WO2020087101A1

WO2020087101A1 - Method for operating a machine control system, and corresponding machine control system

Info

Publication number: WO2020087101A1
Application number: PCT/AT2019/060359
Authority: WO
Inventors: Bernhard Lehner; Manfred Schininger
Original assignee: Keba Ag
Priority date: 2018-10-31
Filing date: 2019-10-28
Publication date: 2020-05-07
Also published as: AT521874A1

Abstract

The invention relates to a method for operating a machine control system (1) and to a machine control system (1) having at least one machine controller (3) for carrying out machine operations with at least one mobile first handheld operating device (4) which can be carried by an operator (9) and is intended to functionally influence at least one of the machine controllers (3). The actuation states of the at least one emergency stop actuation element (8) on the handheld operating device (4) which can be manually activated and changed by an operator (9) are coupled into an emergency stop safety circuit (10) of the selected or actively connected machine controller (3) via the connection point (14). Furthermore, the operation of carrying out a safe registration operation of the handheld operating device (4) at the connection point (14) comprises the following steps: - activating at least one emergency stop actuation element (18) at the connection point; - deleting the unique assignment of the first handheld operating device (4) to the connection point (14), wherein the emergency stop safety circuit (10) is in an open state and/or the machine (2) is in a safe state in which all potentially dangerous machine operations are stopped.

Description

Method for operating a machine control system and corresponding machine control system

The invention relates to a method for the safe operation of a machine control system with at least one machine control for executing machine operations, and a machine control system for executing the specified method, an operator being able to influence the control processes by means of a hand-held control device to take.

Mobile handheld devices, in particular wireless data-coupled handheld devices, are suitable for controlling and visualizing a wide variety of highly automated processes and machines, or generally for controllable technical devices. Mobile handheld devices are used, for example, to read out operating data, to set operating parameters and for programming, service, diagnosis or maintenance work.

A large number of such highly automated, controllable technical devices, such as robots or machine tools, pose a danger to nearby persons during operation in their immediate physical sphere of influence, so that these danger areas are protected by technically monitored fences, covers and protective doors against entry or access by persons or are protected against the escape of dangerous media or radiation. While these protective measures are expedient in the fully automatic operation of the systems, in particular during commissioning and repair and maintenance work, at least limited special operation is often required, even when the fencing is open or the protective cover is removed, under the supervision of a specially trained specialist, for example when teaching , ie Programming a robot, or for similar setup work.

In order for such operation to be possible with the fencing open, the technical system must be switched from fully automatic program-controlled operation to one of several special operating modes which may be provided. As a result, certain technical monitoring devices, for example the danger zone of a machine is monitored, deactivated and replaced by other protective measures such as a restriction of the machine functions (e.g. reduced travel speed or driving force).

In modern technical systems, physical devices such as fences are often dispensed with so that an operator can move freely between several robots or machine tools. Instead, devices for monitoring the area around the technical system, such as cameras, light barriers or sensors of any kind, can be seen. If, for example, the entry of an operator into the danger zone of a machine is detected by a light barrier, the technical system can be switched fully automatically to a safe special operating mode and / or an acoustic or visual warning can be issued.

For precautionary or general changeover of the operating mode of a machine, there is advantageously a corresponding operating mode selector switch on an operating console, but in particular directly on a mobile handheld device of the controllable technical device.

In addition to an operating mode selector switch and an enabling button, an emergency stop switch marked in accordance with the standard or a machine stop switch or danger switch with the same effect but differently marked can also be provided on the hand control device. In modern technical systems, a standard illuminated emergency stop is used, particularly in the case of wireless handheld control units, which signals the operational readiness by the color change - caused by the backlighting. In the event of a dangerous situation recognized by the operator, they can actuate this emergency stop switch and thus immediately switch the technical system or at least a certain part of the system into a safe operating state, in particular stop this system or this system part immediately.

On operating mode selector switches, emergency stop, stop or hazard switches, enabling buttons and similar function switches, hereinafter referred to collectively as safety switching elements, very special requests are made because of their importance for the safety of people. demands on their reliability. In particular, these safety switching elements are mostly designed to be electrical and partly also mechanically multi-circuit, so that the respective actuation state is detected multiple times, but at least twice, and transmitted to the functional control or to a special safety circuit or a safety control of the controllable technical device. In modern technical systems, the electronic circuit states of the safety switching elements are converted into electronic information by appropriate signal conversion elements and transmitted via the network via a secure bus protocol (PROFIsafe, EtherCat, Sercos, FSoE), whereby the network technology can be carried out both wired and wireless. After the transmission, this information can then be converted back into electrical signals via corresponding signal conversion elements, or can be processed directly as electronic information by a functional control, in particular by a safety control.

Are now mobile handhelds and thus also the safety switching elements arranged on them operatively connected only temporarily with the controllable technical device, then very special precautions must be taken in connection with a usually intended or occasionally unintentional disconnection and establishment of this active connection, so that not immediately Establishing or breaking the operative connection by the operator actually creates unintended, potentially dangerous operating states.

Furthermore, methods and devices are proposed in the prior art, which bridge the emergency stop circuit or safety circuit, in which the emergency stop switch of the hand-held device is integrated, in the connection point as soon as the connection to the hand-held control device is disconnected. This ensures that the technical equipment remains operational even when the handheld device is disconnected. The actual command status of the emergency stop switch immediately prior to disconnection is not taken into account or not saved or is not maintained for the safety circuit in terms of signaling, so that if the emergency stop switch was previously actuated, the emergency stop command is indirectly removed by disconnecting the hand control device. without bringing about this through a conscious operation on the emergency stop switching element (the control device). Conversely, when connecting the handheld device with the controllable technical device to the unwanted Interrupting the emergency stop circuit and thus inadvertently stopping the device, if the emergency stop switch on the handheld control unit is actuated by mistake. This represents an extremely unpleasant disruption from an operational point of view due to the often relatively cumbersome and lengthy start-up procedure for such a system, as well as possible quality problems or fluctuating manufacturing parameters for the resulting products. There are similar dangers and problems in connection with an operating mode selector switch on the handheld terminal is appropriate. Here, too, there should be no unintentional change of operating mode by connecting or disconnecting the operating device. In modern technical systems, the emergency circuit or safety circuit is designed as information for a safety bus in a network. The bridging can therefore also take place as digital information. The digital information of the safety bus can also be converted back into electrical signals of the emergency stop or safety circuit.

From the prior art it is known to design machine controls in which an operator is able to influence the control engineering processes by means of a portable hand-held operating device. In order to enable a selective assignment or an unambiguous pairing, specific registration procedures for a hand-held operating device with respect to a machine control have been proposed. Such registration or assignment procedures are described, for example, in EP 1866712 B1, EP 1554637 B1 or

WO 2007025879 A1 proposed. Operator misunderstandings or misassignments should be prevented with the appropriate registration or assignment procedures.

Automatic position or zone detection in connection with a mobile hand-held device and a machine control is, for example, from the

WO 2006103838 A1 or DE 102016003051 A1 are known. Depending on the respective position or distance of the mobile handheld device, area warnings or automatic safety shutdowns are triggered. These measures can also achieve an only partially satisfactory level of security. In addition, in US 5444342 A access points for the temporary connection of mobile handheld or programming devices are described which include safety switching elements in the manner of an emergency stop switch or an enabling button. Before the connection is disconnected, an activation switch on the access point must be operated manually, bridging the emergency stop circuit at the connection point so that the robot does not stop unintentionally. Several, alternatively usable connection points are optionally provided, and changing the connection point without switching off the robot is highlighted as an explicit advantage. The problem of possible competing functions in the event of erroneous or improper, simultaneous use of multiple handhelds at multiple connection points is not dealt with in more detail.

