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EP2083433B2 - Appareil de sécurité et système - Google Patents
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EP2083433B2 - Appareil de sécurité et système - Google Patents

Appareil de sécurité et système Download PDF

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Publication number
EP2083433B2
EP2083433B2 EP08105899.2A EP08105899A EP2083433B2 EP 2083433 B2 EP2083433 B2 EP 2083433B2 EP 08105899 A EP08105899 A EP 08105899A EP 2083433 B2 EP2083433 B2 EP 2083433B2
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Prior art keywords
safety
ossd
output
signal
control
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German (de)
English (en)
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EP2083433A1 (fr
EP2083433B1 (fr
Inventor
Dieter Brodd
David Bribach
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Sick AG
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Sick AG
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
    • H01H47/002—Monitoring or fail-safe circuits

Definitions

  • the invention relates to a security device according to the preamble of claim 1.
  • safety devices are used for safely switching off electrical consumers, in particular an electrically driven machine, in order to avoid dangerous situations in particular and to switch off the machine beforehand if necessary.
  • the hazardous situations are monitored and detected by appropriate sensors or switches and forwarded to connected to the sensors switching devices.
  • the term safety device is to be understood hereinafter as meaning such safe sensors, safety switching devices or safety controls.
  • Such safety devices in the sense of this application are preferably designed as safe devices, sensors, safety switching devices or safety controls in the sense of machine safety, which means that these devices or their associated evaluation and / or control units the relevant standards EN 954, the classification in Safety categories, for example category 2 to 4, or according to EN 61508, which prescribes safety levels such as SIL 1 to SIL 3, or other safety standards.
  • these standards and regulations prescribe certain security against tampering and fail-safety.
  • a safety switching device having a first and second controllable circuit whose output terminals are connected together. Different controllable switching pulses can be fed to the controllable circuits, so that the output terminal has a fluctuating amplitude.
  • the object is further achieved by a system according to claim 9 with at least two security devices for generating safety-related signals.
  • the safety devices are interconnected via their safety-related outputs. This allows outputs from safety devices to be connected directly to each other.
  • the safety-related outputs are, similar to a bus system, combined on a common line, which is used to control a common actuator. This is an'Oder' connection of the safety-related outputs of the safety devices. As soon as one of the devices issues a switching signal to switch off a dangerous movement, this signal is passed on to the actuator. Linking the safety-related outputs to a common line considerably reduces the wiring effort between the safety devices. Thus, only one single line has to be routed to an actuator. The 'OR'-connection of the safety-related outputs also shortens a response time considerably, since every safety-related output has a direct effect on the actuator.
  • a read-back unit is provided in the control and evaluation unit, which is designed to read back the switching state of the safety-related output.
  • a read-back line is connected directly to the safety-related output. This ensures that a switching signal output by another security device is not changed inadmissibly, so that, for example, it is reliably prevented that an object detection signal is overwritten by a release signal.
  • the safety-related output is designed to output at least two switching signals, namely an object detection signal and a free signal.
  • the safety-related output can be switched floating.
  • the switching signal object detection signal is output when an event has been detected and a dangerous movement is to be turned off.
  • the free signal is output if no event has been detected and a dangerous movement is not to be stopped.
  • the state is provided, with the safety-related output being potential-free. This is the case if the safety device is inactive and does not perform protective field or event evaluation.
  • control and evaluation unit is designed to read and / or output control information on a control line.
  • the control line is provided to pass information to a second security device.
  • a time-dependent sequence of the safety devices can be provided, as in a time slot method, in order to output the signal states to the safety-related output.
