JP6629759B2 - Operating device and control system - Google Patents

Description

  The invention relates to an operating device according to the preamble of claim 1, a control system according to the preamble of claim 19, a method for controlling a machine or equipment and a graphic for an operating device and / or a visualization device of the control system. A method for forming a user surface.

  The problem underlying the present invention is that hitherto the input on the touch screen of an HMI device (for example a control panel or a manual control device) has been unsatisfactory, that is to say that it has only been detected in real time with limitations and The inability to transmit control commands to machine control in real time. Thus, when manipulating with a virtual operating element or a touch screen operating panel to activate a driving movement or other action, a delay in the response of the machine results, which subsequently leads to a significant deterioration of the operability and in some cases. In some cases, certain potential hazards may result, at least with respect to damage to machine components, tools or workpieces. For this reason, other discrete operating elements (e.g. mechanical keyboards) have heretofore been provided in addition to the touch screen in order to carry out the running movement of the machine axis directly, the operating state of which has been detected, It is transmitted directly to the machine control, i.e., not via the computing unit of the HMI instrument.

  The HMI device (operation panel or manual operation device) has a processor with memory, which implements the software both to display information for the user and to detect input by the user. And communicates with the controls of the machine via a suitable data interface, exchanges data and information, and sends commands to the machine control. With this software, complex process diagrams, machine graphs, process data, etc., can also be shown graphically and, in some cases, in moving images. An important part of the software is usually a drive system (eg Windows® or Linux®) with built-in support for the graphical user interface, under which the operating panel or Instrument-specific base software for machine-operated instruments (eg, drivers, function libraries) and machine-specific application software are implemented. In principle, the machine-specific software components can also be implemented only on the machine control itself for operation and visualization, and between the HMI instrument and the machine control in a format that is generally maintained, for example Communication can be performed in the form of an HTTP server in machine control and a browser in an HMI device.

  Instrument-specific base software is developed and provided by the manufacturer of the HMI instrument. Machine-specific application software is typically developed and provided by the manufacturer of the machine or equipment that incorporates the HMI instrument, where the machine manufacturer provides HMI software to form the screen-mask. Utilize instrument manufacturer software tools and libraries.

  The use of a standard drive system on this type of MHI instrument utilizes a large number of available and widely available software tools, standardized programming interfaces, etc., and generally uses an industrial control field. Integration also facilitates the creation of machine-specific software and graphic user interfaces. The use of open drive system platforms, provided without licensing, is in principle desirable because of their widespread use, their open source code and cost reasons.

  In that case, however, there is the problem that these drive systems are not real-time or sufficiently real-time, so that a guaranteed and sufficiently short response time to the operating behavior cannot be obtained. This particularly relates to a part for detecting and evaluating a touch input. For example, due to errors or unfavorable forms in the application software, certain parts of the drive system or the base software are sometimes or permanently implemented no longer as prescribed or delayed, and thus the reliability of the operating functions is impaired Sometimes.

  These difficulties make it possible to make or change time-insensitive mechanical adjustments (parameterisation) via virtual operating elements on the touch screen, but, for example, when preparing or programming movement sequences, In addition to the touch screen, additional operating elements, such as a mechanical keyboard or a film keyboard, are always provided for directly activating the running movement or other actions, via which operating information is detected. And can be transmitted directly and without delay to the control of the machine. This is usually effected via the direct coupling of such an operating element to the machine control.

  The object of the present invention is to eliminate the disadvantages according to the prior art and to retain the advantages of using tools for the formation and configuration of widely used (open) drive systems and graphic user surfaces. An operating device or (e.g. its sophisticated library for graphic tasks), which nevertheless allows a reliable real-time evaluation of the touch operation process, including transmission to the control of the machine or equipment It is to provide a control system. It seeks to eliminate the use of additional operating elements other than touch screens.

  This problem is solved in an operating device of the type mentioned at the outset by an evaluation device, which is connected to a touch sensor of a touch screen and has a real-time data processing device and an output interface. In that case, the real-time data processing device of the evaluation device is arranged to generate a control command for the control device according to the sensor data of the contact sensor, in which case the real-time data processing device of the evaluation device is Independence with regard to the data processing device of the quantification device.

  The generation of the control commands for the control device and the provision of them at the output interface takes place without being influenced in time by the data processing device of the visualization device. The time progress or speed of the data processing in the data processing device of the evaluation device is independent of the data processing device of the visualization device. Therefore, the data processing in the data processing device of the evaluation device is independent of the processing process performed on the data processing of the visualization device.

  The generation of the control commands in the data processing device of the evaluation unit and their supply or transmission to the control device therefore take place bypassing the data processing device of the visualization device or the interface for the visualization device.

  According to the invention, the generation of the real-time critical control commands for the control device takes place separately from the visualization of the operating elements by the visualization device. The visualization device can be located inside or outside the operating device (for example in the form of a hand-operated instrument). The real-time data processor of the evaluation device is self-contained and independent of the processes performed on the data processor of the visualization device.

  The evaluation device or the data processing device of the evaluation device forms a so-called bypass between the contact sensor and the control device with respect to the visualization device or the data processing device of the visualization device. This detour allows the processing of sensor data and the preparation of control commands in real time, thus enabling real-time control of the machine or equipment while bypassing the visualization device or its data processing device. In other words, the evaluation device and the visualization device, at least their data processing device, are connected in parallel between the contact sensor and the control device.

  The data processing devices of the evaluation device and the visualization device can be separate (ie free-standing) processors, but can also be functionally separated (ie free-standing) cores of one processor unit.

  In a possible embodiment, a common real-time-capable bus for the control unit, the visualization unit and the evaluation unit can be provided, and a substantially loop-through connection to the evaluation unit can be provided through the visualization unit. . It is also conceivable that the visualization device and the evaluation device are structurally combined to have a common real-time compatible data bus to the control device (or mixed: real-time compatible and non-real-time compatible). A variant of this kind is based on the basic principle that the data from the data processing device of the evaluation device reach the control device via a common bus without being influenced (in time) by the processing device of the visualization device. It doesn't change anything.

  In any case, a separate real-time data connection to the independent (not sharing with the visualization) output interface of the evaluation device is transmitted to the control device.

  The visualization device is for generating and preparing (as before) non-real-time control commands or machine or equipment parameters in addition to the visualization function, i.e. the preparation of the output data / image data for the display. Can be used for Therefore, the control system according to the present invention may have a real-time non-real-time path formed by the visualization device in addition to a real-time-compatible (detour) path formed by the evaluation device or its data processing device. it can. The two paths communicate with the controller.

  Therefore, the present invention provides a real-time operation device and a real-time control system for at least a part of the control command transmitted to the control device. The real time means, in particular, within a respectively predetermined period from the sensor data (possibly edited by the touch controller) of the contact sensor, in particular within a guaranteed short period or within a predetermined time window. The appropriate control commands are supplied to the evaluation interface of the evaluation device and can therefore be transmitted to the control device in real time.

  The operation element in the gist of the present invention is an operation element of a touch screen. It is therefore a touch-sensitive operating element, visualized on a touch screen display and operated by touch. The operating element can also be called an operating field, which occupies a spatially predetermined area on the touch screen.

  The real-time evaluation device preferably has a processor, a memory means, an input interface for reading sensor data, and an output interface for outputting control commands related to an operation action on the touch screen.

  Preferably, the evaluation device is connected to a contact sensor or a subsequent stage that detects a touch operation action using a sensor signal and prepares raw data about the operation action, for example, a coordinate pair for the detected contact point. Coupled within a communication connection between the touch controller and a visualization device responsible for visualization and non-real-time operations.

  The evaluation device reads the sensor signal of the contact sensor, which sensor signal is possibly converted into raw sensor data by a touch controller and is also preferably transmitted to the visualization device. At the same time, the visualization device can provide the evaluation device with information on the position and type, and possibly on the permission status of the operating element or operating field shown on the display (configuration data).

  From the sensor data and from the configuration data about the operating elements, the evaluation device determines the operating states of the individual operating elements on the touch screen in a self-contained and real-time manner and generates corresponding control commands (or operating information). It is then transmitted via an output interface to a control device, ie to a machine or facility control, without the involvement of a visualization device. The software of the evaluation device is real-time compatible, relatively simple, slim and reliably maintained.

  In parallel thereto, the visualization device obtains the same sensor data via various touch results, e.g. from a touch controller or via an evaluation device, and processes it in real-time non-critical operating processes, e.g. Evaluate for

  Importantly, the evaluation device is functionally separate and independent from the visualization device or-if the visualization device is located outside the operating device-from the interface for the visualization device. It has a processor unit and independent driving software, and has a dedicated output interface for transmitting control commands to a control device of a machine or equipment.

  In a preferred development, the visualization device can configure the evaluation device via the configuration interface and change its working method accordingly, for example the type, number and position of virtual operating elements or operating fields. , Only within a defined narrow frame, which does not impair the real-time response capability of the evaluation device.

  The evaluation device evaluates the touch operation behavior independently and independently of the visualization device, but the evaluation of the operation process is limited by the fact that there is no need to undertake additional computationally intensive tasks. It is possible within a time window, ie in real time. By transmitting control commands directly to the control device, bypassing the visualization device, preferably by means of a direct connection via a real-time-capable configuration bus, the direct or delay-free operation of machine or equipment functions, in particular driving movements, is achieved. Implementation is possible.

  Because the evaluation device software is developed and formed independently of the visualization device visualization software, and is formed and tested by the usual HMI instrument manufacturer (and at least, Or, rather than within the framework of relatively frequent and diverse adaptation of the visualization software on a given machine by the end user), high reliability and safety of the real-time operating functions can be guaranteed.

  Preferably, the evaluation device is connected to the visualization device, preferably via a two-way data connection.

  Preferably, the visualization device is arranged to provide configuration data relating to at least one operating element visualized on the display to the evaluation device, wherein the configuration data is preferably position, size, Contains and evaluates information about the orientation, the type, the associated machine or equipment function, the associated machine or equipment parameter, the permitted state of at least one operating element and / or the actual operating state or adjustment value The device is arranged to generate control commands for the control device according to the configuration data.