Furthermore, the safety standards EN 418: 1993 and EN 60204-1: 1997 require that after an emergency stop state on a machine has been triggered by an operating device, the machine remains in this state until this state is actively activated again by the operating device will be annulled.

In EP 1899770 B1 it is proposed that storage means are provided in a connection point of a controllable technical device, in which switching or command states of safety switching elements of a hand-held operating device are stored and as long as the active data connection between the hand-held operating device and the counterpart is upright , Control commands can be executed, with the stored switching states the actual switching states of the safety switching elements are tracked with each change of the actuation states. These switching states are also forwarded to the safety circuit and / or the functional control of the technical device. If the active connection is intentionally or unplanned, the last switching or command states for the safety circuit or the functional control, which were validly recorded before the disconnection from the handheld terminal and stored in the data transmission counterpart, are retained in terms of signal or data technology.

A change in the safety-relevant signals and operating states in connection with the establishment or removal of an active data link between manual The operating device and the controllable technical device are only carried out by the operator deliberately operating the safety switching elements that are clearly assigned to these signals or safety functions. The change of the safety-relevant signals and operating states can only be carried out with the handheld terminal with which the safety-relevant operating state was brought about.

In summary, in the state of the art exactly one connection (1 to 1 connection) between the handheld terminal and the connection point / radio-technical remote station is required in order to bring about a security state and to be able to remove it again, so as to prevent special critical situations.

The object of the present invention was to overcome the disadvantages of the prior art and to provide a method and a suitable device for carrying out this method, with which the availability of a machine control system is improved without increasing safety risks.

This object is achieved by a method and a device according to the claims.

According to the invention, a method for operating a machine control system with at least one machine control for carrying out machine operations with at least one mobile handheld device that is first portable by an operator for the functional influencing of at least one of the machine controls is provided. The first hand-held control device comprises a unique identification, which is mapped in at least one memory of the first hand-held control device.

In addition, the first manual control device has at least one control element and / or at least one user interface for manually influencing machine operations by an operator, at least one emergency stop actuating element for ending potentially dangerous machine operations and at least one wireless transmission interface.

The at least one wireless transmission interface is used to establish or implement an operative control connection between the first hand-held operating device and one Connection point of the machine control is set up, with a clear assignment of the first hand-held operating device by transferring at least the unique identification and subsequent storage into a memory of the connection point of the machine control, and the respectively present, manually activated and changeable operating states of the at least one Emergency stop actuating element can be coupled into at least one wireless transmission interface in an emergency stop safety circuit of the selected or actively connected machine control, wherein a synchronization of the state of the emergency stop safety circuit in the memory of the connection point with respect to the actuation state of the at least one emergency stop actuation elements takes place.

The following procedural steps characterize the execution of a secure deregistration process of the first hand-held operating device at the connection point to the machine control:

- Activation of at least one emergency stop actuating element at the connection point;

- Deletion of the unique identification of the first portable handheld device from the memory of the connection point, whereby the unique assignment of the first handheld device to the connection point is removed, the emergency stop safety circuit being in an open state and / or the machine being in a safe state State in which all potentially dangerous machine operations are stopped.

The method according to the invention has the advantage that the mobile or portable handheld operating device can be coupled completely wirelessly to a selected machine control, as a result of which a high degree of freedom of movement for the operator can be achieved and thus optimum visibility or controllability of manually controlled ones to be programmed and can also be achieved by automatic machine operations. Due to the lack of a cable connection, any risk of stumbling or falling are minimized for the operator and possible hooking, pulling or tangling risks in connection with a cable connection and machine operations carried out are excluded. In particular, the cable is also an expensive wear part that has to be replaced regularly. In addition, unexpected dangerous situations can be integrated into the machine control using the wireless or radio technology and therefore, to a certain extent, mobile or relatively freely positionable, first emergency stop actuating element can be quickly averted, or any risk situations avoided at any time or prevented.

In addition to the high ease of use, a particular advantage of the measure according to the invention is that a high degree of personal safety in relation to manual, semi-automatic or fully automatic machine operations is achieved. The expression machine operations includes, among other things, movements of machines, tools or workpieces, as well as potentially dangerous processes.

In particular, the measures according to the invention ensure that the hand-held operating device or the emergency stop actuating element is securely logged off at a connection point to the machine control. In particular, the dedicated, control- or process-technically predefined deregistration process makes the operator particularly aware that an emergency stop actuating element that is originally available or can be activated if necessary is deactivated functionally or in terms of control technology after the execution of the specified deregistration process and henceforth no longer is available. Misunderstandings or surprising situations on the part of the operator can be delayed or almost excluded.

An emergency stop state or safe state means that the machine or system to be controlled stops all movements as quickly as possible and remains in this position, depending on the safety concept of the machine or system continuing to supply the actuators with energy for holding the position become, or be switched off.

In addition, unwanted, automatic initiation of stop or emergency stop conditions during an ongoing machine operation can be avoided by the measures according to the invention after the awareness of carrying out a logoff process is increased among operators. Without performing a deliberate logoff process, the machine would normally have to be in one if an active connection between the manual operator advises and the connection point of the machine control system is interrupted safe state / emergency stop state. This state can only be canceled by re-registering the hand-held device that triggered the safe state.

If the active connection is interrupted, for example, due to a defect, loss or interruption in the power supply to the handheld control unit, a deliberately initiated emergency stop state can no longer be released without putting the handheld control unit back into an operating state in which the active connection to the connection point is restored can be. In order to put a handheld operating device back into an operating state, it can, for example, involve a repair or a battery charging process of the handheld operating device.

Further or more detailed reasons for a connection breakdown can also be the following:

- The limit of the spatial effective range of the handheld device is exceeded;

- battery empty;

- Bluetooth, WLAN or NFC connection fails;

- Bluetooth, WLAN or NFC connection is disrupted;

- Black Channel fails (e.g. FSoE Stack fails);

- connection point defective;

Pending machine operations, which can sometimes be time-critical, can therefore not be carried out as long as the hand control device is not ready for operation and the emergency stop state cannot be canceled by the hand control device.

For safety reasons and the requirements of different safety standards, the safe / open state of the emergency stop safety circuits or the safe state of the machine may only be canceled by actuating the emergency stop actuating element on the handheld control unit at which the emergency stop state was triggered has been. After the first manual control device has been logged off and the operator has deliberately ended the emergency stop state at the connection point, the next step is This created the opportunity to connect another mobile handheld device to the connection point.

The execution of the active deregistration process of the hand-held operating device according to the invention by the operator at the connection point therefore also offers the advantage that an emergency stop state can be intentionally canceled by the emergency stop actuating element of the connection point with the state of the emergency stop safety circuit or the state the machine is brought into agreement and thus the possibility of deregistration of the handheld device is created, the assignment of the handheld device to the connection point can be removed. This can be done either automatically, by pressing the reset button and / or a user input at the user interface of the connection point, a user dialog being output, which requires user input.

In addition, it can be provided that the deregistration process of the first hand-held operating device at the connection point relative to the machine control is initiated manually and carried out consciously by an operator, the reset button and / or a user interface at the connection point being actuated by the operator.

In order to further increase awareness of the execution of a logoff process by operators, it can be advantageous that the logoff process can be initiated manually. This can be done on the one hand by pressing a reset button and / or by interaction of an operator at the user interface.

It can further be provided that the manually initiated and deliberately executable deregistration process is carried out by an operator if the reset button is held in an actuation position by the operator for a period between a minimum actuation period and a maximum actuation period.

A certain period of time can advantageously be defined, during which a reset button must be pressed in order to deregister the hand-held operating device from the connection point. This measure ensures that the logout process is carried out consciously by the operator and safety-critical situations are prevented. In an exemplary embodiment, the time period during which a reset button must be pressed in order to deregister the hand-held operating device from the connection point is a time period of at least 5 and a maximum of 10 seconds. If the reset button is pressed for less than 5 seconds or longer than 10 seconds, the handheld device is not deregistered at the connection point.

