Die Wechselschalter 56, 58 verbleiben in der angeregten (ersten) Schaltposition 66, obwohl der Eingangskreis entregt (nicht angesteuert) ist.
  2. 2. Die Wechselschalter 56, 58 gehen trotz Anregung des Eingangskreises nicht in die erste Schaltposition 66 über, sondern verbleiben in der zweiten Default-Schaltposition 68.
  3. 3. Es besteht ein Schluss zwischen allen Anschlüssen 60, 62, 64.
If the changeover switches 56, 58 according to IEC 62061 are considered for errors, the following errors must be taken into account:
  1. 1. The changeover switches 56, 58 remain in the excited (first) switching position 66, although the input circuit is de-energized (not driven).
  2. 2. The changeover switches 56, 58 do not go into the first switching position 66 despite excitation of the input circuit, but remain in the second default switching position 68.
  3. 3. There is an end between all ports 60, 62, 64.

Diese Fehler lassen sich beherrschen, indem die Überwachungseinheit 78 die Schaltfunktion der Wechselschalter 56, 58 zusammen mit dem Mikrocontroller 82 testet, bevor der Stromversorgungspfad zu dem Verbraucher geschlossen wird. Dazu erzeugt die Überwachungseinheit 78 das Testsignal 80 und speist es in die Reihenschaltung der zweiten Schaltpfade 68 ein. Wenn sich alle angeschlossenen Wechselschalter in ihrem entregten Default-Zustand befinden, muss die Überwachungseinheit 78 das Testsignal 80 zurücklesen können. Im nächsten Schritt wird nun beispielsweise der Wechselschalter 56 von dem Mikrocontroller 82 umgeschaltet. Das Testsignal 80 darf sich nun nicht mehr zurücklesen lassen, wenn das Umschalten des Wechselschalters fehlerfrei funktionierte und kein Kurzschluss zwischen den Anschlüssen 60, 62, 64 vorliegt. Ist dieser Test bestanden, prüft die Überwachungseinheit der Reihe nach die weiteren Wechselschalter. Lässt sich das Testsignal 80 in einem der Testfälle zurücklesen, liegt einer der oben genannten Fehler vor. Die Überwachungseinheit 78 informiert den Mikrocontroller 82 entsprechend und ein Schließen des Stromversorgungspfades zu den Schützen 24, 26 wird verhindert. Bestehen hingegen sämtliche Wechselschalter den Test, kann der Stromversorgungspfad zu den Schützen 24, 26 geschlossen werden. Sollte ein Wechselschalter dabei nicht auf den ersten Schaltpfad 66 umschalten, würde der angeschlossene Verbraucher nicht einschalten können. Trotz des (nicht getesteten) Fehlers wäre also ein sicherer Zustand gewährleistet.These errors can be mastered by the monitoring unit 78 testing the switching function of the changeover switches 56, 58 together with the microcontroller 82 before the power supply path to the load is closed. For this purpose, the monitoring unit 78 generates the test signal 80 and feeds it into the series connection of the second switching paths 68. If all connected changeover switches are in their de-energized default state, the monitoring unit 78 must be able to read back the test signal 80. In the next step, for example, the changeover switch 56 is switched over by the microcontroller 82. The test signal 80 may now no longer be read back if the switching of the changeover switch worked properly and no short circuit between the terminals 60, 62, 64 is present. If this test is passed, the monitoring unit checks in turn the other changeover switches. If the test signal 80 can be read back in one of the test cases, one of the abovementioned errors is present. The monitoring unit 78 informs the microcontroller 82 accordingly and closing the power supply path to the contactors 24, 26 is prevented. If, on the other hand, all changeover switches pass the test, the power supply path to the contactors 24, 26 can be closed. If a changeover switch does not switch to the first switching path 66, the connected consumers can not turn on. Despite the (untested) error so a safe state would be guaranteed.

Diese Funktionsweise ist anhand der Zeitdiagramme in Figur 3 nochmals bildlich dargestellt. Der oberste Zeitverlauf 110 zeigt das Anlegen der Versorgungsspannung 42 an die Sicherheitsschaltvorrichtung 22, sei es beim Einschalten der gesamten Anlage oder beim Schließen des Not-Aus-Tasters 20. Es sei angenommen, dass der Not-Aus-Taster 20 zu einem Zeitpunkt t1 betätigt wird, so dass die Versorgungsspannung 42 von der Sicherheitsschaltvorrichtung 22 abgetrennt wird.This operation is based on the timing diagrams in FIG. 3 shown again. The top course of time 110 shows the application of the supply voltage 42 of the safety switching apparatus 22, except when switching on of the system or during the closing of the emergency stop button 20. It is assumed that the emergency stop button 20 at a time t 1 is actuated, so that the supply voltage 42 is disconnected from the safety switching device 22.