  Preferably, the visualization device is at least indirectly connected to the contact sensor and the control device and transmits control commands and / or machine or equipment parameters for the control device according to the operating elements of the touch screen operated by the operator. It is arranged to generate.

  Preferably, the sensor data connection between the contact sensor and the evaluation device has a branch, which branch leads to an interface for the visualization unit or the visualization device.

  A preferred solution features a point-to-point connection between the touch controller and the evaluation device, in which sensor data (touch data) is transmitted from the evaluation device to the visualization device. In this case, the evaluation device is, as it were, an intermediate connection between the touch controller and the visualization device.

  In another embodiment, the operating device is a mobile, preferably portable, operating device, which is connected to the control device of the machine or the equipment via a data connection, in particular via a flexible conductor or a radio link. Connectable.

Preferably, the operating device has at least one actuator for generating a tactile signal for the operator, and the evaluation device is connected to the actuator, and according to the sensor data of the contact sensor, It is arranged to operate the actuator. This haptic feedback can change with the type of operating element, the operating behavior, the position of the operating element, the operating state or the permission state. In this way, the operator can determine whether the operating action itself has been recorded, or whether a predetermined virtual operating element has already been touched before (in order to find the predetermined operating element without visual recognition),
Get feedback.

  In a preferred embodiment, the output interface of the evaluation device for transmitting control commands to the control device has at least one real-time control output or at least one digital or analog control output, in which case the output is preferably It is characterized in that the interface has at least two control outputs, in which case each control output is associated with a different mechanical or mechanical function. This makes it possible to reliably communicate to the control device in real time. Instead of coupling the evaluation device to the control via a real-time-capable communication interface, a direct digital or analog control output at the evaluation device is also conceivable (ie, for example, a separate signal line for each machine or facility function). ). This enables a technically particularly simple, fast and fault-tolerant signal connection of the HMI device to one or more control devices, or possibly directly to the actuator or its drive element.

  Preferably, the contact sensor is a multi-touch sensor, and the evaluation device is arranged to evaluate sensor data from the multi-touch sensor, in which case preferably the operation of at least two operating elements is evaluated simultaneously. be able to. This extends the functionality of the operating device and increases its reliability. Multi-touch sensors are already important simply to connect with one operating element. This is because, for example, by activating the operating element with a two-finger gesture, undesirable malfunctions can be avoided.

  In a preferred embodiment, the evaluation device is operated before, during and / or after the actual operating process performed by the operation of the operating element, and the movement in the contact sensor is absolutely necessary for the execution of the control process. Alternatively, it is arranged to test the contact pattern and only to provide a control command corresponding to the operating process at the output interface if the test result of the movement or the contact pattern is positive, in which case the movement Alternatively, the contact pattern is a gesture introduced to activate the operating element for a predetermined period, or is a simultaneous operation of another operating element.

  Special gestures can be provided for activating or manipulating the operating elements, i.e. movements or contact patterns in the contact sensor, which are necessarily additionally introduced, accompanied or terminated with respect to the original operating process, Its implementation is checked by the evaluation device, so that the risk of inadvertent operation during accidental or unintentional contact of the operating element is reduced. Also, functions and gestures that temporarily block the activation or operation of all operating elements, for example in order to be able to clean the entire touch surface from time to time, without thereby triggering unintended operating processes. Can also be provided.

  In a preferred embodiment, a touch controller is connected between the contact sensor and the evaluation device, and the touch controller detects a contact on the touch screen or an operation of an operation element of the touch screen and prepares the data as sensor raw data. It is characterized by that it is arranged. The raw sensor data may include, for example, coordinate pairs for describing the location of one or more contact points. In this context, sensor raw data is already edited data obtained from the sensor signal.

  For a touch controller, the entire contact sensor is typically an integral surface, ie, a location-resolving sensor. The touch controller "does not know" whether there is an operation element (virtual operation element) on it and where it is. This type of association or inspection is performed for the first time in an evaluation device or a visualization device.

  Possible embodiments are such that the evaluation device is configured as follows, ie the data stream is also supplied to the evaluation device (13) as well as to the visualization device (10), or the data of the touch controller It is characterized by being connected to the flow. In this embodiment, the visualization device is also connected to the contact sensor and is thus connected to the sensor data stream independently of the evaluation device. In this way, the evaluation device can evaluate the sensor data with respect to the operation of the virtual operating element in real time, while the visualization device can convert the sensor data into real-time non-critical inputs, for example during various image patterns. Swipe gestures for changing with.

  At times, which of the three units is the master, that is, which prompts the transmission of data, can be a problem. If the evaluation device reads passively together, but the visualization device simply reads together passively, or both (if the touch controller is the master and simply sends what happened to the data) There is.

  Preferably, the touch controller is structurally and functionally integrated in the evaluation device. The operating device can thereby be more simply dimensioned with respect to the data connection, which also results in reduced costs.

  In a preferred embodiment, the touch controller and the evaluation device are connected to each other via a communication connection, preferably in the form of an interrupt signal line, in addition to the sensor data connection transmitting the raw sensor data to the evaluation device. The connection is characterized in that the touch sensor signals the presence of an operating process that is important for the evaluation to the evaluation device asynchronously and without delay via the connection. This reduces the response time of the evaluator to touch events and facilitates maintaining real-time conditions (ie, a guaranteed response within a defined short time period).

  In a preferred embodiment, the evaluation device has at least three interfaces, wherein the raw sensor data is received via a first interface and the visualization device or the visualization device via a second interface Characterized in that the evaluation device preferably at least partially emulates the behavior of the touch controller in the second interface. The behavior of the "emulated touch controller" may be slightly different from the original touch controller that occurs at the input interface of the evaluation device. This in principle allows pre-filtering of the sensor data by the evaluation device, so that in some cases only the sensor data that is important to the visualization device is transmitted to this visualization device, but the individual coordinate pairs are themselves considered. This is not done if it is not possible to unconditionally correspond to an operation process which is unambiguously unambiguous in real time or not real time. This type of mapping possibility arises for the first time from a sequence of connected coordinate pairs, for example describing a movement or gesture by a predetermined initial or end point. However, it requires that both the evaluation device and the visualization device have to determine and evaluate themselves, so that each of the two units requires a respective complete data stream from the touch controller.

  The different behavior of the emulated touch controller relative to the actual touch controller can be attributed to the large number of different touch controllers with slightly different interfaces and protocols on the market. Therefore, when using different controllers in different product variants, only the evaluation device must be adapted to it, and in the direction of the visualization device a given standard touch controller is always emulated, where adaptation is necessary Does not.

  Another reason is that the predetermined adjustments or parameters of the actual touch controller can only be set by the evaluation device and must not be adjusted again, for example by a visualization device (this may impair the reliability of the evaluation device). It is possible). Such a parameterization from the side of the visualization device must therefore be captured by the evaluation device.

  Preferably, the evaluation device has at least one memory connected to the real-time data processing device. Additional (configuration) data required for real-time evaluation can be recalled directly from memory. This guarantees real-time processing. The evaluation device is not instructed to transmit such data from other units in time.

  A preferred embodiment provides that the configuration data is contained and / or stored in a memory for at least one operating element that can be displayed on a display, in which case the configuration data is preferably located, sized, Including information on the orientation, type, associated machine or equipment function, associated machine or equipment parameter, permission state of at least one operating element and / or actual operating state or adjustment value; Features. As a result, a fast and particularly unique generation of the relevant control commands can take place.

  A preferred embodiment is that the calibration information is included and / or storable in a memory so that the coordinate information provided by the touch controller may preferably be related to offset, scaling and / or distortion removal. It is characterized by being corrected. Thereby, erroneous operations are avoided. The adaptation of the sample-dependent deviations of the sensor parameters is in principle possible (for example, each sample of a touch may behave somewhat differently based on process variations in the formation), so that in this embodiment The method of operation is possible irrespective of the variation of such samples on each operation panel.

  Thus, the memory means may (additionally) include: the position or position of at least one operating element with respect to the dimensions or coordinates of the touch screen; Configuration data describing whether activation of the machine or equipment function can be effected or the corresponding operating element has been blocked); at least one operating element for a given machine or equipment function or machine or equipment parameter Configuration data enabling the association; status information describing the actual operating state or adjustment of at least one operating element.

  Preferably, the operating element detectable by the evaluation device is a type key, an on / off switch, a two-stage or multi-stage slide switch or a rotary switch or other changeover switch or the like, or a digital operating element of the same kind.

  Preferably, the operating elements detectable by the evaluation device each have or do not have an automatic return to an initial position, a one-dimensional or two-dimensional slide controller, a joystick or a rotary controller (handwheel), a potentiometer, Analog or quasi-analog or fine resolution operating elements in the form of touchpads.

The problem is also solved by a control system for controlling a machine or equipment, in particular a manipulator, a processing device or a production equipment by means of an operating device, the control system comprising:
A control device for driving a machine or equipment; and an operating device according to any one of the preceding claims, in particular connected to a control device for operating the machine or equipment by an operator. The operating device having a touch screen, the touch screen being formed from a display for visualizing the operating elements and a contact sensor superimposed on the display; and for a display of the touch screen A visualization device connected to a display for preparing image data of the visualization device, wherein the visualization device has a data processing device,
And the control system is
An evaluation device is provided, the evaluation device is connected to the touch sensor of the touch screen, and has an output interface connected to the real-time data processing device and the control device. A real-time data processing device is arranged to generate a control command for the control device according to the sensor data of the contact sensor and to transmit the control command to the control device via the output interface. It is characterized in that the data processing device is independent on the data processing device of the visualization device.

  Generating and providing the control commands for the control device at the output interface takes place in a time-independent manner with the data processing device of the visualization device. Therefore, data processing in the data processing device of the evaluation device is performed irrespective of the processing process performed on the data processing device of the visualization device.

