EP2093845A1 - Commande de sécurité modulaire - Google Patents

Commande de sécurité modulaire Download PDF

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Publication number
EP2093845A1
EP2093845A1 EP08101866A EP08101866A EP2093845A1 EP 2093845 A1 EP2093845 A1 EP 2093845A1 EP 08101866 A EP08101866 A EP 08101866A EP 08101866 A EP08101866 A EP 08101866A EP 2093845 A1 EP2093845 A1 EP 2093845A1
Authority
EP
European Patent Office
Prior art keywords
modules
module
coding
safety control
input
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08101866A
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German (de)
English (en)
Other versions
EP2093845B1 (fr
Inventor
Rainer Kremp
Franz Josef Dold
Patrick Bornstein
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sick AG
Original Assignee
Sick AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sick AG filed Critical Sick AG
Priority to EP08101866A priority Critical patent/EP2093845B1/fr
Publication of EP2093845A1 publication Critical patent/EP2093845A1/fr
Application granted granted Critical
Publication of EP2093845B1 publication Critical patent/EP2093845B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/64—Means for preventing incorrect coupling
    • H01R13/642—Means for preventing incorrect coupling by position or shape of contact members

Definitions

  • the invention relates to a modular safety control according to the preamble of claim 1 and to a method for producing and checking such a modular safety control.
  • a safety controller is a device that receives supplied input signals from signalers, such as emergency stop buttons, protective door switches, light barriers or light grids, and generates logical signals from them.
  • the output signals can then be supplied to actuators, which then effect specific actions or reactions in the environment depending on the input signals, eg. B. to a machine, such as a press or a welding robot, emanating from the operation of a danger to people to hedge.
  • a signal generator z. B. when opening the protective door, pressing the emergency stop button or when a sensor responds, a signal is generated in each case, which is supplied to the safety controller as an input signal.
  • the safety controller then switches off the dangerous part of the machine, for example with the aid of an actuator, or places the machine in a safe state.
  • a characteristic feature of a safety control in contrast to a "normal" control system, is that the safety control must always ensure a safe state of the hazardous installation or machine even if it or its connected device malfunctions. Therefore, in safety control systems extremely high demands are placed on the own fault tolerance, which results in a considerable effort in the development and production.
  • the safety controller must comply with specified safety standards, which are defined, for example, in the European standard EN 954-1 or ISO 13849 (performance level). The possible safety levels and the additional safety requirements for an application are defined in the standard EN 61508 or EN 62061.
  • each input module receives input signals from a signal generator and each output module can actuate an actuator that turns off a source of danger.
  • the assignment of the input signals to an actuator takes place in that the positions at which the modules are arranged in the module row determine a clear assignment of an input signal to an output signal.
  • the positions within the module row thus provide the switching rules and by inserting the modules can be selected, which sensors are connected in which way with these switching rules with an actuator. On the one hand this saves programming and on the other hand it is more flexible than a fixed wiring.
  • a modular safety control with at least one output module for controlling an actuator, at least one input module for receiving signal generator information and at least one further module, wherein the modules can be connected to one another via electrical plug connections to form a module row.
  • a mechanical coding is provided between adjacent modules, which only allow plugging together of the modules according to the coding.
  • the invention enables an unambiguous assignment of the input modules to output modules and prevents interchanging protection of the safety shutdown paths due to the mechanical coding. This increases plant availability, reduces the risk of commissioning, maintenance and repair, and reduces costs by making it much easier to make mandatory safety checks after changes to equipment.
  • the solution is very advantageous to the user, as he recognizes a permutation immediately and obviously by mechanical incompatibility.
  • Another significant advantage is that it is ensured by the mechanical coding that a sufficient exchange protection is given, for example, in a desired system expansion.
  • the manufacturer only has to provide the correctly encoded input module to the user, and the user can insert the obtained module into the module row without any prior knowledge and can be sure that no false safety shutdown paths have been generated.
  • the modular safety control according to the invention can be expanded in a very simple manner by joining together, for example by plugging in, additional modules for connecting additional sensors, without the previous safety shutdown paths having to be checked again.