A reset button is advantageously provided primarily only on the connection point in order to ensure that the pairing reset is carried out spatially at the connection point.

This further ensures that an operator carries out the manually initiated and deliberately executable logoff process of the hand-held operating device relative to the connection point, also at the desired connection point. Furthermore, a reset button on the handheld terminal would be used if something was Disconnections to the connection point have no effect.

Furthermore, the probability of a connection being broken due to an error in the connection station is low. Also, in the event of a fault in the connection station, this will probably have to be replaced, since this is the only way to close the open state of the emergency stop safety circuit or to release the safe state of the machine and the system can continue to be operated.

Furthermore, it can be expedient if, by means of a user dialog at the user interface of the connection point, the manually initiated and deliberately executable logoff process of the first hand-held device with respect to the connection point can be carried out by the operator through a user dialog at the user interface of the connection point.

Here, the provision of an additional physical reset button can be dispensed with, so that, for example, there can be no confusion between individual actuating elements and buttons by the user. In the course of outputting a user dialog, an additional request to the operator can advantageously be made to agree to the logoff process of the first hand-held operating device vis-à-vis the connection point. Also advantageous is a version according to which it can be provided that the logoff process of the first hand-held operating device at the connection point can be carried out automatically in relation to the machine control, the automatic logoff process comprising the following steps:

- Carrying out a check at the connection point as to whether the control-technical connection between the first hand-held operating device and the control-connected machine control is upright;

- Determination of at least one condition of the termination of the control connection at the connection point;

- Initiation of the deletion of the unique identification of the first portable handheld device from the memory of the connection point if a condition selected from the group comprising

the first hand-held control unit is voltage-free;

the emergency stop actuator is greater than / equal to a defined period of time in an activated state;

the emergency stop safety circuit is in an open state greater than or equal to a defined period of time;

the machine is in a safe state greater than / equal to a defined period of time, in which potentially dangerous machine operations are stopped;

there is no person in the danger zone;

the handheld device is outside the effective range of the transmission interface of the handheld device;

a defect in the transmission interface of the handheld terminal;

a defect in the transmission interface of the connection point;

is present.

Advantageously, the clear assignment of the handheld terminal to the connection point is automatically removed and the possibility is created to connect another, second handheld terminal to the connection point. If, after an interruption of the active connection between the first hand control device and the connection point, the emergency stop is activated at the connection point, the hand control device can be automatically logged off from the connection point after a period of time by synchronizing the emergency stop state of the system with the connection point. Before the automatic deletion process of the first handheld terminal, the existence of certain conditions for the termination of the connection is checked.

An undesired termination of the active connection between the handheld operating device and the machine control can thus be detected promptly and optionally an acoustic or visual message or warning about the termination of the connection can be given to the operator. After a machine control has been brought into a safe state by an emergency stop actuating element on the hand-held operating device, the operator can carry out longer-lasting activities on a machine. This can be maintenance work, salvage work, etc. on a machine tool or a robot. It can happen that the battery or the rechargeable battery of a handheld device is completely discharged and the connection to the connection point is broken. In the method according to the invention, an operator is advantageously immediately informed of a connection being terminated.

Furthermore, it can be provided that the deregistration process of the first hand-held device against the connection point can be carried out after the operator has been positively authorized on the authorization device.

In order to prevent an unauthorized logoff of the handheld operating device by an unauthorized operator, there is advantageously a physical authorization device at the connection point. This can be a key switch, a chip fixed device, a fingerprint sensor, a keyboard for entering a personal identification number (PIN) or similar devices or combinations thereof known from the prior art. In one possible embodiment, a dialog can also be provided on the user interface, in which the operator is asked to enter a personal identification number (PIN).

According to a development, it is possible that by deactivating the at least one emergency stop actuating element at the connection point, the emergency stop safety circuit is closed and / or the machine is put into an operating state. As a result of the connection being broken with the first hand-held operating device and the assignment being assigned to the connection point being faked, it is advisable to switch the machine control to a neutral state transfer in which an assignment of a further handheld device can take place. The neutral state mentioned, which is required for the reassignment, is characterized in that no clear identification of a manual control device is entered in the connection point, and the system / machine can be in a safe state or in normal operation. However, if an asynchronous state of the emergency stop actuating element on the handheld operating device is detected in relation to the connection point when reassigning a further handheld operating device, the operator is informed of this as the first step. If the system / machine is in normal operation, the operator has a predefined period of time to deactivate the emergency stop on the handheld terminal before the machine changes to the safe state / emergency stop state. The time span in the exemplary embodiment is a maximum of 10 seconds. If the system / machine is in a safe state / emergency stop state and the emergency stop is not activated on the mobile handheld control unit, the mobile handheld control unit is connected to the system / machine, but the mobile handheld control unit only becomes functional after the emergency stop status has been synchronized released for operating the system / machine.

Furthermore, it can be expedient that a control-related operative connection between a second hand-held control device and the connection point of the machine control is established via a wireless transmission interface of the second hand-held control device, at least one clear identification of the second portable hand-held control device being stored in the memory of the connection point and wherein the closed state of the emergency stop safety circuit is maintained and / or the machine is in a safe state in which potentially dangerous machine operations are stopped.

In addition, after the establishment of the control-technical connection between the second hand control device and the connection point of the machine controller, the operating state of the emergency stop actuating element of the second hand control device and the state of the emergency stop safety circuit of the connection point can be compared to the machine control, whereupon the states can be brought into agreement by actuating the emergency stop actuation element of the second hand-held control device. In this way, for example, safety-critical or process-critical situations can be prevented, which are caused by an unconscious actuation of an emergency stop actuating element of the second hand-held control device, for example in the course of transport and / or storage of the hand-held control device.

Advantageously, the operation of a machine control can now be continued with the second hand-held control device while, for example, the first hand-held control device is located in a charging station. At least one emergency stop actuating element is also provided on the second hand-held operating device, with which the machine control can be brought into a safe state.

The object of the invention is further achieved by a machine control system according to at least one of the claims, wherein the machine control system according to the invention has at least one machine control for carrying out machine operations, with at least one mobile handheld device which is first portable by an operator for the functional influencing of at least one which includes machine controls.

The first handheld control device comprises at least a first memory, at least one control element and / or at least one user interface for manually influencing machine operations by an operator and at least one first emergency stop actuation element for ending potentially dangerous machine operations. In addition, the first hand-held control device has at least one wireless transmission interface, which che wireless transmission interface is suitable for establishing a control connection between the first hand-held control device and a connection point of the machine control.

The connection point of the machine control also comprises at least one second memory and at least one wireless transmission interface.

The machine control system is further characterized in that at least one first data object is depicted in the at least one first memory of the first hand-held operating device, which first data object comprises at least the following:

- A unique identification of the first handheld device as a primary key; - A clear identification of the at least one emergency stop actuator as a foreign key;

- A clear identification of the connection point of the machine control as a foreign key.

Advantageously, the hand-held operating device has at least one emergency stop actuating element, the unambiguous assignment taking place via the unique identification of the at least one emergency stop actuating element as a foreign key. In order to ensure that an operator can easily access at least one emergency stop actuating element, it can furthermore be expedient to mount a plurality of emergency stop actuating elements on one handheld operating device. Emergency stop actuation elements are often activated in panic situations, it being necessary to ensure that these emergency stop actuation elements can be reached or gripped quickly and easily by the operator. It can be advantageous for left-handers to provide an emergency stop actuating element on the left side of the handheld device. In the case of larger hand-held control units, it may be advisable to provide several emergency stop actuators in order to make them accessible at several different locations. For example, an operator can activate an emergency stop in the lower area of a handheld device while the operator is making an entry in the lower area of the handheld device and, alternatively, an operator can activate an emergency stop, for example in the upper area of a handheld device, while the operator is making an entry in the upper area of the handheld terminal.