  Thus, the generation of the control command in the data processing device of the evaluation unit and its supply or transmission to the control device can be performed bypassing the data processing device of the visualization device.

  Preferably, the output interface of the evaluation device is connected to the control device via a real-time compatible data bus (eg, SERCOS, Profinet, EtherCAT, Varan, PowerLink, EtherNet / IP or other real-time Ethernet connection). I have.

  Preferably, the operating device is a structural unit separate from the control device, in particular a mobile, preferably portable operating device, in which the evaluation device is integrated in this structural unit.

  In another embodiment, the visualization device is arranged outside the operating device, in which case the visualization device is preferably integrated in the control device.

  The object is also achieved by a method for controlling a machine or an installation by means of an operating device and / or a control device according to any of the preceding claims, wherein the visualization device comprises an image for display on a touch screen. Since the data is prepared, the operating elements are visualized on the display, and in that case the real-time data processing device of the evaluation device generates a control command according to the sensor data of the touch sensor of the touch screen and transmits it to the control device. . The generation and transmission of the control commands are performed temporally independently of the data processing of the visualization device. The time progress or speed of the data processing in the data processing device of the evaluation device is independent of the data processing device of the visualization device.

  In a preferred embodiment, configuration data, preferably in the form of a parameter set, for at least one operating field displayed or displayable on the display is loaded into the evaluation device, wherein the configuration data is preferably Information on the position, size, orientation, type, associated machine or equipment function, associated machine or equipment parameter, permission state of at least one operating element and / or actual operating state or adjustment value. And the evaluation device generates a control command for the control device according to the configuration data.

  Preferably, the configuration data is generated by the visualization device and / or the control device and transmitted to the evaluation device.

  A preferred embodiment is a visualization software in which the evaluation device receives information from the visualization device, preferably via regular communication or signaling, and from which the information is executed on the data processing device of the visualization device. The feature is that it is possible to inductively estimate whether or not the implementation is correct or incorrect. The evaluation device can therefore undertake a watchdog function, thereby avoiding the generation of erroneous, ie, completely unintended, operator control commands.

In a preferred embodiment, the configuration data relating to the operating elements, which is transmitted from the visualization device and / or the control device to the evaluation device , is valid within the evaluation device , is valid for a limited time or is valid for a limited time , and Since the element is deactivated after the expiration of the time limit , operation of the machine or equipment via this operating element is prevented. The parameterization of the virtual operating element and / or its activation status (ie permission to output control commands) transmitted from the visualization device to the evaluation device is therefore valid within the evaluation device for a limited time . After that time has elapsed, the activation status is set to "inactive", so that the command output via the respective operating element is blocked. This is also a special form of the watchdog function.

  In a preferred embodiment, the visualization device reads out, via a data connection between the evaluation device and the visualization device, the operating state of the operating element monitored by the evaluation device, for real-time non-critical functions, for example to the operator Is characterized by optical, acoustic or tactile feedback. Thus, the evaluation device is kept free from the subject dominated by real-time requirements. Therefore, real-time reliability is improved or its realization becomes easier.

  In a preferred embodiment, a timer having a predetermined time limit is set after a change of the operating state of the operating element in the evaluation device, and the visualization device is operated on the touch screen before the expiration of the time limit, in particular on the touch screen. An error signal is transmitted to the control device or the operation element is set to an inactive state in a case where the operation information does not respond with the operation information regarding the update of the information regarding the operation state of the element. . In that case, in particular for each operating element, a dedicated timer can be started, or alternatively a common timer can be provided for all operating elements. The advantage of this embodiment is that the evaluation device reacts to the operating process without delay, but recognizes even if the visualization device does not respond to such an operating process in a reasonable time. Thus, if the inconsistency between the actual operation or the switching state and that which is shown visually is too long, and for this reason the operator is misunderstood, the running movement can be interrupted.

  In a preferred embodiment, the evaluation device is provided with one or more actuators as follows, i.e. when the operating element is operated or the touch screen is only touched, the tactile feedback to the operator is already obtained. It is characterized by being signal-technically combined as it is generated.

  Preferably, the position and type of the operating element are stored in the evaluation device and are preferably associated with tactile markings present on the touch screen. The position and type of the operating element can be fixedly set in the evaluation device. The parameterization from the side of the visualization device is, in this case, the activation or deactivation of an operating element (virtual operating element), and possibly also a predetermined operating element according to the screen mask just shown. Can be limited to the setting of the machine function associated with.

  A preferred embodiment provides a monostable operating element, preferably as a virtual keyboard or a virtual joystick, with automatic return to an unoperated initial position, a visualization device independent of the actual operating state of the operating element. The deactivation is characterized by signaling the non-operating state to the evaluation device without delay, or by providing a control command from the evaluation device to the control device, which corresponds to the non-operating state. Thereby, control errors can be avoided.

  Preferably, an additional data connection, preferably in the form of an interrupt wire, is provided between the evaluation device and the visualization device, by means of which the evaluation device directs the operator's operating process to the visualization device. Signal. This information can be converted by the visualization device into feedback that can be displayed on the display, in particular into changes in the display of the corresponding operating element.

  In a preferred embodiment, a real-time-capable bus connection, for example a real-time Ethernet bus connection, is provided for transmitting real-time control commands, via which the operating state of the operating elements is cyclically controlled. Is transmitted to the control device within a predetermined time window. This also guarantees a real-time transmission from the evaluation device to the control device, ie to the machine or equipment control.

  The problem is also solved by a development environment by a method of forming a graphic user surface for a visualization device of a control device and / or a control system in the form described above, in which case the quantity defined by the development environment is predetermined. At least one operating element is selected from among the operating elements that can be provided, the at least one operating element having its position, size, orientation, size, type, associated machine or equipment function, and its association From this assignment of the parameters with respect to the specified machine or equipment parameters and / or their authorizations and in that case to the at least one operating field, the configuration for the evaluation device, in particular in the form of a parameter data set, Ration data is formed.

  The development environment preferably has its own graphical user surface by means of which the various operating elements can be selected, positioned and parameterized in a simple and intuitive way, and Later appearance images can be visually inspected in advance on the operating device.

  The invention relates to a method for driving a real-time evaluation device, wherein configuration data relating to at least one operating element that can be evaluated by the evaluation device is loaded into the evaluation device by a visualization device or a control device, In this case, the configuration data is preferably the position, the size, the orientation, the type, the associated machine or equipment function, the associated machine or equipment parameter, the permission state of at least one operating element and / or the actual It is characterized in that it contains information on the operation state or the adjustment value. The configuration data can be transmitted to the operating device during the initialization phase or also during a drive to adapt the configuration data to different drive states.

  For a better understanding of the present invention, the present invention will be described in detail with reference to the following figures.

  The figures are diagrammatic representations, each of which is significantly simplified.

1 shows a control system for a machine or equipment. 1 shows an operating device according to the prior art. 1 shows a control system according to the prior art. 1 shows an operating device according to the invention. 1 shows a control system according to the invention. 9 shows a modification of the control system according to the present invention. 9 shows another modification of the control system according to the present invention. 3 shows details of an evaluation device. 3 schematically shows a memory unit of the evaluation device.

  It is initially recorded that in embodiments described differently, the same parts are provided with the same reference signs or the same component part names, in which case the disclosure contained in the entire description is: The same reference numeral or the same component having the same component name can be transferred according to the meaning. Also, the location descriptions selected in the description, such as top, bottom, side, etc., relate to the directly described and shown figure, and this location description is meaningful if the location changes. Is moved to a new position according to.

DESCRIPTION OF THE FIGURES The embodiments show possible implementation variants of the operating device or the control system, in which case they are recorded here, but the invention is limited to the specifically shown implementation variants. Rather, the individual embodiments may be combined in various ways with one another, and these variants may be It is within the discretion of the person skilled in the art.

  Furthermore, individual features or combinations of features in accordance with the various embodiments shown and described may also represent stand-alone, inventive or inventive solutions.

  The problem underlying the solution according to the independent invention can be read from the description.

  In particular, the individual embodiments shown in the figures can form a self-sustaining, inventive solution. The problems and solutions according to the invention in this regard can be gleaned from the detailed description of these figures.

  It should be pointed out formally that, to facilitate understanding of the structure of the present invention, the structure or its components are shown partially off-scale and / or enlarged and / or reduced.

  FIG. 1 shows an injection molding machine as a typical field of application for the invention, including an HMI device in the form of a control and control panel integrated into the machine. In FIG. 1, the operation panel is shown both integrated into the machine and pulled out for clarity. Machine control is also shown outside the original mechanical structure to reveal signal flow, but in practice is often mounted on the machine or housed in a control cabinet inside the machine I have. The machine control is in accordance with a predetermined manufacturing program, according to the signals of the sensors representing the actual state of the machine and of the respective manufacturing program to be implemented, respectively, and via an operating panel which is also connected by the operator to the machine control. Controls the flow of energy to the various actors of the machine according to the commands and parameters entered. For this purpose, the machine control typically comprises at least one CPU, memory means for storing programs and data, for coupling to the machine, its actuators and sensors, and for fixed and / or mobile operating panels. It has various interfaces for coupling to such input / output devices or for coupling to a network for remote access to data, programs and machine functions.

  The control panel can be formed rigidly, i.e., can be fixedly integrated in the structure of the machine, or can also be formed as a mobile hand-operated instrument, the hand-operated instrument being a flexible cable. It is operatively connected to the machine control via a connection or via a wireless radio connection in a signaling manner. FIG. 1 shows only a fixed operation panel.

  The operating panel has output means of a screen, preferably in the form of a high-resolution color display play, via which or to the operator about the machine, its operating state and the manufacturing process to be performed. Information can be output.

  Furthermore, the operating panel has a series of input means or operating elements, through which the operator can change the parameters of the machine, select information about the machine or select a process for outputting. It is possible to switch between operating modes, to start and stop automatic machining processes, and to manually activate mechanical functions, such as running movements, directly and without delay.