  • the user has the ability to later expand the system by z. B. deliberately allow plant extensions by the mechanical coding or to prevent.
  • the user when exchanging modules, for example when replacing defective modules, to immediately detect a faulty positioning of the input module without having to use diagnostic software or to interpret an error display on the device display. This is ensured by the mechanical coding, because from the outset the mechanical coding does not allow a wrong positioning.
  • An easy-to-implement way of mechanical coding is to provide a coding connector.
  • the mechanical coding could also be implemented in different, mutually compatible housing forms, so that, for example, a module row can be constructed in the manner of matching building blocks.
  • this would have the disadvantage over a simple coding connector that a large number of different housing shapes would have to be present according to the coding.
  • the coding plug connector consists of a multi-pin plug and corresponding socket, each pole is formed by a plug pin and the coding is formed by the coded plug at least one of the plug pins changed, in particular in cross section reduced, or is completely removed and in the corresponding socket, the corresponding pin receptacle is adjusted or closed accordingly.
  • a coding connector can then be built from commercially available electrical connectors.
  • the replacement of modules or the extension of the module row is facilitated if the modules have similar housing and each have a plug and a socket for the Codier connector on opposite sides of the housing in a similar arrangement.
  • the housing is designed as a standard IP20 housing.
  • the output module may be adjacent to each other module to one side.
  • an extension of the module row by attaching a further output module to one end of the module row is much easier, regardless of the coding of the last, located at the end of the module row module.
  • This is particularly advantageous if in each case a group of modules has the same coding, so that the module row is divided into subsystems, wherein a same coding is present within a subsystem, so that within the subsystem, the modules can be swapped arbitrarily, without thechouabschaltpfade to influence.
  • a neutral coded plug such a module row can be extended by simply plugging in a subsystem.
  • such a subsystem has a group of modules of the same coding, each having at least one output module and at least one associated input module.
  • the subsystem has only exactly one output module and associated input modules.
  • the input module can be configured via an operating element for assigning inputs of the input module to outputs of the output module of the same coding.
  • the operating element for example a rotary switch, can be mounted on the housing, so that it is compact and easy to manufacture while at the same time being easily accessible to the user.
  • the control provides further support for secure system configuration and interchange protection.
  • the configuration of the safety-related input evaluation can take place, for example, whether the connected signal transmitters are to be evaluated as single-channel or dual-channel and / or whether the emergency stop switch, light curtain, safety switch or two-hand function is involved.
  • This mechanically visible configuration also allows the user to quickly perceive that, if necessary, the safety shutdown path has not changed when defective modules are replaced, but the evaluation of the sensor system has been set incorrectly.
  • the control element can configure the logical connection of the assigned input modules of the subsystem (And / Or / Order) and here, too, the user visually recognizes an incorrect configuration immediately when replacing output modules.
  • Another embodiment of the invention may be to provide fixed logic functions in a subsystem. For example, in a subsystem, all input signals can be logically ANDed and the result can be routed to the actuator connected to the output module. If the subsystem is now extended by an input module due to system extension, the connected sensors automatically also act AND linked to the actuator.
  • the mechanical coding according to the invention makes it possible to deliberately allow later expandability of the system.
  • B contains the last module of the module row at its free end a coding on which none of the modules of the module row fits, for example, all plug pin receptacles of the socket of the coding plug connection are closed. Since no matching input module is available, it can not come to the subconscious extension of the system.
  • one of the modules forms a central control module, with which an assignment of signal generator information applied to the input modules to the actuator signals to be output at the associated output modules can take place.
  • the central control module may include an evaluation unit with which a check can be carried out as to whether the connected modules have been correctly assembled according to the coding. Such verifiability further increases safety and can facilitate certification.
  • the modules are designed with two channels and process the signals redundant and / or diverse fail-safe.