Furthermore, by storing the unique identification of the connection point of the machine control as a foreign key on the handheld terminal, it is known with which connection point there is an active connection.

In addition, it can be provided that at least one second data object is depicted in the at least one memory of the first hand-held operating device, which second data object comprises at least the following:

- A clear identification of the at least one emergency stop actuator as the primary key;

- A unique identification of the first handheld device as a foreign key; - An actuation state of the at least one emergency stop actuating element of the first hand control device.

After an emergency stop actuating element knows the unique identification of the first handheld operating device as a foreign key, there is also a clear assignment to the handheld operating device. Furthermore, the current actuation state of the emergency stop actuating element can be transmitted via the wireless transmission interface of the hand-held device relative to the connection point and can be coupled in via the connection point into an emergency stop safety circuit of the selected or actively connected machine control.

Furthermore, it can be provided that the connection point of the machine control comprises at least one emergency stop actuating element.

If an emergency stop is actuated on a hand-held control device and, from a functional point of view, it is coupled into the emergency stop safety circuit of the actively connected machine control system via the connection point, an emergency stop safety circuit is opened and a machine is brought into a safe state. In order to bring the state of the emergency stop safety circuit at the connection point into agreement with the operating state of the emergency stop actuating element of the connection point, it is advantageous that an operator also activates the emergency stop actuating element at the connection point.

According to one variant, it is possible for the connection point of the machine control to comprise a reset button and / or at least one user interface, which are designed to carry out a manually initiated and deliberately executable deregistration process of the hand-held device from the connection point by an operator.

If the system / machine is in the safe state / emergency stop state and the state of the emergency stop safety circuit or the emergency stop signal at the connection point is in agreement with the actuation state of the emergency stop actuating element of the connection point, the assignment of a first hand-held operating device can to the connection point can be removed using the reset button. A separate reset button at the connection point is advantageous for this provided, which differs significantly in terms of appearance and / or haptic design from the emergency stop actuating element. In an advantageous embodiment, the reset button is designed to be resilient and, after being released by an operator, is brought back into a neutral position. In order to remove the assignment of a handheld terminal to the connection point, a period of time can also be defined during which a reset button must be kept pressed.

As an alternative to this, a pairing reset, that is to say the removal of the assignment of a manual control device to the connection point, can also be carried out in such a way that the operator interacts with at least one user interface of the connection point. The term user interface encompasses all input and display devices with which a user input can be carried out and a visualization of the user input and / or processes based thereon takes place on the display device.

From the prior art input devices such as actuators, buttons, keyboards, sliders, buttons, touch screens, devices for entering voice commands, ... are known. Displays, luminous tele elements, acoustic outputs such as warning tones or voice outputs are known to the person skilled in the art as display devices.

In addition, it is also conceivable that the pairing reset is carried out by a combined actuation action on the reset button and the user interface.

It is also important that an unwanted pairing reset can be prevented in the event of an error. A pairing reset attempt in normal operation, which means when the emergency stop safety circuit is closed, does not trigger a function.

According to a further development of the invention, it can be provided that the connection point of the machine control comprises a reset button and / or at least one user interface, the interaction of the operator with the reset button and / or the at least one user interface being a more secure one an operator can manually initiate and consciously execute the deregistration process of the first hand-held device at the connection point to the machine control when an open one State of the emergency stop safety circuit is present and / or the machine is in a safe state, in which potentially dangerous machine operations are stopped.

In particular, the measures or devices according to the invention ensure that the hand-held control device or the emergency stop actuating element located thereon is deliberately deliberately logged off at a connection point to the machine control. In particular, the dedicated, control or pre-defined deregistration process makes the operator particularly aware that an originally available or, if necessary, activatable emergency stop actuating element is functionally or control-technically de-activated after the specified deregistration process has been carried out and henceforth not more is available. Misunderstandings or surprising situations on the part of the operator can be prevented or almost excluded.

Furthermore, a measuring device can be provided at the connection point of the machine control, which is designed to measure a time period during which the reset button is held in an actuation position by the operator.

In order to make the operator of the logout process of the handheld terminal highly aware, it is advantageous that a reset button must be held in an actuated / pressed state for a defined period of time. For this purpose, a measuring sensor system is provided on the connection device to detect the time span.

In addition, it can be provided that the connection point of the machine control comprises a control device for an automatic logoff process of the hand-held operating device with respect to the connection point, which is designed to

- carry out a check whether the control-technical connection between the first manual control device and the control-connected machine control is correct; and

- Initiate a deletion process of the unique identification of the first portable hand-held device from the memory of the connection point if a condition selected from the group comprising the first hand-held control unit is voltage-free;

the machine control system is in a safe state for a defined period of time in which potentially dangerous machine operations are stopped.

An ongoing machining operation on the machine is greater than or equal to a defined period of time in a stopped state;

there is no person in the danger zone;

a defect in the transmission interface of the handheld terminal;

a defect in the transmission interface of the connection point;

is present.

As an alternative to that embodiment in which an operator removes the unambiguous assignment of the hand-held control device to the connection point by input on a user interface or by pressing a reset button, the clear assignment of the hand-held control device to the connection point can also be removed by an automatic deletion process. In order to prevent safety-critical situations from occurring, it is advantageous to measure the time span of an interruption of the active connection between the first hand-held operating device and the machine control connected to the control system. Suitable devices for measuring the time period of the connection interruption are known to the person skilled in the art from the prior art, which can advantageously be a timer. The timer is preferably designed in such a way that a time interval is measured starting from zero. Alternatively, a certain time interval can also be specified in the timer, counting down to zero from this time interval.

With the help of the timer, the period of time of the interruption of the active connection between the first hand-held operating device and the control-related machine control can be changed be measured and a deregistration process of the first handheld terminal at the connection point to the machine control is automatically initiated as soon as a defined period of time is exceeded.

Furthermore, it is advantageous if a condition for the termination of the active connection between the handheld operating device and the connection point is checked, as a result of which the security of the deregistration process of the handheld operating device can be further increased.

In particular, it can be advantageous that at least one first data object is depicted in the at least one memory of the connection point of the machine control, which first data object comprises at least the following:

- A clear identification of the connection point of the machine control as primary key sel;

- A unique identification of the first handheld device as a foreign key;

- A clear identification of the at least one emergency stop actuating element of the connection point as a foreign key;

- Information about an open or closed state of the emergency stop safety circuit and / or a period of a safe state in which potentially dangerous machine operations are stopped.

By implementing the described data object in the connection point of the machine control, the clear assignment of a handheld device is ensured. At least one emergency stop actuating element of the connection point can also be clearly assigned to the connection point. Advantageously, a plurality of emergency stop actuating elements can also be provided at the connection point, which can be arranged at different points, as a result of which the accessibility for an operator can be improved.

After the information about an open or closed state of the emergency stop safety circuit is present in the at least first data object of the connection point or the machine control system is in a safe state in which all machine operations have been comprehensively stopped and a clear assignment to at least one If there is an emergency stop actuating element of the connection point, the basics have been created to bring the state of the emergency stop actuating element of the connection point into agreement with the state of the emergency stop safety circuit or the state of the machine control system. This can be done by a consciously executed operating action by an operator or on the basis of a request for an operating action on the user interface.

In the event that several emergency stop actuation elements are provided at the connection point, only one emergency stop actuation element has to be brought into the actuation state so that the system / machine changes to the safe state or the emergency stop safety circuits open.

Also advantageous is an embodiment according to which it can be provided that at least one second data object is mapped in the at least one memory of the connection point of the machine control, which second data object comprises at least the following:

- A clear identification of the connection point as a foreign key;

- Place an actuation state of the at least one emergency stop actuating element of the connection.