  FIG. 2 is an enlarged view of an example of a front side of an operation tool 30 in the form of an operation panel based on the prior art. The operating device has a first operating area 31 which is constructed from a touch-sensitive screen (touch display play), ie a high-resolution color display and a transparent touch-sensitive sensor. Is formed. Within this first operating area 31, the output of information to the operator and the input of the operator is made, for example, to adapt the information shown, to adapt the driving method of the machine and to adapt the process parameters.

  Within this first operating area 31, a number of virtual operating elements and input fields can be used, faded in and out according to the situation. The inputs and outputs in this first operating area 31 are processed or edited by a visualization device connected in signal technology with the touch display. In particular, information is read from the machine control or the facility control by the visualization device, edited for output to the operator, and conversely, for example, updated parameter values are transmitted to the machine control.

  The visualization device (or visualization calculator) typically has a processor, memory means and an interface, as is well known to those skilled in the art. On the visualization device, a drive system with appropriate support for graphic user surfaces is used, such as, for example, Windows® or Linux®, under which machine-specific visualization software is implemented. You.

  Common to the input via this first operating area 31 is the actuation of a mechanical function which is directly coupled to the operating process, for example, the travel of a machine axis which is to be performed only while pressing a key, Or it is not suitable for implementation. The reason for this is that the conventional drive systems used are not real-time capable or are limited to real-time and always introduce a delay when detecting the operating process and transmitting it to the operating element (virtual operating element). (Eg, by a read / write process on a memory medium or network connection, garbage collection, component re-initialization, etc.). Further, at least some of the visualization software is often written by people who are not familiar with or are not familiar with the special measures and rules for forming real-time enabled software components.

  Therefore, in the operating device 30 according to the prior art, another, second operating area 32 is provided, which has an arrangement of mechanical keyboards, switches, rotary adjusters, multi-axis joysticks and the like. ing. For the keyboard, for example, a conventional film keyboard is used. The signal outputs of these operating elements are not detected and transmitted via the software of the visualization device, but are guided directly to the machine control independently of the visualization device. The operating behavior of these operating elements is therefore reliably and virtually without delay detected and converted by the machine control. Changes in the machine state or the process state are only guided again by the machine control to the visualization device and output to the operator via the operating tool or the HMI.

  In this second operating area 32, other simple output devices, for example LEDs or signal lamps, can be accommodated, which switch the operating elements and / or enable them or drive the machine components. Expressed as a signal. These can be driven directly by mechanical control or alternatively by a visualization device.

  The first and second operation areas 31, 32 are structurally separated and do not overlap.

  FIG. 3 again shows the signal-technical connection between the operating device 30 or the operating terminal according to the prior art and the main components described with reference to FIG. 2 in a greatly simplified manner.

  FIG. 3 shows two input / output components of a control device 30, a touch screen 5 comprising a high-resolution graphic display 6 forming a first control area 31 and a transparent contact sensor 8 arranged thereon, and a second display screen. A mechanical input element forming the operation area 32 of FIG.

  The signals of the mechanical input elements of the second operating area 32, which are used for direct machine operation, are passed directly to the control device 3 of the machine or plant 4 (ie machine control or plant control).

  The signal of the touch sensor 8 (touch screen) is detected by a special touch controller 21 and converted into a data string (raw touch data), and the data string is substantially one or more recorded by the touch sensor 8. Represents the positions (coordinates) of a plurality of contact points. Depending on the touch technology used in each case, this raw touch data may further include, for example, operating pressure or other information regarding the size of the contact surface. As contact sensors, for example, capacitive or resistive sensors and sensors based on the piezo effect or similar principles can also be used. Depending on the touch technology used in each case, these sensors are suitable for detecting only one, or preferably a plurality of simultaneous contact points. The touch controller 21 is usually formed as an ASIC and is connected to the visualization device 10 via a signal interface, often RS232, RS485, 12-C or a USB interface. The contact sensor 8 has a plurality of discretely formed sensor fields or sensor zones, each responsive to a predetermined operating or input element, or alternatively has a homogeneous large sensor surface with sufficiently fine location resolution. be able to.

  The raw touch data can be transmitted to the visualization device 10 via a suitable signal connection, for example via a USB interface, or can be queried at regular intervals by the visualization device via this interface. . The visualization device determines from the raw touch data the operating processes for the various, just displayed operating elements 7a. In that case, a simple coordinate evaluation of the contact point can be performed, or more complex sequences (eg, gestures) and changes can be evaluated and probable. That is, for example, various functions (for example, activation / deactivation or increment / decrement) can be activated in accordance with the gesture movements respectively performed on the predetermined operation element 7a, or unintended operations are distinguished from intended operations. (E.g., fading out contact with the ball of the thumb) or alternatively, sporadic operating signals due to some electromagnetic noise field can be filtered out or ignored. Each of the described measures can be realized both in the visualization device 10 and in the touch controller 21.

  The visualization device 10 transmits image data necessary for screen output to the display 6 via another interface or a signal connection (for example, a VGA-, DVI-, or HDMI (registered trademark) interface). Various technologies that can be provided for the display 6 are conceivable. Preferably, the display 6 is a high-resolution graphic color display with sufficient lifetime and thermal and mechanical loading capabilities for reliable use in an industrial environment.

  Via a third interface or signal connection, eg Ethernet, bus connection, the visualization device exchanges parameters, drive status and process data, error information and the like with the control device 3 and these The information is edited for display on the display 6. The data is then grouped into various screen masks (windows) in a suitable and legible manner, depending on the respective drive or error state and according to the operator's choice.

  In the following, the present invention will be described in detail, in which case the preceding description of the display 6, the touch screen 21 and the visualization device 10, especially of their structure, will be applied to the present invention unless otherwise described below. The same can be said for such an object.

  FIG. 4 shows a front view of the operating device 2 according to the embodiment of the present invention. It features a substantially flat front, which is formed by a high-resolution (color) display 6 occupying a large portion of the entire front and a structurally overlapping contact sensor 8.

  In the upper input / output area, input / output elements, conventional touch operation elements 7a are shown, which are provided for displaying and changing machine parameters and process states. In the central part, or in the second input / output area, an overview of the machine or equipment to be controlled is shown. It is also for displaying and changing detailed data in the first input / output area, also for displaying a predetermined machine state (i.e., each image changes according to the machine state and displays the machine state). It can also be used to easily and intuitively select the mechanical components of the system. In the third input / output area, below the operating device 2, examples of several operating elements 7b for actuating control commands (machine commands) to be implemented directly by machines or equipment are shown. . It is a slide controller and a rotary adjuster which are virtual operating elements in the form of bistable on and change-over switches, monostable keyboards and whose position or speed can be set almost analogously, for example.

  5 to 7 show the various possibilities of implementing the real-time evaluation device 13 according to the invention in the control system 1 of the machine or installation 4 and incorporating it in a signal technology. The machine or equipment 4 can be, for example, a manipulator, a processing device for processing a workpiece and / or a manufacturing equipment for forming an assembly.

  The control system 1 for controlling the machine or facility 4 includes a control device 3 for driving the machine or facility 4 and an operation connected to the control device 3 for operating the machine or facility 4 by an operator. Device 2. The operating device 2 has a touch screen 5, which is formed by a display 6 for visualizing the operating elements 7a, 7b and a contact sensor 8 superimposed on the display 6. In the embodiment of FIG. 5, the operating device 2 is connected to the display 6 via a data connection 29, the visualization comprising a data processing device 11 for preparing image data for the display 6 of the touch screen 5. It has a device 10.

  The control system 1 has an evaluation device 13 whose input interface 25 is connected via a sensor data connection 18 to a contact sensor 8 of a touch screen 5 (here via a touch controller 21 connected upstream). Have been. The evaluation device 13 has a real-time data processing device 14 (CPU) and an output interface 16 connected to the control device 3. The evaluation device 13 includes software by which the real-time data processing device 14 generates a control command for the control device 2 according to the sensor data of the contact sensor 8 and provides the control command via the output interface 16; Alternatively, it can be transmitted to the control device 3. The real-time data processing device 14 of the evaluation device 13 is independent of the data processing device 11 of the visualization device 10. That is, the data processing devices 11 and 14 are separate data processing devices. Since the evaluation device 13 is connected in parallel to the visualization device 10, the transmission of the control command to the control device 3 bypasses the visualization device 10, that is, to the independent signal path or the control device 3. Via an independent data path.

  Here again, the differences between the operating elements 7a and 7b are emphasized. The operating element 7b is associated with a machine function that is controlled in real time via the evaluation device 13. The operating element 7a is associated with a machine function or a machine parameter which is not controlled in real time and which is controlled or transmitted via a visualization device.

  In FIG. 5, the data flow of the raw touch data generated by the touch controller 21 is divided and simultaneously transmitted to the visualization device 10 and the evaluation device 13. The visualization device may provide touch input to other functions or operational guidance or services such as, for example, switching to another screen mask desired by the user or displaying and changing machine or process parameters or also storing or loading the entire parameter set. Evaluate real-time insignificant operating processes, such as guidance output. Other well-known features associated with graphical user surfaces on computer-aided control and data processing systems also fall into this category.

  The evaluation device 13 or its data processing device 14 is provided between the contact sensor 8 of the touch screen 5 and the control device 3 of the machine or equipment 4 for the operating process via the contact sensor 8 or the visualization device 10 or A detour to the data processing device 14 is formed. The evaluation device 13 continually analyzes the same data stream in the sensor data for an operating pattern adapted in its memory 15 (FIG. 8) to the operation of the operating element 7b parameterized. The evaluation device 13 can adapt status information on the operating state of the operating element 7b, ie convert it into control commands, and convert this converted status information for a predetermined period or within a predetermined time raster. In other words, in real time, it can be provided to the control device 3 via the output interface 16 and the data connection 22 corresponding to real time. The transmission of the control commands from the evaluation device 13 to the control device 3 is preferably cyclic and complete, so that there is always an actual copy of the operating state of all operating elements in the control device 3.