  • signals for example a token, ie a bit pattern, are exchanged for the time control of the safety devices.
  • One of the security devices assumes a master or host function if this security device has the token.
  • the other safety devices assume a slave or guest function.
  • the safety devices simultaneously perform their safety function and at the same time output signals to the safety-related outputs. Then information on coordination of the signal output on the safety-related outputs is exchanged on the control line.
  • the safety-related output has a switching voltage of 0 V to 3.5 volts when an object detection signal is applied and a switching voltage of 24 volts with a tolerance of + -2.5 volts when a free signal is output at a Switching current from 0 to 600 mA.
  • Several safety devices can thus act on a single relay to switch off a dangerous movement.
  • the intended switching levels are also suitable for switching inputs in accordance with the EN / IEC61131 standard. Programmable logic controllers have, for example, such inputs.
  • the free signal of a first or second safety-related output can be overridden by the object detection signal of a second or first safety-related output.
  • a safety signal is output from all safety devices, ie a level of 24 V is present, that this signal is overwritten by an object detection signal with the level 0 V.
  • the resulting common safety-related output can be directly applied with the signal necessary for switching off a hazardous movement, without having to determine or consider the signals of the other safety devices. This leads to a quick and immediate shutdown.
  • an object detection signal is overwritten by a free signal. This must even be prevented according to the present invention, since this can bring about a dangerous condition.
  • the control and evaluation unit has a semiconductor circuit with at least two switching units, wherein a first switching unit is designed to switch the object detection signal and a second switching unit is designed to switch the free signal. If the first switching unit is actuated and the second switching unit is not actuated, an object detection signal is applied to the safety-related output. However, if the first switching unit is not actuated and the second switching unit is actuated, then there is a free signal. If none of the switching units is actuated, then there is no signal at the safety-related switching output, so that it is potential-free. If both switching units are switched simultaneously, an object detection signal is output for safety purposes, but this case should be avoided, since an unnecessary current flows between the two switching units.
  • control and evaluation unit has two channels.
  • the control and evaluation unit can be redundant and / or diversified.
  • the two-channel system ensures that occurring single errors do not lead to a malfunction within the control and evaluation unit. Rather, occurring single errors are detected and it can not lead to an error accumulation and thus to an unsafe state.
  • the control and evaluation unit is designed to apply test pulses to the safety-related output.
  • the test pulses repeatedly switch the signals of the safety-related output repeatedly to an opposite voltage level in order to check whether it would be possible to switch to the opposite level.
  • the test pulses are so short that a connected actuator or a connected signal processing device does not switch due to its inertness by the test pulses.
  • the test pulses have a pulse duration of 100 ⁇ to 400 ⁇ s and the test pulses occur two to ten times per second.
  • the test pulses are output by the control and evaluation unit of the security devices.
  • each safety device alternately checks whether the common safety-related output would be switchable to an object detection signal. Either only test or test the master / host owned by the token and periodically pass the token to the slave / guest who will then test their circuit or the slave / guest tests their first switching unit in parallel with the master / host. To synchronize the processes between the safety devices, the test pulses are evaluated accordingly by the respective evaluation unit.
  • Safety relays or safety controllers In development of the invention are the security devices Safety relays or safety controllers. This makes it possible to connect safety relays and safety controllers with the safety-related outputs with each other, for switching a common actuator.
  • the security devices are optical sensors, in particular light barriers or light grids.
  • the light barriers or light grids can be arranged side by side to generate large protective field or of protective fields in several levels.
  • the safety-related outputs of the individual light grids are now combined according to the invention to output a common switch-off signal. So that the light grids do not interfere with each other, the light grids activate in coordination with each other.