After an emergency stop actuating element knows the unique identification of the connection point as a foreign key, there is also a clear assignment to the connection point. Furthermore, the current actuation state of the emergency stop actuating element can be coupled into an emergency stop safety circuit of that machine control to which machine control the connection point is assigned.

According to a further development, it is possible for at least one third data object to be mapped in the at least one memory of the connection point of the machine control, which third data object comprises at least the following:

- A clear identification of a reset button of the connection point as a primary key;

- A clear identification of the connection point as a foreign key;

- An actuation state of the reset button of the connection point. If a physical reset button is provided at the connection point of the machine control system, this is advantageously mapped as a separate data object, and an assignment of the reset button to the connection point can be mapped by storing the unique identification of the connection point as a foreign key. Furthermore, the actuation status of the reset button of the connection point is shown in the data object of the reset button.

Furthermore, it can be expedient if the connection point comprises an authorization device for an operator.

An authorization device is advantageously provided at the connection point in order to prevent an unauthorized logout of a hand-held operating device by an unauthorized operator, as a result of which security-critical situations can be prevented. An authorization device can be a key switch, a chip reader, a fingerprint sensor, a keyboard for entering a personal identification number (PIN) or similar devices or combinations thereof known from the prior art.

For a better understanding of the invention, this will be explained in more detail with reference to the following figures.

Each show in a highly simplified, schematic representation:

Fig. 1 is a schematic of an exemplary machine control system comprising a

Machine, in particular an industrial robot, with a machine controller having an operative connection with a hand-held operating device;

2 shows an active connection between a first hand-held operating device and a connection point of a machine control, a connection termination, a pairing reset and the establishment of a new active connection between a second hand-held control device and a connection point of a machine control;

3 shows a data model with data objects of a handheld terminal and a connection point; 4 states of the data objects of a hand-held control device and a connection point as a result of a connection being broken off between the hand-held control device and the connection point, or the reassignment of a further hand-held control device;

Fig. 5 is a flowchart comprising a connection termination between the handheld operating device and the connection point;

6 shows a data model with data objects of a hand-held operating device and a connection point in an alternative embodiment with automated pairing reset;

7 states of the data objects of a hand-held control device and a connection point as a result of a connection being broken off between the hand-held control device and the connection point, or the reassignment of a further hand-held control device in an alternative embodiment with automated pairing reset;

Fig. 8 is a flowchart comprising a connection termination between the handheld operating device and connection point in an alternative embodiment with automated pairing reset.

In the introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, and the disclosures contained in the entire description can be analogously applied to the same parts with the same reference numerals or the same component designations. The location information selected in the description, e.g. above, below, laterally, etc. based on the immediately described and illustrated figure and this position information is to be transferred to the new position in the event of a change of position.

Fig. 1 shows an embodiment of an electronic machine control system 1 for manual, partially automatic and fully automated execution of production or machining processes. The corresponding machines 2, 2 'are formed by a group of industrial robots. The machines controlled by control technology can also be formed by other processing machines or by machine tools. The corresponding machines 2, 2 'each comprise at least one electronic machine control 3, 3', via which the respective actuators or drives of the associated machine 2, 2 'can be controlled or activated, and which machine controls 3, 3' with a plurality of sensors or sensors for detecting or monitoring the respective operating or machine states are connected. The known machine controls 3, 3 'are preferably program-controlled, in particular software technically operable.

In the machine control system 1, at least one mobile, in particular one handheld device 4 that can be carried by an operator is integrated or can be integrated in terms of control technology. For data or control-related communication with at least one of the local machine controls 3, 3 ′, at least one wireless transmission interface 5 is formed on the hand-held control device 4 or is coupled to its control device 6. The hand-held control device 4 is preferably completely wireless, that is to say operable without any cable connection. For the electrical power supply of the electrotechnical components of the handheld control device 4, it comprises at least one battery or at least one rechargeable battery 7.

A first emergency stop actuating element 8 formed on the handheld operating device 4 enables an operator 9 to avert or immediately end potentially dangerous situations in the course of automated or partially automated machine operations. In particular, a safe state can be initiated by actuating or activating the first emergency stop actuating element 8, or potentially dangerous machine operations can be ended immediately and comprehensively. The first emergency stop actuating element 8 acts on an emergency stop safety circuit 10 or 10 'of the respectively controlled or connected machine 2 or 2'. At most, the first emergency stop actuating element 8 can also act on the entire machine control system 1.

The first emergency stop actuating element 8 is wirelessly integrated into the machine control system 1 via the at least one wireless transmission interface 5 of the hand-held operating device 4, or is connected in terms of radio technology with the respectively selected and actively connected machine nen control 3, 3 'functionally linked, in particular functionally coupled to the respective emergency stop safety circuit 10, 10'. The functional coupling between the first emergency stop actuating element 8 and the respective emergency stop safety circuit 10, 10 'takes place while maintaining high availability requirements and taking into account high functional reliability. The first emergency stop actuating element 8, which is designed to be mobile or is directly assigned to a person, is therefore particularly quickly available when required or can be activated immediately.

The hand-held control device 4 further comprises at least one control element 11, for example a joystick, a rotary actuator or the like, and / or a user interface 12 for manually influencing machine operations by an operator. In particular, potentially dangerous machine operations, for example movement control commands, activations of machine processes and the like, can be carried out or initiated by the operator with the at least one control element 11 or with the at least one user interface 12.

The term user interface 12 includes all input and display devices with which a user input can be carried out and a visualization of the user input and / or processes based thereon on the display device. Input devices such as actuators, buttons, keyboards, sliders, buttons, touch screens, touch-sensitive sections on a touch-sensitive display, devices for inputting voice commands, etc. are known from the prior art. Displays, lighting elements, acoustic outputs such as warning tones or voice outputs, etc. are known to the person skilled in the art as display devices.

In order to be able to establish a control-technical active connection 13 or a data-technical interaction between the wireless handheld operating device 4 and one of the machine controls 3, 3 ', a connection point 14 is provided on the respective machine control 3, 3'. For example, a transmission interface 15 is provided at the connection point 14 for the establishment of an expensive technical connection 13 with a handheld control device 4. The connection point 14 is designed with control electronics 16, which control electronics 16 are functionally or line-connected to the primary control core 17 of the machine 2 or the machine control 3. The design of the connection point 14 as a structurally independent connection box or base station offers the advantage that existing machine systems can thereby be retrofitted or an optional extension to a wireless communication system is available.

The connection point 14 preferably comprises at least one further emergency stop actuating element 18 with which potentially dangerous machine operations can also be stopped immediately or with which a safe state is initiated or produced for the operator 9 and also for other persons in the vicinity of the machine control system 1 can be. For this purpose, the at least one further emergency stop actuating element 18 is functionally or signal-technically integrated into the emergency stop safety circuit 10, preferably hard-wired to the emergency stop safety circuit 10.

As was shown on the basis of the machine control 3 ', it is also possible to design the connection point 14' as an integral or directly assigned component of the control core 17 '. It is also possible that the at least one further emergency stop actuating element 18 'in the vicinity of the machine 2' is directly integrated into the emergency stop safety circuit 10 'of the machine control 3', in particular directly wired to the emergency stop safety circuit 10 ' is. The same can be seen for the emergency stop actuating element 18 at the connection point 14 and the emergency stop safety circuit 10 of the machine control 3.