  A preferably bidirectional data connection 17 (particularly as a parameter interface) between the real-time evaluation device 13 and the visualization device 10 allows the visualization device 10 to parameterize the operating elements 7 b monitored by the evaluation device 13. To In the simplest case, this can be simple enable information, which is used to determine only which operating element the operating element 7b is permitted to operate and which operating element. In this simple case, the type, position and orientation of the operating element 7b can be permanently stored in at least one memory 15 of the evaluation device 13 (FIGS. 8 and 9).

  However, the type of each operating element 7b, ie the type of virtual operating element, its position on the screen, its orientation and its initial operating state can likewise be parameterized, in particular the data connection 17 Via the visualization device 10. This kind of parameterization of the evaluation device 13 can take place once in the initialization phase of the operating device 2 or also many times during the course of the drive, so that, for example, the type and number of operating elements 7b can be varied. It can be adapted to driving and operating conditions.

  Between the evaluation device 13 and the visualization device 10, an additional data connection 27, preferably in the form of an interrupt conductor, can be provided, by means of which the evaluation device 13 visualizes the operating process of the operator. Signal is transmitted to 10.

  The touch controller 21 and the evaluation device 13 are connected to each other via a communication connection 23, preferably in the form of interrupt signal lines, in addition to a sensor data connection 18 for transmitting raw sensor data to the evaluation device 13. be able to. Via this communication connection, the touch controller 21 can signal to the evaluation device 13 asynchronously and without delay the presence of an operating process that is important for evaluation.

  The operating device 2 is a structurally self-supporting operating device 24, in particular in the form of a human-machine-interface (HMI) panel, a manual operating device, a hand programming device, a teach-pendant-unit (TPU) and the like. Can be. Alternatively, it is also conceivable for the operating device 2 to form a structural unit with the control device 3.

  The operating elements 7a and 7b shown in FIGS. 4 to 7 are virtual, ie input elements that are displayed via the display 6 and are virtually variable. According to the invention, the use of additional mechanically independent mechanical operating elements for outputting real-time connected machine commands and travel commands is no longer necessary according to the invention. By omitting the additional mechanical input element, a simplification in terms of manufacturing technology is obtained, for example with respect to the sealing against the ingress of dirt and moisture. Eliminating mechanically moving components reduces wear-based failures. Since the appearance, number, position and function of the operating elements 7a, 7b are determined by the software implemented in the evaluation device 13 and in the visualization device 10 or its parameterization, the number and variants of the remaining hardware components are reduced. . The adaptation to machine-specific requirements is also simplified, even in relatively small series. That is, the same operating device can be used for several different machines having different functional ranges, and the display and selection of operating elements can be adapted to the respective machine or installation 4 via software. .

  The contact sensor 8 used is preferably a high-resolution capacitive multi-touch sensor. This sensor technology allows the detection of multiple contacts simultaneously through the front, in particular through the glass surface. Such a front forms a particularly scratch-resistant and continuously usable front surface that is particularly resistant mechanically and chemically for the operating device 24 in an industrial environment.

  The absence of printed key characters ensures that the key characters are not worn out over time and do not fade. Unambiguous characterization is made possible by the display on the display 6 below. An indication of the directly associated machine state or switching state is likewise possible, for example, by characterization of the appropriate color on the display 6.

  The front can also be fitted with special, touch-sensitive markings 25, which allow the user to touch the individual operating elements 7a, 7b without direct visual recognition, or It makes it possible to find completely predetermined operating elements 7a, 7b. This is particularly advantageous for the actuating elements 7b provided according to the invention for actuating direct actions, in particular driving movements. This is because, in that case, the operator's line of sight is often directed to the respective machine component in order to drive a given position and to visually monitor it.

  5 to 7 show, in addition to a display 6 for outputting information to the operator and a touch sensor 8 on the entire surface for inputting or detecting an operating action, furthermore a superposition, for example in the form of a transparent (glass) plate. Also shown is the front 9 that has been completed. This front 9 has tactile markings 25. This marking 25 makes it easier for the operator to register on the operating tool 24, for example, during a manipulating process in which the machine axes are manually controlled and run in particular, in which case the line of sight is It is directed to the component, not to the operating device 24. Since the position of the operation element 7b can be satisfactorily touched by the hand, the operator can find the predetermined operation element 7b without looking at the touch screen 5. However, on a perfectly flat operating surface, the operating element 7b can only be recognized visually first, so this potential disadvantage is preferably compensated by a tactilely recognizable marking 25 provided on the front 9. Is done.

  FIG. 6 shows a variant in which the data of the touch controller 21 is first guided only to the evaluation device 13 where it is evaluated as described above. The operation behavior of the operation element 7b detected by the evaluation device 13 is encoded into an appropriate control command and transmitted directly to the control device 3.

  This visual data is transmitted from the evaluation device 13 to the visualization calculator 10 via the other interface of the evaluation device 13 and the data connection 17 to the visualization device 10, from the evaluation device 13 to the visualization calculator 10. A computerization calculator can evaluate and translate the touch input, even with respect to non-time critical operating processes via the graphic operating surface. Such functions include, for example, switching between various screen masks or selecting a predetermined group of status values or parameters for output to the display 6 (screen) or the like. For this purpose, the evaluation device 13 can emulate the interface behavior of the touch controller and pass on the data stream supplied from the original touch controller 21 substantially unchanged. The advantage of this method is that a standard driver can be used to evaluate the touch data in the visualization device. However, it is also possible to provide a custom communication format between the visualization device 10 and the evaluation device 13, the communication format comprising a wide range of functions and various safety functions therefor, for example in combination with the parameterization of the evaluation device 13. Is possible.

  The essential advantage of this configuration shown in FIG. 6 is that the evaluation device 13 has exclusive access to the touch controller 21, so that access to touch data can be performed in a reliable and real-time manner. It is. No obstruction in the data stream due to any action from the side of the visualizer. Compliance with real-time conditions is not compromised.

  FIG. 7 is another preferred transformation, in which the visualization device 10 is located outside of the manipulating instrument 24, rather than within it. In this case, the operating device 2 or the operating tool 24 has an interface 12 for the visualization device 10. Interface 12 may be part of a plug connection or a component of a wireless-based interface. In that case, the visualization device can be integrated in the control device or can be structurally combined therewith. The connection of the operating device 24 to the control device 3 takes place via a data connection 19, which can be formed on a cable connection or on a wireless basis. This is a data connection 22 between the evaluation device 13 and the control device 3, preferably in the form of a real-time bus, for example a real-time Ethernet, for transmitting real-time control commands; Other data connections 17, for example in the form of a USB interface or a 12C interface, for transmitting data to the visualization device 10 and for transmitting configuration data from the visualization device 10 to the evaluation device 13; It has another data connection 29 for transmitting display output data from the to the display 6. The display output data may be formed, for example, according to VGA, DVI or HDMI® standards. In this configuration, preferably, the operating instrument 24 itself is completely independent of the computational output required for visualization, which computational output can vary significantly depending on the complexity of the application, the drive system and the programming platform, respectively. possible. As a result, the variety of variants and thus the production and storage costs can be significantly reduced.

  By omitting the mechanical keys (based on the prior art), which are fixedly printed and arranged, and replacing them with configurable and real-time virtual operating elements or operating elements 7, the arrangement of FIG. In combination, an operating tool 24 results, which in practice can be used for a very wide spectrum of use and for each individual shaping requirement. This provides a very cost-effective solution.

  FIG. 7 shows a further variant, in which the touch controller 21 (FIGS. 5 and 6) for converting the signal of the contact sensor 8 into an appropriate data stream is already built in the evaluation device 13 structurally, Alternatively, the evaluation device 13 has already assumed the function of the touch controller 21 together. Thus, the evaluation device 13 is provided with additional and direct sensor information for evaluation, which sensor information enables a more reliable and quicker reaction. Direct integration can enable faster detection and response of input, especially if the evaluation is multi-touch enabled.

  As another variant, FIG. 7 shows the driving of at least one actuator 20 of the operating device 2 by the evaluation device 13. Actuator 20 is mechanically coupled to front 9 and can couple mechanical vibrations or pulses to the front. These can be perceived when the operator makes contact. In this way, the operator can also be provided with tactile feedback via a response to the operation behavior. Various parameters of the haptic feedback, such as the intensity or frequency of the pulse, can be variable and parameterized depending on the application (eg, during the formation of a graphical user surface).

  In all three variants shown in FIGS. 5 to 7, the change in the operating state of the operating element 7b via the data connection 17 between the evaluation device 13 and the visualization device 10 is supplied directly to the visualization device 10, Therefore, it can be used for adapting the display output.

  In contrast, in the configuration according to the prior art shown in FIG. 3, the visualization device 10 only obtains updated information about the changed operating state via an input or mechanical input element after accessing the control device 3. I do. This is because the visualization device is only connected to the control device 3 by signal technology.

  In another embodiment of the invention, data can also be transmitted from the control device 3 to the output unit 13 via the data connection 22 for transmitting real-time control commands to the control device 3. With such data, for example, the behavior of the operating element or the stored operating state can be adjusted.

  The invention is not limited to the use of certain touch technologies. Various commonly used types and technologies are conceivable for contact sensors, in particular based on capacitive, resistive or piezoelectric technologies.

  FIG. 8 shows an example of the structure of the evaluation device 13 in a greatly simplified manner. The evaluation device has a real-time data processing device 14 in the form of a processor unit (CPU) and at least one memory 15, the memory having a work area (RAM) in which the data processing device 14 implements. Software for performing the operation and data necessary for the execution are stored. In addition, a non-volatile memory 15 (ROM) is provided, in which program codes and data are stored, which are present again after the supply voltage has been lost and when the power supply is restarted next time. Is what it is. It may be a read only memory (ROM), but may also be a non-volatile writable memory (e.g., NVRAM-Non Volatile RAM). In the non-volatile memory 15 only a simple boot loader program can be provided, which loads the original program code of the evaluation device 13 after the supply voltage has been switched on, by means of the data connection 17 by the visualization device 10. Allow, including data through.