  • FIG. 1 shows two security devices 1, in this embodiment, two light grids LG1 and LG2, which are arranged side by side.
  • Light grids LG1 and LG2 are used to protect people from dangerous movements.
  • a protective field is formed, upon the violation of which an intervention signal outputs a switch-off signal on a safety-related output OSSD_LG1 or OSSD_LG2.
  • OSSD_LG1 and OSSD_LG2 of the individual light grids LG1 and LG2 must be linked to one another.
  • this linkage is performed without additional wiring.
  • the safety-related outputs OSSD_LG1 and OSSD_ LG2 of the individual light grids LG1 and LG2 are simply electrically connected to a common safety-related output OSSD for controlling a relay / contactor or for controlling an actuator, relay or contactor.
  • the abbreviation OSSD stands for Output Signal Switching Device and designates the part of a non-contact protective device, in this case the light grid LG1 or LG2, which is connected to a machine control and goes into a switch-off state when the light grid LG1 or LG2 detects an object.
  • the light grids LG1 and LG2 are connected to each other via a common power supply.
  • the power supply has the signals Function ground FE, 24 V, and, Ground 'GND or 0V.
  • the safety-related output OSSD_LG1 and OSSD_ LG2 are connected to two switching units CTRH1 and CTRL1 or CTRH2 and CTRL2 of a semiconductor circuit 6 or 6 '.
  • a first switching unit CTRH1 makes it possible to connect the safety-related output OSSD_LG1 to 24V and thus to output a free signal.
  • the safety-related output OSSD_LG1 is connected to the second switching unit CTRL1, whereby the safety-related output OSSD_LG1 can be acted upon by 0V. This corresponds to the output of an object detection signal. If both switching units CTRH1 and CTRL1 are open, there is no signal on the safety-related output OSSD_LG1 and thus a potential-free state. The signal on a common safety-related output OSSD can thus be influenced by both light curtains.
  • the safety-related output OSSD_LG1 is connected to a read-back unit OSSD_MON1, whereby the control and evaluation unit 2 of the light grid LG1 is able to read back and check the respective signal of the safety-related output OSSD_LG1.
  • a read-back line is connected directly to the safety-related output OSSD_LG1. The direct connection ensures that the signals read back correspond to the signals of the safety-related output OSSD_LG1. For example, it is possible to check via the read back unit OSSD_MON1 whether an object detection signal or a free signal is applied to the safety-related output OSSD_LG1.
  • the light grid LG1 has in each case a control input TOKEN_IN and a control output TOKEN_ OUT.
  • the control output TOKEN_OUT of the first light grid LG1 is connected to the control input TOKEN_ IN of the second light grid LG2.
  • it is also provided to both output control signals on a control line TOKEN as well as read in, so to provide a bidirectional connection.
  • the control input TOKEN_IN and the control output TOKEN_OUT would form a common connection.
  • the light grids LG1 and LG2 each perform their light curtain functions alternately. As a result, the light grids LG1 and LG2 can not influence each other visually.
  • the light grid LG1 and the light grid LG2 thus work alternately successively in a so-called time slot method.
  • the light grid LG1 checks its protective field status and outputs the free signal to the safety-related output OSSD_LG1 if the protective field is not damaged. At this time, no signal is output from the light grid LG2 on the safety-related output OSSD_LG2, ie a potential-free state, thus the output signal of the light grid LG1 is the decisive one.
  • the safety-related output OSSD is thus a signal of 24 V at.
  • the light grid LG2 When the light grid LG1 has finished the evaluation of its protective field, the light grid LG2 is informed via the control line 8 that the light grid LG2 can start evaluating its protective field. For this purpose, the light grid LG2 first reads the signal state of the safety-related output OSSD via the read-back unit OSSD_MON2.
  • the light grid LG2 after evaluation of its protective field, can output the result of the protective field evaluation on the safety-related output OSSD_LG2. If the protective field of the light grid LG2 has been violated by an object, then the object detection signal is output by the light grid LG2 on the safety-related output OSSD_LG2. For this purpose, the object detection signal is switched to the safety-related output OSSD_ LG2 via the switching unit CTRL2 of the light grid LG2. In the event that no object has been detected, the free signal is output on the safety-related output OSSD_LG2. For this purpose, the signal level of 24 V is switched to the safety-related output OSSD_LG2 by the internal switching unit CTRH2.