  • a safety controller 100 with, for example, five input modules and three output modules is shown in FIG FIG. 1 shown.
  • the safety controller 100 consists of a module row 102, which in turn is composed of subsystems 110, 120 and 130.
  • a subsystem contains an output module and associated input modules. The numerals have been chosen so that each output and input module each contain two hyphenated reference numerals, the numeral before the hyphen designating the subsystem, and the digit after the hyphen continuing.
  • Each input module has at least one single- or multi-channel input or a connection possibility for one or more signal transmitters.
  • a signal transmitter such as a light barrier, a light grid, a laser scanner or a security camera, but also a switch, such as a door position switch or an emergency stop switch can be provided.
  • each output module has at least one single- or multi-channel output for an actuator.
  • This actuator can be the control of a robot, a motor, a power line, a relay or the control of a machine, eg. As a press, his. In general, therefore, the actuator is part of a dangerous machine. Under an actuation of the actuator should not its normal operation but a special control by the safety controller 100 to bring the hazardous machine in a safe state. This can be a simple shutdown, but also a warning or the controlled transfer to a safe parking position. If the actuator is not actuated, this does not mean standstill, but ordinary, undisturbed operation. This understanding does not prevent that other controls can go from or via the output module to the actuator.
  • the modules can be designed with two channels in order to be able to evaluate the signals redundantly and possibly also diversitively.
  • the input modules are each connected to specific output modules. This assignment depends on the application, because each actuator is to be operated depending on the states of certain signal generator. In the present exemplary embodiment, a certain assignment should already be present by default, namely the input modules are always assigned to the respective output module arranged to the left thereof, which is also represented by the arrows 104. An output module, however, has no effect on the left of him arranged, other modules. Of course, other combinations are conceivable, namely that, for example, the input modules always act on the right of them arranged output module and the output modules have no effect on the right of them arranged further modules.
  • the first subsystem 110 therefore includes an output module 10-6 and two input modules 10-4 and 10-5.
  • To the input module 10-4 two signal generator, namely an emergency stop switch 10-1 and a sensor 10-2, connected.
  • the input module 10-4 two inputs not shown.
  • To the input module 10-5 another sensor 10-3 is connected.
  • the connection from the signal transmitters to the respective input module is shown only schematically by arrows 106 and can be single-channel or multi-channel.
  • the signals of the emergency stop switch 10-1 and the sensors 10-2 and 10-3 are pre-evaluated in the input modules 10-4 and 10-5 failsafe and given to the output module 10-6 via an electrical connector, not shown.
  • Such a connector through which the modules are connected are often referred to as "backplane".
  • the signals are optionally logically linked together and given the result to the actuator 10-7 via an output, not shown.
  • the arrows 108 indicate the connection to the actuator only schematically. In actual use, the connection may be single or multi-channel. It is also conceivable that the output module 10-7 has a plurality of outputs, not shown, and accordingly can operate various actuators not shown, depending on the various signals of the connected to the associated input modules of the subsystem 110 signal generators 10-1, 10-2 , 10-3.
  • Subsystem 120 has an output module 20-6 and an input module 20-4, wherein a signal transmitter 20-1 is connected to the input module and the output module 20-6 acts on an actuator 20-7.
  • Subsystem 130 has a similar structure to first subsystem 110 with two input modules 30-4 and 30-5, to which an emergency stop switch 30-1 and sensors 30-2 and 30-3 are connected, and to an output module 30-5. 6, which acts on an actuator 30-7.
  • the subsystems must be assembled, that is, which output modules are interconnected with which input modules, and which signal generators are to be considered when deciding which switching which actuator, and second, which evaluation rules each output module used within a subsystem in the evaluation of the signals, so in which way the signals of a subsystem are logically linked together.
  • the output modules have a control element 103 and the input modules on a control element 105, which can be configured as a simple rotary switch and can be set via which inputs, ie signals which signal generator to act on a connected actuator. If necessary, such a configuration can also contain simple logic, which can then be selected via the rotary switches.
  • the positions of the input modules in the module row 102 are within one subsystem, for example input modules 10-4 and 10-5 of the first subsystem 110 or the input modules 30-4 and 30-5 of the third subsystem 130, optionally, with the only restriction that the output module must always be the leftmost positioned.