  Further, the real-time evaluation device 13 includes a first (USB) interface 26 for coupling to the touch controller 21 or the direct contact sensor 8 and a second (USB) interface 28 for coupling to the visualization device 10. Have. However, these interfaces can likewise be formed according to other interface standards, for example 12C, or according to own standards.

  Another (RT-Ethernet (registered trademark)) interface-output interface 16- is provided for transmitting control commands to the control device 3 in real time. Internally, the individual components and the interface of the evaluation device communicate, preferably via a common bus connection.

  The software of the evaluation device 13 is usually simple and is kept without much overhead. The software does not have a particularly complex drive system and is preferably not based on a graphical user surface. By virtue of the well-defined purpose of the software, the clearly demarcated functional range and the avoidance of complex drive system functionality, high functional reliability, short program execution times and predictable and predictable temporal behavior (= Real-time behavior).

  The evaluation device 13 can be formed in a self-supporting manner and can also be formed in combination with other control components, in particular with the visualization device 10 or the control device 3. The only important thing is that the evaluation device 13 has a self-contained data processing device 14, which is different from the data processing device 11 of the visualization device 10 or is functionally separated therefrom. Have been. However, in principle, the two data processing units 11 and 14 can also be two independently implemented cores of a common CPU.

  The visualization device 10 is preferably arranged to supply the evaluation device 13 with configuration data relating to the at least one operating element 7b visualized on the display 6. Alternatively or additionally, such configuration data can be stored in the memory 15 of the evaluation device 13. The configuration data preferably includes position, size, orientation, type, reliable and associated operating gestures for the operation and its parameterizable features, possibly parameters for active haptic feedback, It contains information about the associated machine or equipment function, the associated machine or equipment parameter, the enable state of at least one operating element and / or the actual drive state or adjustment value. The evaluation device 13 or its software is arranged to generate control commands for the control device 13 according to the configuration data.

  FIG. 9 schematically shows a part of the memory 14 (RAM) of the real-time evaluation device 13 according to the present invention. A part of the memory 15 (program memory) stores program codes provided to be executed by the data processing device 14 (CPU). The other part contains general data that is needed to implement the program code or that occurs during its implementation.

  The third part of the memory 15 stores parameters and data for the individual operating elements 7 that can be detected by the evaluation device 13 (configuration data or “parameterized operating elements”).

  For each operating element, at least one indicator in the form of an identifier is stored, which allows to associate an operating action performed on the respective operating element with a predetermined machine function or facility function or parameter. I do. Furthermore, data defining the type and principle characteristics of each operating element can be stored. Among other parameters, the position, size and orientation with respect to the display or with respect to the touch sensor can be predetermined as long as these properties are variably configured. Via the enable status, the function of the virtual operating element can be temporarily blocked and re-enabled (permitted state). In principle, via this mechanism, it is also possible to define a plurality of operating elements which are superimposed on the touch screen, in which case each of these operating elements is to be operated or operated according to the machine / equipment. Some are allowed and others are blocked. In that connection, a virtual display on the display can be adapted.

  The data about the operating element can then also represent its actual or finally valid operating status, for example an on / off state, in one state value.

As already mentioned at the outset, in addition to the operating device and the control system, the invention also relates to a method for controlling a machine or an installation, which has already been described in detail above. The invention likewise relates to a method for forming a graphic user surface for the visualization device 10 of the operating device 2 and / or the control system 1 using a development environment.
[Configuration 1]
An operating device (2) for generating a control command for a control device (3) of a machine or equipment (4), wherein the operating device (2) comprises:
A touch screen (5) formed from a display (6) for visualizing the operating elements (7b) and a contact sensor (8) superimposed on said display;
A visualization device (10) with a data processing device (11) connected to said display (6), or this for preparing image data for said display (6) of said touch screen (5). An interface (12) connected to said display (6) for a kind of visualization device (10);
Having,
An evaluation device (13) is provided, said evaluation device being connected to a touch sensor (8) of a touch screen (5) and having a real-time data processing device (14) and an output interface (16); The real-time data processing device (14) of the evaluation device (13) generates a control command for the control device (3) according to the sensor data of the contact sensor (8) as follows, The real-time data processing device (14) of the evaluation device (13) is arranged to be provided at an interface (16), and the data processing device (11) of the / one visualization device (10) An operating device, which is independent with respect to.
[Configuration 2]
Operating device according to configuration 1, characterized in that the evaluation device (13) is connected to the visualization device (10), preferably via a bidirectional data connection (17).
[Configuration 3]
The visualization device (10) is arranged to provide configuration data regarding the at least one operating element (7b) visualized on the display (6) to the evaluation device (13); The configuration data is preferably a position, a size, an orientation, a type, an associated machine or equipment function, an associated machine parameter or an equipment parameter, a permission state of at least one operating element (7b) and And / or has information about the actual operating state or adjustment values, and
The evaluation device (13) is arranged to generate a control command for the control device (3) according to the configuration data;
3. The operating device according to Configuration 1 or 2, wherein:
[Configuration 4]
The visualization device (10) is at least indirectly connected to the contact sensor (8) and the control device (3), and an operating element (7a) of the touch screen (5) operated by an operator. Operating device according to configuration 1 to 3, characterized in that it is arranged to generate the control commands and / or machine or equipment parameters for the control device (3) according to: .
[Configuration 5]
A sensor data connection (18) between the contact sensor (8) and the evaluation device (13) has a branch, the branch being to or an interface for the visualization device (10). The operating device according to any one of Configurations 1 to 4, wherein the operating device leads to (12).
[Configuration 6]
Said operating device (2) is a mobile, preferably portable operating device, said operating device being particularly flexible via a data connection (19) with said control device (3) of a machine or equipment (4). The operation device according to any one of Configurations 1 to 5, wherein the operation device is connectable via a simple conductor or a wireless section.
[Configuration 7]
The operating device (2) has at least one actuator (20) for generating a tactile signal for an operator, and
The evaluation device (13) is connected to the actuator (20) and is arranged to operate at least one of the actuators (20) according to the sensor data of the contact sensor (8);
The operating device according to any one of Configurations 1 to 6, characterized in that:
[Configuration 8]
The output interface (16) of the evaluation device (13) for transmitting a control command to the control device (3) has at least one real-time control output or at least one digital or analog control output. Configuration, wherein said output interface (16) preferably has at least two control outputs, each control output being associated with a different machine or facility function. The operating device according to claim 1.
[Configuration 9]
The contact sensor (8) is a multi-touch sensor, and the evaluation device (13) is arranged to evaluate sensor data of the multi-touch sensor, and preferably operates at least two operating elements (7b). The operating device according to any one of Configurations 1 to 8, wherein the operation device can be evaluated simultaneously.
[Configuration 10]
The evaluation device (13) is implemented as follows, ie before, during and / or after the actual operation performed by the operation of the operating element (7b), and absolutely for the implementation of the control process The required movement or contact pattern in the contact sensor (8) is checked, and a control command corresponding to an operating process is supplied at the output interface (16) only after the movement or contact pattern has been checked positive. Preferably, the movement or contact pattern is a gesture introduced to activate said operating element (7b) for a predetermined period of time, or of another operating element (7b). The operating device according to any one of Configurations 1 to 9, wherein the operating device is a simultaneous operation.
[Configuration 11]
A touch controller (21) is connected between the contact sensor (8) and the evaluation device (13), and the touch controller controls the operation of the operation elements (7a, 7b) of the touch screen (5). 11. The operating device according to any one of Configurations 1 to 10, wherein the operating device is configured to detect and prepare as raw sensor data.
[Configuration 12]
The evaluation device (13) is configured such that a data stream is supplied to the evaluation device (13) as well as to the visualization device (10), or the touch controller (21). 12. The operating device according to configuration 11, wherein the operating device is coupled to the data stream.
[Configuration 13]
The operating device according to configuration 11 or 12, wherein the touch controller (21) is structurally and functionally incorporated in the evaluation device (13).
[Configuration 14]