The respective operating states of the first emergency stop actuating element 8 on the handheld operating device 4 that can be manually selected or brought about, in particular activated, as required by an operator are transmitted via the at least one transmission interface 5 of the first handheld operating device 4 in terms of signals and are equivalent to the state in the emergency stop safety circuit 10 of the selected or functionally connected machine control 3 coupled. Accordingly, in a first operating state of the handheld operating device 4, the first emergency stop actuating element 8 on the handheld operating device 4 is coupled in functional terms into the emergency stop safety circuit 10 of the selected or functionally attached machine control 3. Analogous states apply to the case in which the hand control device 4 is operatively connected or functionally coupled to the machine control 3 '. In the illustrated embodiment according to FIG. 1, the hand-held control device 4 is functionally coupled to the machine control 3, which can be seen from an active control connection 13 represented by a double arrow. Accordingly, the operator 9 can, if necessary, initiate an emergency stop in relation to the machine control 3 or in relation to the machine operations controlled thereby. For this purpose, the operator actuates the first emergency stop actuating element 8 on the handheld control device 4.

A manually initiated active or actuation state of the first emergency stop actuating element 8 can be at least one electrically interrupted or open normally closed contact 19, 19 'in the at least one-circuit, preferably two-circuit, emergency stop safety circuit 10 or 10'. the selected machine control 3 or 3 're presented. In contrast, an inactive or standby state, in particular an inactive switching state of the first emergency stop actuating element 8 can be represented in that the at least one break contact 19, l9 'in the at least one-circuit, preferably two-circuit, emergency stop safety circuit 10 or l0 'The selected machine control 3 or 3' is electrically closed.

In order to deregister the hand-held control device 4 at the connection point 14 with which there is an active control connection 13, the connection point 14 is preferably positioned outside of a danger zone 20 or 20 ′ of executable or current machine operations. The danger zone 20 or 20 ″ is that area around the respective machine 2 or 2 ″ in which potential dangers to persons exist or can arise due to ongoing machine operations.

It can be provided that a safe, deliberately executable deregistration process of the first hand-held operating device 4 and / or the first emergency stop actuating element 8 takes place at the connection point with which a control-technical operative connection 13 was established. For this purpose, a reset button 21 can be provided at the connection point 14.

After a machine control 3 has been brought into a safe state by an emergency stop actuating element 8 on the operating device 4, the operator 9 can carry out longer-lasting activities on a machine 2. It can be Maintenance or programming work or teaching operations on a machine tool or a robot. It can happen that the accumulator 7 of the handheld device 4 is completely discharged and there is a result of the interruption of the control-technical active connection 13 with the connection point 14. Advantageously, an operator 9 is immediately informed of a connection termination. This can be done, for example, via optical and / or acoustic warning devices 22 at the connection point 14. It is conceivable that a flashing light, a rotating light or an acoustic alarm signal is output or activated at the connection point 14, which signals to the operator 9 that the connection has been terminated.

The breakdown of the active control connection 13 can also be caused by the following error situations:

- The limit of the spatial effective range of the handheld device is exceeded;

- Bluetooth, WLAN or NFC connection fails;

- Bluetooth, WLAN or NFC connection is disrupted;

- Black Channel fails (e.g. FSoE Stack fails);

- connection point defective;

In order to be able to continue the maintenance or programming work or teaching operations on the machine tool or the robot, the accumulator 7 of the hand-held control device 4 would have to be charged, or another defect on the hand-held control device 4 and / or the connection point 14 should be remedied become, which can result in an undesired, prolonged interruption of a maintenance or manufacturing process.

In order not to cause a safety-critical situation, it was previously known from the prior art, or the requirement of different safety standards that an exist of the emergency stop state in relation to the machine control 3 only by that emergency stop actuating element 8 of the handheld device 4 can be canceled can, with which emergency stop actuating element 8 of the hand control device 4, the emergency stop state was activated in relation to the machine control 3, wherein. In order to connect a further, second hand control device 4 'to the connection point 14 of the machine control 3, a pairing reset can be provided according to the invention, in which the clear assignment of the first hand control device 4 to the connection point 14 of the machine control 3 is removed by one to be able to connect another, second hand control device 4 'in order to be able to restart a maintenance or production process as quickly as possible.

Fig. 2a shows a first hand-held control device 4, which is connected by a control-technical connection 13 to the connection point 14 of the machine control. A transmission interface 5 of the handheld device 4 and a transmission interface 15 of the connection point 14 are provided for establishing the control-technical active connection 13.

The transmission interface 5 of the handheld device 4 or the transmission interface 15 of the connection point 14 are preferably wireless, in which case one of the standards known from the prior art such as WLAN, Bluetooth or NFC can be used.

In addition to the transmission interface 5, the control device 6, the accumulator 7, the at least one emergency stop actuating element 8, the at least one actuating element 11 and the user interface 12, the hand-held control device 4 comprises at least one memory 23, in which memory 23 a data object of the hand-held control device 24 and at least one data object of the emergency stop actuating element of the hand-held device 25 is shown.

In addition to the transmission interface 15, the control electronics 16, the at least one emergency stop actuating element 18, the reset button 21, the warning device 22, a user interface 26 and an authorization device 28, the connection point 14 comprises at least one memory 28, in which memory 28 a Data object of the connection point 29, at least one data object of the emergency stop actuating element of the connection point 30 and one data object of the reset button 31 are shown.

2b shows the termination of the operative control connection 13 between the handheld operating device 4 and the connection point 14 of the machine control 3, an emergency stop state, that is to say an open state of the emergency stop safety circuit 10, or a safe state of the machine control system 1, in which all machine operations are stopped comprehensively, caused by an actuation / activation of the emergency stop actuating element 8.

In order to be able to remove the unambiguous assignment of the handheld operating device 4 to the connection point 14 of the machine control 3, it is provided according to the invention to carry out a pairing reset at the connection point 14.

In order to be able to carry out a pairing reset, in an advantageous embodiment an authorization device 27 is provided at the connection point 14 of the machine control 3 for the operator 9. The authorization device 27 of the connection point 14 of the machine control 3 can be a key switch, a chip reader, a fingerprint sensor, a keyboard for entering a personal identification number (PIN) or similar devices or combinations thereof known from the prior art . In one possible embodiment, a dialog can also be provided at the user interface 26, in which the operator 9 is asked to enter a personal identification number (PIN).

In order to carry out the pairing reset, as shown in FIG. 2c, the operator 9 first actuates / activates the emergency stop actuating element 18 of the connection point 14 in order to open the emergency stop safety circuit 10 or the machine control system 1 in a safe manner Bring state - in which all machine operations are fully stopped ge - with the activated operating state of the emergency stop actuator 18 in accordance. In a second step, the reset button 21 is now pressed, whereby the assignment of the handheld device 4 to the connection point 14 is removed.

According to the invention, it can be provided that the reset button 21 must be pressed for a defined period of time in order to be able to carry out the pairing reset.

Alternatively, provision can also be made for the pairing reset to take place via an interaction of the operator 9 on the user interface 26 of the connection point 14 instead of the actuation of the reset button 21. The user interface 26 can be a display, a keyboard, comprise a touchscreen or other display and / or input devices known to the person skilled in the art. The interaction of the operator 9 on the user interface 26 can be a guided dialogue in which the operator 9 can carry out and confirm a pairing reset.

After the successful pairing reset, the safe, open state of the emergency stop safety circuit 10 must now be deactivated again. For this purpose, the emergency stop actuating element 18 is deactivated again by actuation by the operator 9 and the emergency stop safety circuit 10 is closed.

As now shown in FIG. 2d, a further hand control device 4 'can now be connected to the connection point, that is to say a control-technical connection 13' can be established between the hand control device 4 'and the connection point 14 of the machine control 3 in order to be able to control machine operations. The structure of the second hand control device 4 ′ corresponds to the structure of the first hand control device 4.

In an alternative embodiment, the safe, open state of the emergency stop safety circuit 10 or the safe state of the machine control system 1 can be deactivated after the second hand control device 4 'has been paired by an emergency stop actuating element 8 on the second hand control device 4'. is deactivated and the emergency stop safety circuit 10 is closed.