  • the light grid LG 1 and the light grid LG 2 simultaneously evaluate their protective fields and at the same time output their switching signals to the safety-related outputs OSSD_LG 1 and OSSD_LG 2.
  • This is possible, for example, if the light grids LG1 and LG2 can not interfere with each other optically. This can be accomplished, for example, by mounting the transmitters of two light grids LG 1 and LG 2 in such a way that their beam directions are opposite to each other so that the transmitted light of the transmitter of the light grating LG 1 can not enter a receiver of the light grille LG 2 or the individual transmitters have different beam encodings.
  • an object detection signal must be output on the common safety-related output OSSD. If an object in the protective field is detected by the light grid LG1, then an object detection signal with the level of 0 V is applied to the safety-related output OSSD_LG1. In this case, this signal also only needs to be switched from a single light grid LG1 to the safety-related output.
  • the light grid LG2 can detect this signal by the read back unit OSSD_MON2 and compare it with its own intended signal for the safety-related output OSSD_LG2. If the light grid LG2 detects an object, it would also switch the signal level from 0 V to the safety-related output OSSD_LG2.
  • the switching stages of the light grid LG2 are not actuated, so that the safety-related output OSSD_LG2 is switched potential-free.
  • the light grid LG2 switches through the internal switching unit CTRH2 a level of 0 V to the safety-related output OSSD_LG2.
  • This level of 0 V overrides the level of 24 V which would be switched by the light grid LG1 to the safety-related output OSSD_LG1 if it did not detect an object. This ensures that an actuator is switched off by the safety-related output OSSD.
  • the light pipe LG1 is informed via the control line TOKEN that an object detection signal has been output on the safety-related output OSSD.
  • the light grid LG1 can then switch back the internal switching unit CTRH1 to cancel the free signal. This avoids that unnecessary currents flow from the light grid LG1 via the safety-related output OSSD to the other light grid LG2.
  • test pulses cause the safety-related output OSSD to be briefly switched to 0 V for a short time, for example a period of 50 to 300 ⁇ s, and in a time interval of 2 to 10 times per second. This ensures that the safety-related output OSSD could assume the switching state object detection signal of 0 V. If, for example, the signal level remained constantly unchangeable due to a short circuit, this short circuit would be detected by this test pulse.
  • the test pulses are passed through the read back unit OSSD_MON1 or OSSD_MON2 read in and evaluated by the control and evaluation unit 2 or 2 '.
  • FIG. 2 the signals of the safety-related outputs OSSD_LG1, OSSD_LG2 or OSSD and the control line 8 of the two light grids LG1 and LG2 are off FIG. 1 in a timing diagram according to the second embodiment, according to which both light grids LG1 and LG2 make a protective field evaluation at the same time, reproduced.
  • the light grid LG1 first assumes a master or host function and the light grid LG2 a slave or guest function.
  • the signal SF_LG1 indicates the state of the protective field of the light grid LG1.
  • the signal SF_LG1 can assume two states: protection field 'free' and protection field 'injured'.
  • the signal S_OSSD_ LG1 indicates the state of the safety-related output OSSD_LG1 of the light grid LG1.
  • This signal S_OSSD_LG1 can assume two signals, namely 0 V, 24 V, and a floating state.
  • the third line shows the protective field signal SF_LG2 of the light grid LG2. As with the light grid LG1, this signal can accept the states free or injured.
  • the signal S_OSSD_LG2 of the safety-related output OSSD_LG2 of the light grid LG2 is indicated in the fourth line.
  • the signals S_TOKEN the control line TOKEN between the two light grids LG1 and LG2 are specified.
  • the signals S_TOKEN of the control line TOKEN can either assume the states logical ZERO or ONE.
  • a dynamic signal pattern is emitted by the light grid LG2 as long as the protective field of the light grid LG2 is not damaged.
  • a permanent level 'ZERO' is output on the control line TOKEN for communication to the light grid LG1.
  • the last line of the time diagram shows the state S_OSSD of the connected common safety-related output OSSD of the two light grids LG1 and LG2.
  • the safety-related, jointly connected output OSSD can in this case assume the states of the object detection signal, that is to say 0 V, and the free signal, 24 V.
  • the protective field SF_LG1 of the light grid LG1 is free and also the protective field SF_LG2 of the light grid LG2 indicates the state freely.
  • the light grid LG1 outputs a free signal at the output OSSD_LG1 at this time.