Der zweite Zeitverlauf 112 zeigt die Versorgungsspannung für den Mikrocontroller 82, die mit Hilfe der Spannungs- und Resetschaltung 88 erzeugt wird. Während einer ersten Zeitspanne 114 nach dem Anlegen der Versorgungsspannung an den Mikrocontroller 82 (bzw. nach einem Reset) führt der Mikrocontroller 82 interne Funktionstests durch, wie dies vom Betrieb von Mikrocontrollern in Sicherheitsschaltvorrichtungen bekannt ist.The second time course 112 shows the supply voltage for the microcontroller 82, which is generated with the aid of the voltage and reset circuit 88. During a first time period 114 after the supply of voltage to the microcontroller 82 (or after a reset), the microcontroller 82 performs internal functional tests, as is known from the operation of microcontrollers in safety switching devices.

Der dritte Zeitverlauf 116 zeigt den Verlauf der Versorgungsspannung an den Erregerkreisen der Schaltelemente 56, 58. Die Versorgungsspannung steigt hier zu Beginn langsamer an, was auf das Zeitverhalten des RC-Gliedes 95, 86 zurückzuführen ist. Die Dimensionierung der Bauelemente ist so gewählt, dass die Versorgungsspannung an den Schaltelementen 56, 58 erst dann voll anliegt, wenn der Mikrocontroller 82 seine internen Selbsttests beendet hat.The third time profile 116 shows the course of the supply voltage to the exciter circuits of the switching elements 56, 58. The supply voltage increases here at the beginning slower, which is due to the timing of the RC element 95, 86. The dimensioning of the components is selected so that the supply voltage to the switching elements 56, 58 only fully applied when the microcontroller 82 has completed its internal self-tests.

Der vierte Zeitverlauf 118 ist das Ausgangssignal am Watchdog 96. Mit diesem Signal werden die Ausgänge 100, 104 des Mikrocontrollers 82 zu den Transistoren 90, 92 an den Schaltelementen 56, 58 durchgeschaltet. Erst ab dem Zeitpunkt t2 ist der Mikrocontroller 82 also in der Lage, die Schaltelemente 56, 58 anzusteuern.The fourth time course 118 is the output signal at the watchdog 96. With this signal, the outputs 100, 104 of the microcontroller 82 are switched through to the transistors 90, 92 at the switching elements 56, 58. Only from the time t 2 , the microcontroller 82 is thus able to control the switching elements 56, 58.

Der fünfte Verlauf zeigt das Testsignal 80, das von der Überwachungseinheit 78 in den Kreis der zweiten Schaltpfade 68 eingespeist wird.The fifth course shows the test signal 80, which is fed by the monitoring unit 78 into the circuit of the second switching paths 68.

In den beiden nächsten Verläufen sind dann die Steuersignale 100 und 104 für die Schaltelemente 56, 58 gezeigt. Zunächst wird jeweils ein Steuersignal für eine Zeitspanne 120 bzw. 122 aktiviert, wobei die Zeitspannen 120, 122 versetzt zueinander sind. Außerdem liegen die Steuersignale in den Zeitspannen 120, 122 zeitgleich zu dem Testsignal 80. Wenn das Testsignal 80 während der Zeitspannen 120 bzw. 122 von der Überwachungseinheit 78 nicht mehr zurückgelesen werden kann, was in Figur 3 schematisch angedeutet ist, war das Umschalten des entsprechenden Schaltelements 56, 58 erfolgreich. Nach erfolgreichem Abschluss der Tests kann der Mikrocontroller 82 die Schaltelemente 56, 58 in ihre erste Schaltposition 66 umschalten und die Stromversorgungspfade zu den Schützen 24, 26 dadurch schließen (Zeitpunkt t3).In the next two progressions, the control signals 100 and 104 for the switching elements 56, 58 are shown. First, a control signal is respectively activated for a time period 120 or 122, wherein the time periods 120, 122 are offset from one another. In addition, the control signals in the periods 120, 122 are at the same time as the test signal 80. If the test signal 80 can not be read back by the monitoring unit 78 during the periods 120 and 122, respectively, which is described in US Pat FIG. 3 is indicated schematically, the switching of the corresponding switching element 56, 58 was successful. Upon successful completion of the tests, the microcontroller 82 may switch the switching elements 56, 58 to their first switching position 66 and thereby terminate the power supply paths to the contactors 24, 26 (time t 3 ).