3 shows a data object of the hand-held control device 24 and at least one data object of the emergency stop actuating element of the hand-held control device 25 and a data object of the connection point 29, at least one data object of the emergency stop actuation element of the connection point 30 and a data object of the reset button 31.

The data object of the handheld device 24 comprises at least:

- A clear identification of the first hand-held device (4) as a primary key;

- A clear identification of the at least one emergency stop actuating element (8) as a foreign key;

- A clear identification of the connection point (14) of the machine control (3) as a foreign key. The data object of the emergency stop actuating element of the handheld control device 25 comprises at least:

- A clear identification of the at least one emergency stop actuating element (8) as primary key;

- A clear identification of the first hand-held device (4) as a foreign key;

- An actuation state of the at least one emergency stop actuating element (8) of the first hand control device (4).

The data object of the connection point 29 comprises at least:

- A clear identification of the connection point (14) of the machine control (3) as primary key;

- A clear identification of the first hand-held device (4) as a foreign key;

- A clear identification of the at least one emergency stop actuating element (18) of the connection point as a foreign key;

- Information about an open or closed state of the emergency stop safety circuit (10) or information about a safe state of the machine control system 1.

The data object of the emergency stop actuating element of the connection point 30 comprises at least:

- A clear identification of the at least one emergency stop actuating element (18) as a primary key;

- A clear identification of the connection point (14) as a foreign key;

- An actuation state of the at least one emergency stop actuating element (18) to the connection point (14).

The data object of the reset button 31 comprises at least:

- A clear identification of a reset button (21) of the connection point (14) as the primary key;

- A clear identification of the connection point (14) as a foreign key;

- An actuation state of the reset button (21) of the connection point (14).

Individual data objects can be clearly identified and referenced using a primary key. A foreign key can be used to map relations / relationships between individual data objects, a foreign key corresponding to the primary key of a data object with which a relationship is established. A plurality of emergency stop actuating elements 8 can be provided on the hand-held control device 4, which is shown in FIG. 3 by a 1 to 1 relationship. "N" stands for several or any number. A maximum of one handheld terminal can be assigned to the connection point 14 at the same time, this being illustrated by a 0 ... 1 to 1 relationship.

Furthermore, there may again be several emergency stop actuating elements 18 at the connection point 14, which is again represented by a 1 to 1 relationship. At the connection point 14 there is exactly 1 reset button in the embodiment shown in FIG. 3, which is represented by the 1 to 1 relationship.

4 shows the state of the data objects, the state in FIG. 4a being that of FIG. 2a, the state in FIG. 4b being that of FIG. 2b, the state in FIG. 4c being that of FIG. 2c and the state in FIG. 4d corresponds to that from FIG. 2d.

4a shows an activated state of the emergency stop actuating element 8 in the data object of the emergency stop actuating element of the hand-held operating device 25. Similarly, the emergency stop safety circuit 10 of the machine control system is open and the machine control system 1 is in a safe state.

In order to be able to perform a pairing reset, as shown in FIG. 4b, after a termination of the control connection 13 between the first hand control device 4 and the connection point 14 of the machine control 3, the assignment of the first hand control device 4 to the connection point 14 repeal. In this case, an entry is provided in the data object of the connection point 29, which includes the status of an active control connection (“manual control device connected” or “manual control device not connected”).

When pairing reset, the state of the emergency stop actuator 18 of the connection point 14 with the open state of the emergency stop safety circuit 10 or the state of the machine control system 1 is brought into agreement, which is from the state of the data objects of the connection point 29 and Emergency stop actuator 30 is shown in Fig. 4c. Furthermore, the reset button 21 is pressed and then the emergency stop safety circuit 10 is closed. In Fig. 4d, the state of the data objects of the second handheld control device 4 'and the state of the data objects of the connection point 14 after the establishment of an active control connection 13' between the second handheld control device 4 'and the connection point 14 of the machine control is shown. The unique identification of the second handheld device is now entered in the data object of the connection point 29.

5 shows the pairing reset according to the invention as a flow chart. If a break in a control-technical active connection 13 between hand control device 4 and connection point 14 is detected, the pairing reset can be carried out.

6 to 8 show a possible alternative embodiment of the pairing reset according to the invention. In the embodiment shown, no reset button 21 is provided at the connection point 14 of the machine control 3. Instead, an automatic pairing reset is carried out in the connection point 14 as a result of a break in the active control connection 13 between the handheld control device 4 and the connection point 14.

If a connection breakdown is now detected, the pairing reset is carried out automatically after the state of the emergency stop actuating element 18 of the connection point 14 has been brought into agreement with the opened state of the emergency stop safety circuit 10 or the state of the machine control system 1 and certain conditions conditions for the termination of the active connection. With the automatic pairing reset, the assignment of the handheld device 4 to the connection point 14 is automatically canceled. The check as to whether the conditions for an automatic pairing reset are present can take place in the control device 6 'of the connection point 14.

The exemplary embodiments show possible design variants, it being noted at this point that the invention is not restricted to the specially illustrated design variants thereof, but rather also various combinations of the individual design variants with one another are possible and this variation possibility is based on the teaching of technical action The present invention lies in the ability of the person skilled in the art in this technical field. The scope of protection is determined by the claims. However, the description and drawings are to be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions. The task underlying the independent inventive solutions can be found in the description of who.

All information on value ranges in the present description is to be understood in such a way that it includes any and all sub-areas, e.g. the information 1 to 10 is to be understood in such a way that all sub-areas starting from the lower limit 1 and the upper limit 10 are included, i.e. all sub-areas begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

For the sake of order, it should finally be pointed out that, for a better understanding of the structure, elements have been shown sometimes to scale and / or enlarged and / or reduced.

Machine control system 18 ‘Emergency stop actuating machine, industrial robot at the junction’ Machine, industrial robot 19 NC contact

Machine control 19 'break contact

‘Machine control 20 danger zone

Handheld device 20 ‘danger zone

‘Handheld terminal 21 reset button

Transmission interface 22 warning device

Control device 23 memory handheld operating device control device 24 data object handheld operating device accumulator 24 data object handheld operating device emergency stop actuating element 25 data object emergency stop actuating element manual operating operator advises

Emergency stop safety circuit 25 ‘Data object emergency stop operation’ Emergency stop safety circuit control element manual control 1 operating element advises

User interface 26 User interface3 control-technical connection 27 authorization device binding 28 memory connection point 3 'control-technical connection 29 data object connection point connection 30 data object emergency stop actuation connection point supply element connection point' connection point 31 data object reset button 5 transmission interface

6 control electronics

Control core

’S coreing

8 emergency stop actuator

the junction

Claims

Patent claims

1. Method for operating a machine control system (1) with at least one machine control (3) for performing machine operations with at least one mobile handheld device (4) that is first portable by an operator (9) for the functional influencing of at least one of the machine controls (3 ),

which first hand control device (4) has a unique identification, which is mapped in at least one memory (23) of the first hand control device (4), and

which first hand control device (4) has at least one control element (11) and / or at least one user interface (12) for manually influencing machine operations by an operator (9), and

which first hand control device (4) comprises at least one emergency stop actuating element (8) for ending potentially dangerous machine operations, and

which first hand control device (4) has at least one wireless transmission interface (5), and

The at least one wireless transmission interface (5) is set up to establish or implement an active control connection (13) between the first hand control device (4) and a connection point (14) of the machine control (3), and wherein the first hand control device (1) is uniquely assigned. 4) by transmission of at least the unique identification and subsequent storage in a memory (28) of the connection point (14) of the machine control (3), and

the present, from an operator (9) manually activated and changeable Be szu states of the at least one emergency stop actuator (8) via at least one wireless transmission interface (5) in an emergency stop safety circuit (10) of the selected or active connected machine control (3) can be coupled in,

wherein the state of the emergency stop safety circuit (10) in the memory (28) of the connection point (14) is synchronized with respect to the actuation state of the at least one emergency stop actuation element (8),

marked by

Carrying out a secure logoff process of the first hand-held operating device (4) at the connection point (14) with respect to the machine control (3), which logoff process comprises the following steps:

- Activation of at least one emergency stop actuating element (18) at the connection point (14); - Deleting the unique identification of the first portable hand-held control device (4) from the memory (28) of the connection point (14), whereby the clear assignment of the first hand-held control device (4) to the connection point (14) is removed, the emergency stop safety being removed Circuit (10) is in an open state and / or the machine (2) is in a safe state in which all potentially dangerous machine operations are stopped.