A communication connection (23), preferably in the form of an interrupt signal conductor, in addition to a sensor data connection (18) for transmitting the raw sensor data to the evaluation device (13) by the touch controller (21) and the evaluation device (13). Via the communication connection, the touch controller (21) can signal to the evaluation device (13) asynchronously and without delay the presence of an operating process that is important for evaluation, 14. The operating device according to any one of Configurations 11 to 13, wherein:
[Configuration 15]
The evaluation device (13) has at least three interfaces, and the raw sensor data is received via a first interface and the visualization device (10) or the visualization via a second interface. It is further transmitted to the interface (12) for a device (10), preferably the evaluation device (13) at least partially emulates the behavior of a touch controller (21) at a second interface. The operation device according to any one of Configurations 1 to 14, wherein
[Configuration 16]
Arrangement according to any one of the preceding claims, characterized in that the evaluation device (13) has at least one memory (15) connected to the real-time data processing device (14). Operating device.
[Configuration 17]
The memory (15) contains and / or can store configuration data for at least one operating element (7b) that can be displayed on the display (6), wherein the configuration data is preferably The position, size, orientation, type, associated machine or equipment function, associated machine or equipment parameter, permission state of at least one operating element (7b) and / or actual operating state or adjustment value 17. The operating device according to Configuration 16, wherein the operating device includes information.
[Configuration 18]
Calibration data is included and / or storable in the memory (15), and using the calibration data, coordinate information provided by a touch controller is preferably offset, scaled and / or scaled. The operation device according to configuration 16 or 17, wherein the operation device is corrected for distortion correction.
[Configuration 19]
A control system (1) for controlling a machine or equipment (4), in particular a manipulator, a processing device or a manufacturing equipment, by means of an operating device (2),
A control device (3) for driving said machine or equipment (4);
An operating device (2) connected to a control device (3) for operating the machine or equipment (4) by an operator, in particular according to any one of configurations 1 to 18, wherein The operating device (2) has a touch screen (5), said touch screen comprising a display (6) for visualizing an operating element (7b) and a contact sensor (8) superimposed on said display (6). An operating device (2) formed from:
A visualization device (10) connected to the display (6) for preparing image data for the display (6) of the touch screen (5), wherein the visualization device (10) is A visualization device (10) having a data processing device (11);
Having,
The evaluation device (13) is provided, the evaluation device is connected to the contact sensor (8) of the touch screen (5), and the real-time data processing device (14) and the control device (3) are provided. ) And an output interface (16) connected thereto, wherein the real-time data processing device (14) of the evaluation device (13) performs the control according to the sensor data of the contact sensor (8) as follows: A control command for the device (3) is generated and arranged to be transmitted to the control device (3) via an output interface (16), and the real-time data processing device ( (14) The control system, wherein the data processing device (11) of the visualization device (10) is independent.
[Configuration 20]
The control system according to configuration 19, wherein an output interface (16) of the evaluation device (13) is connected to the control device (3) via a real-time data bus (22). .
[Configuration 21]
The operating device (2) is a structural unit 24) separate from the control device (3), in particular a mobile, preferably portable operating device, and
Said evaluation device (13) is integrated in said structural unit (24);
21. The control system according to configuration 19 or 20, wherein
[Configuration 22]
The visualization device (10) is arranged outside the operation device (24), and preferably, the visualization device (10) is built in the control device (3). 22. The control system according to 21.
[Configuration 23]
Method for controlling a machine or a facility (4) by an operating device (2) according to any one of the arrangements 1 to 18 and / or by a control system (1) according to any one of the arrangements 19 to 22. The visualization device (10) prepares image data for the display (6) of the touch screen (5) so that the operating element (7b) can be visually recognized on the display (6). The real-time data processing device (14) of the evaluation device (13) generates a control command according to the sensor data of the contact sensor (8) of the touch screen (5), and the control device (3) Communicate to
A method of controlling a machine or equipment.
[Configuration 24]
Configuration data, preferably in the form of a parameter set, for at least one operating element (7b) displayed or displayable on said display (6) is loaded into the evaluation device, and the configuration data is preferably Is the position, size, orientation, type, associated machine or equipment function, associated machine or equipment parameter, enabled state of at least one operating element (7b) and / or actual drive state or Contains information about the adjustment value, and
The evaluation device (13) generates a control command for the control device (3) according to configuration data;
24. The method of configuration 23, wherein:
[Configuration 25]
Method according to configuration 24, wherein configuration data is generated by the visualization device (10) and / or the control device (3) and transmitted to the evaluation device (13).
[Configuration 26]
The evaluation device (13) receives information from the visualization device (10), preferably via regular communication or signaling, and from the information, the data processing device of the visualization device (10) (11) A method according to any one of arrangements 23 to 25, wherein an inductive guess can be obtained as to the correct or erroneous implementation of the visualization software being performed above.
[Configuration 27]
The configuration data relating to the operating element (7b), which is transmitted from the visualization device (10) and / or the control device (3) to the evaluation device (13), is timed inside the evaluation device (13). Has or has been provided with limited validity; and
Since the corresponding operating element (7b) is deactivated after the expiration of the validity, the operation of the machine or the installation (4) via this operating element (7b) is prevented,
27. The method according to any one of configurations 23 to 26, characterized in that:
[Configuration 28]
An operating element (7b) whose visualization device (10) is monitored by the evaluation device (13) via a data connection (17) between the evaluation device (13) and the visualization device (10) 28. The apparatus according to any one of claims 23 to 27, further comprising: reading out the operation state of the device and evaluating the function that is not important in real time, for example, based on optical, acoustic or tactile feedback to the operator. the method of.
[Configuration 29]
A timer having a predetermined time limit is started in the evaluation device (13) after a change in the operating state of the operating element (7b);
The visualization device (10) does not respond with operation information before the expiration of the time limit, with respect to updating of the information shown on the touch screen (5), in particular regarding the operation state of the operation element (7b). At the same time, an error signal is transmitted to the control device (3) or the operating element (7b) is deactivated.
29. The method according to any one of configurations 23 to 28, wherein:
[Configuration 30]
The evaluation device (13) is signaled with one or more actuators (20) in signal technology as follows: when the operating element (7b) is operated, or when the touch screen (5) is simply touched. 30. A method according to any one of the arrangements 23 to 29, characterized in that, in such a case, a tactile feedback to the operator is already generated.
[Configuration 31]
The position and type of the operating element (7b) are stored in the evaluation device (13) and preferably correspond to tactile markings present on the touch screen (5). 31. The method according to any one of claims 23 to 30, wherein
[Configuration 32]
A monostable operating element (7b), preferably in the form of a keyboard or joystick with an automatic return to the initial position, which is not operated, is independent of the actual operating state of the operating element (7b). ), The non-operated state is signaled to the evaluation device (13) without delay, or a control command corresponding to the non-operated state is sent from the evaluation device (13) to the control device (3). 32.) The method of any one of arrangements 23 to 31, wherein the method is signaled to
[Configuration 33]
Between the evaluation device (13) and the visualization device (10) there is provided an additional data connection (27), preferably in the form of an interrupt conductor, by means of the data connection. 33) signal the operator's manipulating process to the visualization device (10).
[Configuration 34]
For transmitting real-time control commands, a real-time-capable data connection (22), for example a real-time Ethernet bus connection, is provided, via which the operation of the operating element (7b) is effected. Any one of configurations 23 to 33, wherein a control command associated with the state or the operation state of the operation element (7b) is cyclically transmitted to the control device (3) in a predetermined time raster. Or the method of claim 1.
[Configuration 35]
23. The visualization device (10) of the operating device (2) according to any one of configurations 1 to 18 and / or the control system (1) according to any one of configurations 19 to 22, depending on the development environment. At least one operating element (7b) is selected from a pre-determined amount of available operating elements (7b) by a development environment, and the at least one operating element is selected. (7b) is parameterized with respect to position, size, orientation, size, type, associated machine or equipment function, its associated machine or equipment parameter, and / or its enabled state, and at least From the correspondence of the parameters to one operating element (7b), for the evaluation device (13) In particular in the form of parameter data sets, the configuration data is generated, a method of forming a graphic user surface.