  • the light grid LG2 outputs a potential-free state on its safety-related output OSSD_LG2, which in practice is also referred to as tristate, corresponding to a third state apart from 24 V and 0 V.
  • the common safety-related output OSSD thus has a signal level of 24 V, which corresponds to the free signal. This state is maintained in columns B and C.
  • Column D indicates the state in which the protective field SF_LG1 of the light grid LG1 is violated by an object.
  • the light grid LG1 then switches its safety-related output OSSD_LG1 to the state detection signal, namely 0 V, whereby the signal S_OSSD of the connected common safety-related output OSSD is also switched to 0 V.
  • a connected actuator is then switched off and a dangerous movement stopped.
  • no signal S_OSSD_LG2 is output from the light grid LG2 on the safety-related output OSSD_LG2, since there is no change in the protective field state. This state is maintained in columns E and F.
  • the protective field of the light grid LG1 has become free again, as a result of which the associated safety-related output OSSD_LG1 is again switched to the free signal, in this case 24 V, the common safety-related output OSSD is also switched back on. If there is a protective field violation of the light grid LG2, as shown in column I, this is communicated to the light grid LG1 via the control line TOKEN, in that no dynamic signal patterns are output more than signals S_TOKEN on the control line.
  • the safety-related output OSSD_LG2 of the light grid LG2 is now supplied with 0 V, which corresponds to the object detection signal.
  • the light grid LG 1 responds to the absence of the dynamic signal pattern by outputting an object detection signal at its safety-related output OSSD_LG1.
  • the common safety-related output OSSD is supplied with 0 V. This state is maintained for columns I to M.
  • An additional object detection signal at the output OSSD_LG1 through the light grid LG1 in the columns J to L ultimately has no effect because the common safety-related output OSSD already has an object detection signal.
  • the object detection signal of the connected common safety-related output OSSD is maintained since the protective field of the light grid LG2 is still damaged.
  • the protective fields of both light grids LG1 and LG2 are free again.
  • the light grid LG1 outputs the associated signal S_OSSD_LG1 of 24 V on the safety-related output OSSD_ LG1 when its own protective field is free and it receives the dynamic signal pattern as signals S_TOKEN from the light grid LG2, after which the protective field of the light grid LG2 is free.
  • This state is maintained according to column O.
  • column P there is an interruption of the protective field of the light grid LG2, whereby the safety-related output OSSD_LG2 of the light grid LG2 is supplied with 0 V and thereby the common safety-related output OSSD has a voltage level of 0 V, resulting in the shutdown of the actuator.
  • Monitoring of the safety-related output is checked in principle by two independent measures. First edge or level controlled via the common safety-related outputs. Only the host / master can output a free signal on its safety-related output. The output of the free signal is effected via the semiconductor circuit with a current limiting, so that each SlavelGuest is able to override this level of the 24 V signal. In this case, an OSSD request signal is generated by the control and evaluation unit. The master / host monitors the common safety-related output and responds to a drop in voltage level as the master / host opens its second switching unit and the 24 V signal no longer connects to the common safety-related output. This ensures safe operation of the safety devices.
  • the control line is provided between the master / host and the slave / guest.
  • the guest reports its protective field status to the host. If the guest (s) report that their protective fields are free, then the switching stages of the guests are not actuated and a potential-free state is assumed, so that the common safety-related output is determined and operated only by the host and with its switching stages.
  • the host has a defined time in which it can deactivate its second switching unit, since at the end of this time the guest activates its first switching unit and an object detection signal with the value 0 V on the common safety-related output switches. This avoids cross-flow between host and guest.
  • the host as token owner also actively switches the first switching unit to switch an 0V object detection signal to the safety-related output.
  • the Guest switches off its first switching stage again, so that a potential-free state emanates from the Guest. Furthermore, the guest sends valid signals again on the control line. If these signals are detected by the master, it switches its safety-related output back to a 24 V free signal in the event of a free protective field.