2. The method according to claim 1, characterized in that the deregistration process of the first manual control device (4) at the connection point (14) relative to the machine control (3) is initiated manually by an operator (9) and carried out consciously, whereby by the operator ( 9) a reset button (21) and / or a user interface (26) at the connection point (14) is actuated.

3. The method according to claim 1 or 2, characterized in that the manually initiated and deliberately executable logout process is performed by an operator (9) when the reset button (21) by the operator (9) for a period of time between one Minimum actuation period and a maximum actuation period is held in an actuation position.

4. The method according to any one of the preceding claims, characterized in that the manually initiated and deliberately executable deregistration process of the first hand control device (4) relative to the connection point (14) by a user dialog at the user interface (26) of the connection point (14) by the Operator (9) is executable.

5. The method according to claim 1, characterized in that the deregistration process of the first hand-held device (4) at the connection point (14) opposite the machine control (3) can be carried out automatically, the automatic deregistration process comprising the following steps:

- Carrying out a test at the connection point (14) as to whether the control-technical active connection (13) between the first manual control device (4) and the control-related machine control (3) is upright;

- Determination of at least one condition of the termination of the control connection (13) at the connection point (14); - Initiation of the deletion process of the unique identification of the first portable handheld operating device (4) from the memory (28) of the connection point (14), if a condition is selected from the group comprising

the first hand control device (4) is voltage-free;

the emergency stop actuating element (8) is in an activated state greater than or equal to a defined period of time;

the emergency stop safety circuit (10) is greater than / equal to a defined period of time in an open state;

the machine (2) is in a safe state greater than / equal to a defined period of time in which potentially dangerous machine operations are stopped;

there is no one in the danger zone (20);

the handheld terminal (4) is outside the effective range of the transmission interface (5) of the handheld terminal (4);

a defect in the transmission interface (5) of the handheld device (4);

a defect in the transmission interface (15) of the connection point (14);

is present.

6. The method according to any one of the preceding claims, characterized in that the deregistration process of the first manual control device (4) with respect to the connection point (14) after the positive authorization of the operator (9) on the authorization device (27) can be carried out.

7. The method according to any one of the preceding claims, characterized in that the emergency stop safety circuit (10) is closed and / or the machine (2) in by deactivating the at least one emergency stop actuating element (18) at the connection point (14) an operating state is put.

8. The method according to any one of the preceding claims, characterized in that an active control connection (13 ') between a second manual control device (4') and the connection point (14) of the machine control (3) via a wireless transmission interface (5 ') of second hand-held device (4 ') is produced, at least storing a unique identification of the second portable hand-held device (4') in the memory (28) of the connection point (14) and the closed one State of the emergency stop safety circuit (10) is maintained and / or the machine (2) is in a safe state in which potentially dangerous machine operations are stopped.

9. Machine control system (1), in particular for executing the method according to one or more of the preceding claims, with at least one machine control (3) for performing machine operations, with at least one mobile, by an operator (9) first portable handheld device (4) for the functional influencing of at least one of the machine controls (3),

which first hand control device (4) comprises at least one first memory (23), and which first hand control device (4) has at least one control element (11) and / or at least one user interface (12) for manually influencing machine operations by an operator (9), and

which first hand control device (4) comprises at least one first emergency stop actuating element (8) for ending potentially dangerous machine operations, and

wherein the wireless transmission interface (5) is suitable for establishing a control-technical connection between the first manual control device (4) and a connection point of the machine control (14), and

which connection point of the machine control (14) comprises at least one second memory (28), and

which connection point (14) has at least one wireless transmission interface (15),

characterized in that

At least one first data object (24), which comprises first data object (24), is depicted in the at least one memory (23) of the first hand-held operating device (4):

- A clear identification of the first hand-held device (4) as a primary key;

- A clear identification of the connection point (14) of the machine control (3) as a foreign key.

10. Machine control system (1) according to claim 9, characterized in that in the at least one memory (23) of the first hand-held device (4) at least one second data object (25) is depicted, which comprises second data object (25):

- A clear identification of the first hand-held device (4) as a foreign key;

11. Machine control system (1) according to claim 9 or 10, characterized in that the connection point (14) of the machine control (3) comprises at least one emergency stop actuating element (18).

12. Machine control system (1) according to one of claims 9 to 11, characterized in that the connection point (14) of the machine control (3) comprises a reset button (21) and / or at least one user interface (26), which is designed for this purpose are to perform a manually initiated and deliberately executable deregistration process of the hand control device (4) opposite the connection point (14) by an operator (9).

13. Machine control system (1) according to one of claims 9 to 12, characterized in that the connection point (14) of the machine control (3) comprises a reset button (21) and / or at least one user interface (26), whereby by the Interaction of the operator (9) with respect to the reset button (21) and / or the at least one user interface (26), a secure logout process of the first manual control device (4) at the connection point that can be manually initiated and consciously carried out by an operator (9) (14) can be carried out with respect to the machine control if the emergency stop safety circuit (10) is in an open state and / or the machine (2) is in a safe state in which potentially dangerous machine operations have stopped.

14. Machine control system (1) according to one of claims 9 to 13, characterized in that a measuring device at the connection point (14) of the machine control is provided, which is designed to measure a period of time during which the reset button (21) is held in an actuating position by the operator (9).

15. Machine control system (1) according to one of claims 9 to 13, characterized in that the connection point (14) of the machine control (3) a control device (6 ') for an automatic logoff process of the handheld device (4) relative to the connection point (14 ), which is designed to

- To carry out a check whether the control-technical connection (13) between the first manual control device (4) and the control-connected machine control (3) is upright; and

- Initiate a deletion of the unique identification of the first portable handheld device (4) from the memory (28) of the connection point (14) when a condition is selected from the group comprising

the first hand control device (4) is voltage-free;

the machine control system (1) is greater than / equal to a defined period of time in a safe state in which potentially dangerous machine operations are stopped.

An ongoing machining operation on the machine (2) is greater than or equal to a defined period of time in a stopped state;

there is no one in the danger zone (20);

a defect in the transmission interface (5) of the handheld device (4);

a defect in the transmission interface (15) of the connection point (14);

is present.

16. Machine control system (1) according to one of claims 9 to 15, characterized in that in the at least one memory of the connection point (28) of the machine control (3) at least one first data object (29) is mapped, which first data object (29) includes:

- A clear identification of the first hand-held device (4) as a foreign key;

- Information about an open or closed state of the emergency stop safety circuit (10) and / or a period of a safe state in which potentially dangerous machine operations are stopped.

17. Machine control system (1) according to one of claims 9 to 16, characterized in that in the at least one memory of the connection point (28) of the machine control (3) at least one second data object (30) is mapped, which second data object ( 30) includes:

- A clear identification of the connection point (14) as a foreign key;

18. Machine control system (1) according to one of claims 9 to 17, characterized in that at least one third data object (31) is mapped in the at least one memory of the connection point (28) of the machine control (3), which third data object (31 ) includes:

- A clear identification of the connection point (14) as a foreign key;

- An actuation state of the reset button (21) of the connection point (14).

19. Machine control system (1) according to one of claims 9 to 18, characterized in that the connection point (14) comprises an authorization device (27) for an operator (9).