  • Each module of the module row 102 is housed according to an embodiment in a similar housing.
  • the housing can be an IP20 housing system in which the individual modules are in communication with the "backplane".
  • the housing may also be designed in a higher protection class, such as, for example, IP65.
  • mechanical codings are provided between the modules.
  • the mechanical codings are in the form of coded connectors 200 as shown in FIG Fig. 2 are shown schematically. It shows Fig.2 the module row 102 from Fig. 1 wherein the modules are shown separately from each other to show the coding connector 200 according to the invention.
  • the coding connectors 200 represent a mechanical coding between adjacent modules of the module row 102.
  • the coding plug connection 200 will be explained below by way of example with reference to the connection between the output modules 20-6 and the input module 20-4 of the module row 102.
  • the coding connector 200 consists of a plug 202 which is arranged on the left side of the input module 20-4 and a corresponding socket 204 which is arranged on the right side of the output module 20-6.
  • the plug 202 has plug pins 206 and the socket 204 corresponding plug pin receptacles 208.
  • the second plug pin 206 '(counted from below) is removed, which is indicated by a bright field, and the corresponding, second lowest pin terminal receptacle 208' is closed, for example, by a matching pen.
  • the closed pin receptacle 208 is represented by a dark field. All other plug pins 206 and pin receptacles 208 are unchanged. All modules of the second subsystem 120 have this coding, so that only output and input modules with this coding become a subsystem can be put together.
  • any other unambiguous binary codes are also conceivable (eg 2 from n or 3 from n).
  • the coding is already carried out by the manufacturer in order to have already predefined subsystems for the purpose of increasing safety.
  • the modules are already connected to each other via electrical connectors, it is advantageous for reasons of cost that the coding connectors are an integral part of the electrical connectors.
  • the modules have similar housing 210 and each have the plug 206 on one side (left in this embodiment) and the socket 208 on the opposite side of the housing 210 in a similar arrangement. Then, the module row 102 can be expanded or reduced by inserting additional modules into subsystems according to the coding or removal of modules.
  • each module of a subsystem contains the same encoding. This allows an input module within a subsystem arbitrarily positioned, but not used in other subsystems, whereby theSICabschaltpfade thus can not be changed.
  • the subsystems are independent of one another with respect to the safety shutdown paths, it is advantageous if a subsystem consisting of from an output module arranged on the left side and further input modules arranged to the right thereof can be used at any point in the module row.
  • the left-side plug 203 of an output module 20-6 or 30-6 it is necessary for the left-side plug 203 of an output module 20-6 or 30-6 to have a neutral coding, as is realized in the exemplary embodiment in that all plug pins 206 are designed such that they fit into any type of plug pin receptacle 208 or 208 'fit, what in Fig. 2 is indicated by bright fields for all pins 206 of the neutral coded plug 203.
  • the module row 102 could be off Fig. 2 may also be constructed such that the third subsystem 130 is located to the right of the first subsystem 110 and the second subsystem 120 to the right thereof. As a result, the end user has some flexibility in building the module row 102 without compromising safety.
  • modules are required in a safety control, which have no safety function, such as communication gateways for connecting the module row 102 to a bus system or passive bus components.
  • a module is referred to as the module row 102 right-hand terminating module 212 in FIG Fig. 2 shown.
  • the module 212 can be plugged into a subsystem of any coding and therefore also has a neutral coding on the plug side 203.
  • the module row is always lockable, regardless of which subsystem is located furthest to the right, or in other words, regardless of how long the module row is or how many subsystems the module row comprises.
  • the invention relates to a method for checking the modular safety control, that is to check the module row 102, whether from a safety point of view, the structure made, as he, for example, in Fig. 1 shown is correct.
  • This method is implemented in software that may either be separate or provided, for example, in the module 212 and by means of which a report of the existing configuration is made by entering the plugged module configuration into the software either by hand, e.g. By manually positioning images of the modules on a screen of the PC in the manner actually plugged in, or by automatically reading out the module configuration from the module 22.
  • the advantage of reading out the configuration of the module series is that the user does not have to manually reorder everything on the PC, but the software still has to generates clean plant documentation for acceptance.