REFERENCE SIGNS LIST 1 control system 2 operating device 3 control device 4 machine or equipment 5 touch screen 6 display 7 a operating element 7 b operating element combined with real time function 8 contact sensor 9 front 10 visualization device 11 data processing device 12 visualization device 10 Interface for 13 Evaluation device 14 Real-time data processing device 15 Memory 16 Output interface 17 Data connection 18 Sensor data connection 19 Data connection 20 Actuator 21 Touch controller 22 Real-time capable data connection 23 Communication connection 24 Structural unit 25 Tactile Marking 26 Input interface 27 Data connection 28 Interface 29 Data connection 30 Operating device based on the prior art 31 First operating area 32 Second operating area

Claims (49)

An operating device (2) for generating a control command for a control device (3) of a machine or equipment (4), wherein the operating device (2) comprises:
A touch screen (5) formed from a display (6) for visualizing the operating elements (7b) and a contact sensor (8) superimposed on said display;
A visualization device (10) with a data processing device (11) connected to said display (6), or this for preparing image data for said display (6) of said touch screen (5). An interface (12) connected to said display (6) for a kind of visualization device (10);
Having,
An evaluation device (13) is provided, said evaluation device being connected to a touch sensor (8) of a touch screen (5) and having a real-time data processing device (14) and an output interface (16); The real-time data processing device (14) of the evaluation device (13) generates a control command for the control device (3) according to the sensor data of the contact sensor (8) as follows, The real-time data processing device (14) of the evaluation device (13) is arranged to be provided at an interface (16), and the data processing device (11) of the / one visualization device (10) It has been self-respect,
The evaluation device (13) or the real-time data processing device (14) of the evaluation device (13) may be configured such that, with respect to the visualization device (10) or the data processing device (11) of the visualization device (10), A detour is formed between the contact sensor (8) and the control device (3), and the evaluation device (13) and the visualization device (10), or at least their data processing devices (10, 14) ) Is connected in parallel between the contact sensor (8) and the control device (3) . The evaluation device (13) is connected with the previous SL visualizing means (10), that the operation device according to claim 1, wherein the. The visualization device (10) is arranged to provide configuration data regarding the at least one operating element (7b) visualized on the display (6) to the evaluation device (13) ; One
The evaluation device (13) is arranged to generate a control command for the control device (3) according to the configuration data;
The operating device according to claim 1 or 2, wherein:   The visualization device (10) is at least indirectly connected to the contact sensor (8) and the control device (3), and an operating element (7a) of the touch screen (5) operated by an operator. Operation according to one of the claims 1 to 3, characterized in that it is arranged to generate the control commands and / or machine or equipment parameters for the control device (3) according to: apparatus.   A sensor data connection (18) between the contact sensor (8) and the evaluation device (13) has a branch, the branch being to or an interface for the visualization device (10). The operating device according to any one of claims 1 to 4, wherein the operating device is connected to (12). A manipulation device of the operating device (2) is mobile, via the control device (3) and the data connection (19) of the operating instrument machinery or equipment (4), it is possible connections, it The operating device according to any one of claims 1 to 5, characterized in that: The operating device (2) has at least one actuator (20) for generating a tactile signal for an operator, and the evaluation device (13) is connected to the actuator (20). And adapted to operate at least one of said actuators (20) according to sensor data of said contact sensor (8);
The operating device according to any one of claims 1 to 6, wherein: The output interface (16) of the evaluation device (13) for transmitting a control command to the control device (3) has at least one real-time control output or at least one digital or analog control output. Tei Ru, operating device according to any one of claims 1 7, characterized in that. Wherein a contact sensor (8) is a multi-touch sensor, the evaluation device (13) that have been arranged to evaluate the sensor data of the multi-touch sensor, we claim 1, wherein 8 The operating device according to claim 1. The evaluation device (13) is implemented as follows, ie before, during and / or after the actual operation performed by the operation of the operating element (7b), and absolutely for the implementation of the control process The required movement or contact pattern in the contact sensor (8) is checked, and a control command corresponding to an operating process is supplied at the output interface (16) only after the movement or contact pattern has been checked positive. It has that are appointed to, operating device according to any one of claims 1 9, characterized in that.   A touch controller (21) is connected between the contact sensor (8) and the evaluation device (13), and the touch controller controls the operation of the operation elements (7a, 7b) of the touch screen (5). The operating device according to any one of claims 1 to 10, wherein the operating device is arranged to detect and prepare as sensor raw data.   The evaluation device (13) is configured such that a data stream is supplied to the evaluation device (13) as well as to the visualization device (10), or the touch controller (21). The operating device according to claim 11, wherein the operating device is coupled to the data stream.   13. The operating device according to claim 11, wherein the touch controller (21) is structurally and functionally built into the evaluation device (13). Touch controller (21) and evaluation unit (13), sensor data connection for transmitting the sensor raw data evaluation device (13) in addition to (18) are connected to one another via a communication connection (23), 12. The device as claimed in claim 11, wherein a touch controller (21) can signal the presence of an operating process that is important for the evaluation via the communication connection to the evaluation device (13) asynchronously and without delay. 14. The operating device according to any one of 13 above. The evaluation device (13) has at least three interfaces, and the raw sensor data is received via a first interface and the visualization device (10) or the visualization via a second interface. wherein further is transmitted to the interface (12), the operating device according to any one of claims 1 to 14, characterized in that for the device (10).   16. The evaluation device according to claim 1, wherein the evaluation device has at least one memory connected to the real-time data processing device. The operating device as described. Claims in the memory (15) within the display (6) includes a configuration data for at least one operating element that can be displayed (7b) at, and / or Ru retractable der, characterized in that Item 17. The operating device according to Item 16. Said memory (15) includes a calibration data in and / or a retractable, using said calibration data, coordinate information supplied from the touch controller is complementary Tadashisa, that The operating device according to claim 16 or 17, wherein A control system (1) for controlling a machine or equipment (4) by an operation device (2),
A control device (3) for driving said machine or equipment (4);
- a control device (3) and connected to the operating device for operating the machine or equipment (4) by the operator (2), the operating device (2) has a touch screen (5) An operating device (2), wherein the touch screen is formed from a display (6) for visualizing an operating element (7b) and a contact sensor (8) superimposed on the display (6);
A visualization device (10) connected to the display (6) for preparing image data for the display (6) of the touch screen (5), wherein the visualization device (10) is A visualization device (10) having a data processing device (11);
Having,
Evaluation unit (13) is provided, and the evaluation device is connected to the contact sensor of the touch screen (5) (8), or One real-time data processing device (14), said control device (3 ) And an output interface (16) connected thereto, wherein the real-time data processing device (14) of the evaluation device (13) performs the control according to the sensor data of the contact sensor (8) as follows: A control command for the device (3) is generated and arranged to be transmitted to the control device (3) via an output interface (16), and the real-time data processing device ( 14) is independent with respect to the data processing device (11) of the visualization device (10) ,
The evaluation device (13) or the real-time data processing device (14) of the evaluation device (13) may be configured such that, with respect to the visualization device (10) or the data processing device (11) of the visualization device (10), A detour is formed between the contact sensor (8) and the control device (3), and the evaluation device (13) and the visualization device (10), or at least their data processing devices (10, 14) ) Is connected in parallel between the contact sensor (8) and the control device (3) .   20. Control according to claim 19, wherein an output interface (16) of the evaluation device (13) is connected to the control device (3) via a real-time-capable data bus (22). system. The operating device (2) is a structural unit (24 ) separate from the control device (3), and the evaluation device (13) is integrated in the structural unit (24) ing,
The control system according to claim 19 or 20, wherein: The control system of claim 21, wherein the visualization apparatus (10) wherein Ru Tei is arranged outside the operating device (24), it is characterized. A machine or a facility (4) is controlled by an operating device (2) according to one of the claims 1 to 18 and / or by a control system (1) according to one of the claims 19 to 22. The visualization device (10) prepares image data for the display (6) of the touch screen (5) so that the operating element (7b) is displayed on the display (6). Are visualized, and the real-time data processing device (14) of the evaluation device (13) generates a control command according to the sensor data of the contact sensor (8) of the touch screen (5), and the control device ( 3)
A method of controlling a machine or equipment. The displayed on the display (6), or can be displayed, for at least one operating element (7b), co emissions fig configuration data is loaded into the evaluation device, or One <br/> the evaluation device (13) Generates a control command for the control device (3) according to configuration data.
The method of claim 23, wherein:   25. The method according to claim 24, wherein configuration data is generated by the visualization device (10) and / or the control device (3) and transmitted to the evaluation device (13). The evaluation device (13) is, before SL receives information from the visualization device (10), from the information, the visualization device (10) of said data processing device (11) being performed on the visualization software A method according to any one of claims 23 to 25, wherein a recursive guess can be obtained for a correct or erroneous implementation of. Configuration data on the operating element (7b), which is transmitted from the visualization device (10) and / or the control device (3) to the evaluation device (13), is provided inside the evaluation device (13) . It is valid with a time limit or valid with a time limit , and since the corresponding operating element (7b) is deactivated after the expiration of the time limit , the machine or equipment (4) via this operating element (7b) is Operation is blocked,
The method according to any one of claims 23 to 26, characterized in that: An operating element (7b) whose visualization device (10) is monitored by the evaluation device (13) via a data connection (17) between the evaluation device (13) and the visualization device (10) reads the operation state, worthy hand Review relates features real-time is not critical, the method according to any one of claims 23 27, characterized in that. Within the evaluation device (13), after a change in the operating state of the operating element (7b), a timer with a predetermined time limit is started, and before the visualization device (10) expires, the timer about updating of the touch screen (5) at the indicated information, if not respond with the operation information is transmitted error signal the control device (3), or the operating element (7b) is in the inactive state ,
A method according to any one of claims 23 to 28, characterized in that:   The evaluation device (13) is signaled with one or more actuators (20) in signal technology as follows: when the operating element (7b) is operated, or when the touch screen (5) is simply touched. 30. A method as claimed in any one of claims 23 to 29, characterized in that a tactile feedback to the operator is already generated when the tactile feedback occurs. The method according to any one of claims 23 30, wherein the evaluation device (13) wherein Ru position and type are stored Tei operating element (7b) into it, characterized in. Regardless of the actual operating state of the monostable operating elements (7b) is an operating element (7b), when it is inactivated by the visualization device (10), a state that is not operated to the evaluation device (13) 32. The control device according to claim 23, wherein a control command which is signaled without delay or corresponds to a non-operated state is signaled from the evaluation device to the control device. The method described in the section. Between the evaluation device (13) and the visualization system (10), and with additive data connection (27) is provided, the operation process of the evaluation device (13) the operator by the data connection 33. A method according to any one of claims 23 to 32, wherein the signal is signaled to the visualization device (10). In order to transmit the real-time control command, a data connection (22 ) corresponding to real time is provided, which corresponds to the operation state of the operation element (7b) or the operation state of the operation element (7b) via the data connection. Method according to one of the claims 23 to 33, characterized in that the assigned control commands are transmitted cyclically to the control device (3) in a predetermined time raster. 23. The visualization device (10) of an operating device (2) according to any one of claims 1 to 18 and / or a control system (1) according to any one of claims 19 to 22, depending on the development environment. ), Wherein at least one operating element (7b) is selected from a predetermined amount of available operating elements (7b) by a development environment, and the at least one operating element (7b) is selected. The operating element (7b) is parameterized with respect to position, size, orientation, size, type, associated machine or equipment function, its associated machine or equipment parameter, and / or its enabled state; In addition, from the correspondence of the parameters to at least one operation element (7b), the evaluation device (13) To, the co emissions fig configuration data are generated, a method of forming a graphic user surface.   Operating device according to claim 2, characterized in that the evaluation device (13) is connected to the visualization device (10) via a two-way data connection (17).   The configuration data includes a position, a size, an orientation, a type, an associated machine or equipment function, an associated machine or equipment parameter, a permission state of at least one of the operating elements (7b), and / or 4. The operating device according to claim 3, further comprising information on an actual operating state or an adjustment value.   Operating device according to claim 6, characterized in that the operating device (2) is a mobile, portable operating device.   The operating device according to claim 8, wherein the output interface has at least two control outputs, and each control output is associated with a different function related to a machine or equipment.   Operating device according to claim 15, characterized in that the evaluation device (13) at least partially emulates the behavior of a touch controller (21) at a second interface.   The configuration data is the position, size, orientation, type, associated machine or equipment function, associated machine or equipment parameter, permission state of at least one operating element (7b) and / or actual operation 18. The operating device according to claim 17, wherein the operating device includes information on a state or an adjustment value.   20. The control system according to claim 19, wherein the machine or equipment (4) is a manipulator, a processing device or a manufacturing equipment.   20. The control system according to claim 19, wherein the control device (3) is the control device (3) according to any one of claims 1 to 18.   Said structural unit (24) is a mobile operating device;
The control system according to claim 21, wherein:   Said structural unit (24) is a mobile, portable operating device;
The control system according to claim 21, wherein:   Control system according to claim 22, characterized in that the visualization device (10) is integrated in the control device (3).   29. The method according to claim 28, wherein the visualization device (10) evaluates for optical, acoustic or tactile feedback to an operator.   A timer having a predetermined time limit is started in the evaluation device (13) after a change in the operating state of the operating element (7b);
  If the visualization device (10) does not respond with operation information before the expiration of the time limit, with respect to the update of the information on the operation state of the operation element (7b) shown on the touch screen (5). An error signal is transmitted to the control device (3) or the operating element (7b) is deactivated.
30. The method of claim 29, wherein:   32. The method according to claim 31, wherein the position and type of the operating element (7b) correspond to tactile markings present on the touch screen (5).

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