Das unterste Diagramm zeigt schließlich den Verlauf 124 der Arbeitsspannung 30 an den Eingangskreisen der Schütze 24, 26. Die Schütze 24, 26 können ab dem Zeitpunkt t3 anziehen, der Roboter 12 kann in Betrieb gehen. Wird zum Zeitpunkt t1 der Not-Aus-Taster 20 betätigt, fällt (nach einer hier nicht berücksichtigten Entladezeit für den Kondensator 86) die Versorgungsspannung für die Schaltelemente 56, 58 weg. Außerdem entfallen die Steuersignale 100, 104 für die Schaltelemente 56, 58. beide Ereignisse bewirken, dass der Stromversorgungspfad zu den Schützen 24, 26 unterbrochen wird.The bottom diagram finally shows the curve 124 of the working voltage 30 at the input circuits of the contactors 24, 26. The contactors 24, 26 can be tightened from the time t 3 , the robot 12 can go into operation. If at time t 1 the emergency stop button 20 is actuated, falls (after a not considered here Discharge time for the capacitor 86), the supply voltage for the switching elements 56, 58 away. In addition, the control signals 100, 104 for the switching elements 56, 58 are omitted. Both events cause the power supply path to the contactors 24, 26 to be interrupted.

In weiteren Ausführungsbeispielen kann die Funktionalität der Überwachungseinheit 78 in den Mikrocontroller 82 zumindest teilweise integriert sein. Bevorzugt ist es beispielsweise, wenn das Testsignal 80 von dem Mikrocontroller 82 über einen Optokoppler, eine kapazitive oder eine induktive Kopplung in den Überwachungskreis der zweiten Schaltpfade eingekoppelt wird. Der hier als Überwachungseinheit 78 bezeichnete Teil kann dann beispielsweise den Optokoppler oder einen Übertrager beinhalten.In further embodiments, the functionality of the monitoring unit 78 may be at least partially integrated into the microcontroller 82. It is preferred, for example, if the test signal 80 is coupled by the microcontroller 82 via an optocoupler, a capacitive or an inductive coupling in the monitoring circuit of the second switching paths. The part designated here as monitoring unit 78 can then contain, for example, the optocoupler or a transformer.

Des Weiteren können Ausführungsbeispiele der Erfindung beinhalten, dass die Wechselschalter 56, 58 jeweils mehrere parallele Schaltkontakte besitzen. In diesem Fall können die Rücklesepfade der Überwachungseinheit 78 parallel geführt werden.Furthermore, embodiments of the invention may include that the changeover switches 56, 58 each have a plurality of parallel switch contacts. In this case, the readback paths of the monitoring unit 78 can be performed in parallel.

Weiterhin kann vorgesehen sein, dass die Wechselschalter 56, 58 eine eigene Überwachungseinheit 78 besitzen, die ein für den jeweiligen Wechselschalter individuelles Testsignal erzeugt. Die Vielzahl der Überwachungseinheiten kann dann mit dem Mikrocontroller 82 verbunden sein, um die Ergebnisse der Funktionstests dem Mikrocontroller 82 zu melden. Außerdem können die zweiten Schaltpfade der Wechselschalter 56, 58 in Reihe zueinander verbunden sein, während die zweiten Schaltpfade der Wechselschalter 56', 58' eine zweite Reihenschaltung bilden, die getrennt von der Reihenschaltung der Wechselschalter 56, 58 ausgebildet ist.Furthermore, it can be provided that the changeover switches 56, 58 have their own monitoring unit 78, which generates a test signal which is individual for the respective changeover switch. The plurality of monitoring units may then be connected to the microcontroller 82 to report the results of the functional tests to the microcontroller 82. In addition, the second switching paths of the changeover switches 56, 58 may be connected in series with each other, while the second switching paths of the changeover switches 56 ', 58' form a second series connection, the is formed separately from the series connection of the changeover switches 56, 58.

Schließlich kann die vorliegende Erfindung auch mit "konventionellen" Schaltelementen am Ausgang der Sicherheitsschaltvorrichtung 22 realisiert sein, sei es mit zwangsgeführten Relais oder mit Halbleiterschaltelementen, wie sie in DE 100 11 211 A1 gezeigt sind.Finally, the present invention can also be implemented with "conventional" switching elements at the output of the safety switching device 22, be it with positively driven relays or with semiconductor switching elements such as those described in US Pat DE 100 11 211 A1 are shown.