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  • Safety Devices In Control Systems (AREA)
  • Alarm Systems (AREA)

Claims (12)

  1. Appareil de sécurité comprenant
    - une unité de commande et d'évaluation (2, 2'),
    - au moins une sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité pour commuter un actionneur, ladite unité de commande et d'évaluation (2, 2') étant réalisée pour délivrer des signaux de commutation à la sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité, et l'unité de commande et d'évaluation (2, 2') comprend une unité de relecture (OSSD_MON1, OSSD_MON2) afin de relire les signaux de commutation à la sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité, et
    - la sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité est conçue non seulement pour délivrer les signaux de commutation, à savoir un signal de constatation d'objet ou un signal de libération, mais est également conçue pour occuper un état libre de potentiel,
    caractérisé en ce que l'appareil de sécurité (1, 1') est susceptible d'être connecté via la sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité avec une autre sortie (OSSD_LG2, OSSD_LG1) à vocation de sécurité d'un autre appareil de sécurité (1, 1').
  2. Appareil de sécurité selon la revendication 1, caractérisé en ce que l'unité de commander d'évaluation (2, 2') est réalisée pour lire un et/ou pour délivrer des informations de commande depuis/vers une ligne de commande (TOKEN).
  3. Appareil de sécurité selon l'une des revendications précédentes, caractérisé en ce que la sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité présente une tension de commutation de 0V à 3,5V quand un signal de constatation d'objet est appliqué, et une tension de commutation de 24V avec une tolérance de +- 2,5 V quand un signal de libération est délivré, et un courant de commutation de 0 à 600 mA.
  4. Appareil de sécurité selon l'une des revendications précédentes, caractérisé en ce que l'unité de commande et d'évaluation (2, 2') comprend un circuit à semi-conducteurs (6, 6') avec au moins deux unités de commutation (CTRL1, CTRH1, CTRL2, CTRH2) dans lesquelles une première unité de commutation (CTRL1, CTRL2) est réalisée pour commuter le signal de constatation d'objet et une seconde unité de commutation (CTRH1, CTRH2) est réalisée pour commuter le signal de libération.
  5. Appareil de sécurité selon l'une des revendications précédentes, caractérisé en ce que l'unité de commande et d'évaluation (2, 2') est réalisée à deux canaux.
  6. Appareil de sécurité selon l'une des revendications précédentes, caractérisé en ce que l'unité de commande et d'évaluation (2, 2') est conçue pour appliquer des impulsions de test à la sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité.
  7. Appareil de sécurité selon l'une des revendications précédentes, caractérisé en ce qu'il s'agit d'appareils de commutation de sécurité ou de commandes de sécurité.
  8. Appareil de sécurité selon l'une des revendications précédentes 1 à 6, caractérisé en ce qu'il s'agit de capteurs optiques, en particulier de barrières lumineuses ou de grilles lumineuses (LG1, LG2).
  9. Système comprenant au moins deux appareils de sécurité (1, 1') pour générer des signaux à vocation de sécurité, lesdits appareils de sécurité étant réalisés avec
    - une unité de commande et d'évaluation (2, 2') et
    - au moins une sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité et pour commuter un actionneur, ladite unité de commande et d'évaluation (2, 2') étant réalisée pour délivrer des signaux de commutation à la sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité,
    dans lequel
    l'unité de commande et d'évaluation (2, 2') comprend une unité de relecture (OSSD_MON1, OSSD_MON2), afin de relire des signaux de commutation à la sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité,
    - et la sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité est conçue non seulement pour délivrer les signaux de commutation, à savoir un signal de constatation d'objet ou un signal de libération, mais est également conçue pour occuper un état libre de potentiel,
    caractérisé en ce que
    les appareils de sécurité (1, 1') sont reliés l'un à l'autre via leur sortie (OSSD_LG1, OSSD_LG2) à vocation de sécurité.
  10. Système selon la revendication 9, caractérisé en ce que les appareils de sécurité sont susceptibles d'être connectés l'un à l'autre via une ligne de commande (TOKEN).
  11. Système selon la revendication 10, caractérisé en ce qu'un signal de libération de la première ou de la seconde sortie (OSSD_LG1) à vocation de sécurité est susceptible d'être remplacé par un signal de constatation d'objet de la seconde ou de la première sortie (OSSD_LG2) à vocation de sécurité.
  12. Système selon l'une des revendications précédentes 9 à 11, caractérisé en ce que des impulsions test sont délivrées en alternance depuis un seul appareil de sécurité (1) par les unités de commande et d'évaluation (2, 2') respectives.
EP08105899.2A 2008-01-24 2008-12-01 Appareil de sécurité et système Active EP2083433B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008005837A DE102008005837A1 (de) 2008-01-24 2008-01-24 Sicherheitsgerät und System