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  • Safety Devices In Control Systems (AREA)
EP08101866A 2008-02-22 2008-02-22 Commande de sécurité modulaire Not-in-force EP2093845B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP08101866A EP2093845B1 (fr) 2008-02-22 2008-02-22 Commande de sécurité modulaire

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Application Number Priority Date Filing Date Title
EP08101866A EP2093845B1 (fr) 2008-02-22 2008-02-22 Commande de sécurité modulaire

Publications (2)

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EP2093845A1 true EP2093845A1 (fr) 2009-08-26
EP2093845B1 EP2093845B1 (fr) 2012-10-03

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023186666A1 (fr) * 2022-03-31 2023-10-05 Pilz Gmbh & Co. Kg Procédé pour effectuer des vérifications de sécurité sur un contrôleur de sécurité modulaire

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE549278C (de) * 1929-11-26 1932-04-25 Siemens Schuckertwerke Akt Ges System unverwechselbarer Steckvorrichtungen mit profilierten Steckerstiften
EP0147930A1 (fr) * 1983-11-28 1985-07-10 Molex Incorporated Méthode et appareil pour fabriquer un connecteur à codage
US4725243A (en) * 1986-08-28 1988-02-16 Minnesota Mining And Manufacturing Company Polarizing key for cable termination
EP0471943A1 (fr) * 1990-08-11 1992-02-26 F. Wieland Elektrische Industrie GmbH Arrangement pour fiche et prise multipolaires
DE9202072U1 (de) * 1991-03-06 1992-04-30 Fukuda Denshi Co. Ltd., Tokio/Tokyo Einrichtung zum Verbinden von Leitungen
CH684042A5 (de) * 1991-09-06 1994-06-30 Siemens Ag Albis Steckdose.
DE19605698C1 (de) * 1996-02-16 1997-04-24 Wieland Elektrische Industrie Anschlußeinrichtung für ein elektrisches Installationssystem
US6172875B1 (en) * 1998-11-17 2001-01-09 Rockwell Technologies, Llc Programmable logic controller module assembly and locking system
DE10020075A1 (de) * 2000-04-22 2001-11-08 Pilz Gmbh & Co Sicherheitsschaltgeräte-Modulanordnung

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4114921A1 (de) * 1991-05-07 1992-11-12 Ahlborn Mess Und Regelungstech Elektrische steckverbindung
EP0592712B1 (fr) * 1992-10-14 1997-01-29 Siemens Aktiengesellschaft Système de raccordement à fiche pour une assemblage électronique

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE549278C (de) * 1929-11-26 1932-04-25 Siemens Schuckertwerke Akt Ges System unverwechselbarer Steckvorrichtungen mit profilierten Steckerstiften
EP0147930A1 (fr) * 1983-11-28 1985-07-10 Molex Incorporated Méthode et appareil pour fabriquer un connecteur à codage
US4725243A (en) * 1986-08-28 1988-02-16 Minnesota Mining And Manufacturing Company Polarizing key for cable termination
EP0471943A1 (fr) * 1990-08-11 1992-02-26 F. Wieland Elektrische Industrie GmbH Arrangement pour fiche et prise multipolaires
DE9202072U1 (de) * 1991-03-06 1992-04-30 Fukuda Denshi Co. Ltd., Tokio/Tokyo Einrichtung zum Verbinden von Leitungen
CH684042A5 (de) * 1991-09-06 1994-06-30 Siemens Ag Albis Steckdose.
DE19605698C1 (de) * 1996-02-16 1997-04-24 Wieland Elektrische Industrie Anschlußeinrichtung für ein elektrisches Installationssystem
US6172875B1 (en) * 1998-11-17 2001-01-09 Rockwell Technologies, Llc Programmable logic controller module assembly and locking system
DE10020075A1 (de) * 2000-04-22 2001-11-08 Pilz Gmbh & Co Sicherheitsschaltgeräte-Modulanordnung
DE10020075C2 (de) 2000-04-22 2002-03-21 Pilz Gmbh & Co Sicherheitsschaltgeräte-Modulanordnung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023186666A1 (fr) * 2022-03-31 2023-10-05 Pilz Gmbh & Co. Kg Procédé pour effectuer des vérifications de sécurité sur un contrôleur de sécurité modulaire

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