Claims (10)

  1. A safety switching apparatus for safe disconnection of an electrical load (24, 26), in particular in an automated installation (10), comprising at least one input (38, 40) for connecting a signaling device (16; 20), comprising an evaluation and control unit (82), and comprising at least one switching element (56, 58) which can be controlled by the evaluation and control unit (82) in order to interrupt an electrical power supply path to the load (24, 26), with the evaluation and control unit (82) being designed to carry out functional tests (120, 122) at defined instances of time in order to check a switching function of the at least one switching element (56, 58), characterized in that the at least one input (38, 40) for connecting the signaling device (16; 20) is further designed as an input for supplying a supply voltage (42) required for operation of the at least one switching element (56, 58).
  2. The safety switching apparatus of claim 1, characterized in that the at least one input (38, 40) is further designed for supplying a supply voltage (42) required for operation of the evaluation and control unit (82).
  3. The safety switching apparatus of claim 2, characterized by a decoupling network (94) which is designed to decouple the supply voltage (84) for the at least one switching element (56, 58) and the supply voltage for the evaluation and control unit (82) from one another.
  4. The safety switching apparatus of claim 3, characterized in that the decoupling network (94) comprises a first delay element (86, 95) in order to delay the supply voltage (84) for the at least one switching element (56, 58) relative to the supply voltage for the evaluation and control unit (82).
  5. The safety switching apparatus of one of claims 1 to 4, characterized by a reset circuit (88) which is designed to reset the evaluation and control unit (82) into a defined start state whenever the supply voltage (42) returns.
  6. The safety switching apparatus of one of claims 1 to 5, characterized in that the evaluation and control unit (82) is a single channel evaluation and control unit.
  7. The safety switching apparatus of one of Claims 1 to 6, characterized in that the evaluation and control unit (82) comprises a microcontroller which is designed to carry out the functional tests (120, 122) at the defined instances of time, and in particular prior to closing the electrical power supply path to the load (24, 26).
  8. The safety switching apparatus of one of claims 1 to 7, characterized by a second delay element (96) which is designed to block a connection between the evaluation and control unit (82) and the at least one switching element (56, 58) for a defined time interval measured from the application of the supply voltage (42).
  9. The safety switching apparatus of one of claims 1 to 8, characterized by at least two switching elements (56, 58) which are arranged in series with one another in order to interrupt the electrical power supply path to the load (24, 26) on a redundant basis, with the evaluation and control unit (82) being designed to produce a first dynamic control signal (100) for a first (56) of the at least two switching elements, and a second, in particular a static, control signal (104) for the second (58) of the at least two switching elements.
  10. The safety switching apparatus of one of claims 1 to 9, characterized in that the at least one switching element (56, 58) is a changeover switch with at least two mutually alternative switching paths (66, 68), with a first switching path (66) being located in the electrical power supply path to the load (24, 26), and with a second switching path (68) leading to a monitoring unit (78).
EP06723180A 2005-03-22 2006-03-03 Safety switch for the safe disconnection of an electric consumer Active EP1869687B1 (en)

Applications Claiming Priority (2)

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DE102005014122A DE102005014122A1 (en) 2005-03-22 2005-03-22 Safety switching device for the safe switching off of an electrical consumer
PCT/EP2006/001935 WO2006099935A1 (en) 2005-03-22 2006-03-03 Safety switch for the safe disconnection of an electric consumer

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EP1869687A1 EP1869687A1 (en) 2007-12-26
EP1869687B1 true EP1869687B1 (en) 2010-11-10

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US (1) US7439639B2 (en)
EP (1) EP1869687B1 (en)
JP (1) JP4903779B2 (en)
CN (1) CN101203930B (en)
AT (1) ATE488023T1 (en)
DE (2) DE102005014122A1 (en)
ES (1) ES2353971T3 (en)
HK (1) HK1111262A1 (en)
WO (1) WO2006099935A1 (en)

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DE102005014122A1 (en) 2006-09-28
EP1869687A1 (en) 2007-12-26
JP4903779B2 (en) 2012-03-28
ATE488023T1 (en) 2010-11-15
ES2353971T3 (en) 2011-03-08
CN101203930A (en) 2008-06-18
DE502006008279D1 (en) 2010-12-23
US7439639B2 (en) 2008-10-21
WO2006099935A9 (en) 2008-01-03
WO2006099935A1 (en) 2006-09-28
HK1111262A1 (en) 2008-08-01
JP2008535048A (en) 2008-08-28
CN101203930B (en) 2012-05-30
US20080067877A1 (en) 2008-03-20

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