Publications (3)

Publication Number Publication Date
EP2083433A1 EP2083433A1 (fr) 2009-07-29
EP2083433B1 EP2083433B1 (fr) 2010-09-22
EP2083433B2 true EP2083433B2 (fr) 2016-07-27

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DE102013200330A1 (de) * 2013-01-11 2014-07-17 Ifm Electronic Gmbh Zweikanaliger Sicherheitssensor
DE102013101050B4 (de) 2013-02-01 2023-02-16 Pilz Gmbh & Co. Kg Sicherheitsschaltvorrichtung mit sicherem Netzteil
CN104795010B (zh) * 2015-04-16 2018-01-30 济宁科力光电产业有限责任公司 无线安全光幕检测方法及其光幕
JP6783930B2 (ja) * 2017-05-31 2020-11-18 本田技研工業株式会社 マイコン入力用スイッチ
JP7010755B2 (ja) * 2018-04-13 2022-01-26 株式会社キーエンス 安全ドアスイッチ
CN114076852B (zh) * 2020-08-21 2024-01-26 苏州艾利特机器人有限公司 一种用于工业机器人的安全控制系统及安全控制方法
WO2022037414A1 (fr) * 2020-08-21 2022-02-24 苏州艾利特机器人有限公司 Procédé et appareil de commande de sécurité, robot industriel et support d'enregistrement informatique

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DE3732718A1 (de) * 1987-09-29 1989-04-06 Vdo Schindling Verfahren zur ueberwachung von abschalteinrichtungen
DE4441070C2 (de) * 1994-11-18 1997-12-11 Leuze Electronic Gmbh & Co Sicherheitsschalteranordnung
DE10011211B4 (de) 2000-03-08 2004-08-05 Pilz Gmbh & Co. Sicherheitsschaltgerät und Sicherheitsschaltgeräte-System
DE10109864A1 (de) * 2001-03-01 2002-09-19 Siemens Ag Sicherheitsschaltvorrichtung
DE10216226A1 (de) 2002-04-08 2003-10-30 Pilz Gmbh & Co Vorrichtung zum fehlersicheren Abschalten eines elektrischen Verbrauchers, insbesondere in industriellen Produktionsanlagen
DE10261451A1 (de) 2002-12-31 2004-07-22 Danfoss Drives A/S Anordnung aus einer Sicherheits-Schaltvorrichtung und einer Vorrichtung zum selbsttätigen Prüfen der Funktionsfähigkeit der Sicherheits-Schaltvorrichtung
WO2005096465A1 (fr) * 2004-04-01 2005-10-13 System Consult Pty Ltd Module de commutation de securite
EP1738383B2 (fr) * 2004-04-19 2023-01-11 Pilz GmbH & Co. KG Appareil de signalisation pour circuit de protection

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EP2083433A1 (fr) 2009-07-29
DE102008005837A1 (de) 2009-07-30
EP2083433B1 (fr) 2010-09-22
ATE482462T1 (de) 2010-10-15
DE502008001381D1 (de) 2010-11-04

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