Configuration method and tool for configuring linear motor applications

Abstract

The subject matter of the present disclosure is a configuration method and tool for configuring linear motor applications. In order to simplify the configuration of new linear motor applications, it is provided that stator segments (Sm) are arranged in a layout view (12) of a planning view (11) to form a workspace (WS) of the linear motor (1) and the workspace is displayed in the layout view, workstations (Wj) are arranged in the workspace and simultaneously displayed in a workflow view of the planning view, the workstations are connected in the layout view and / or in the workflow view (13) according to a given workflow (WF) defining the order of the workstations, while the workflows are displayed in the workflow view in the form of a flowchart, the workstations as nodes linked by the connections defining the order, and the layout view and the workflow view are dynamically linked, the linear motor is configured such that a change in the configuration of the linear motor in the layout view is automatically reflected in the flow chart of the workflow view, and / or vice versa.

Description

Technical Field

[0001] The present invention relates to a configuration method and a configuration tool for configuring a linear motor application. Background Art

[0002] Linear motors can be distinguished into long-stator linear motors and planar motors. In both cases, a linear motor shuttle is provided, which moves due to the interaction of the magnetic field generated by the shuttle and the stator of the linear motor. The main difference is that in a long-stator linear motor, the stator extends only in the direction of movement, while in a planar motor, the stator extends two-dimensionally and provides a movement plane, in which the shuttle can move freely in both directions.

[0003] In a long stator linear motor, a plurality of magnetic elements are arranged adjacent to each other along the stator in a fixed manner. The magnetic elements may be electric drive coils. The drive coils are controlled by a control unit to generate a time-varying and moving magnetic field in the desired direction of movement by exciting the corresponding drive coils of the stator in the region of the moving part. Alternatively, the magnetic elements may be permanent magnets, which are movably arranged on the stator to generate a magnetic field that varies and moves with time. A plurality of drive magnets, either as permanent magnets or as electric coils or short-circuited windings, which are separated from the magnetic elements of the stator by an air gap and interact with the magnetic elements, are arranged on the moving part.

[0004] By utilizing magnetic elements to generate time-varying and moving magnetic fields, for example, by exciting a drive coil, in the region of the drive magnet of the moving member, a magnetic field that interacts with the magnetic field of the drive magnet can be generated so as to generate a propulsion force and / or a normal force (in a direction transverse to the direction of movement) acting on the moving member. The moving member moves by the propulsion force. As a result, the moving member can move along the track in a desired manner. Typically, it is also possible to have a plurality of moving members that move simultaneously and independently of each other along the track.

[0005] Typically, the stator includes a plurality of stator segments, each of which has a specific number of magnetic elements. The stator segments can also have different geometric shapes, such as straight lines, curves, switches, etc. Then, the stator segments can be assembled to form a desired stator by arranging the stator segments in a row. The stator therefore establishes a track for the moving member, which follows during movement. It is also possible to have several tracks connected by switches in a long stator linear motor. The moving member can then change the track at the switch.

[0006] Examples of long stator linear motors can be found in WO 2013 / 143783 A1, US 6,876,107 B2, US 2013 / 0074724 A1 or WO 2004 / 103792 A1.

[0007] A planar motor basically has a stator that forms a plane of movement. One or more stator segments usually form the stator of a planar motor. The stator segments are usually square or rectangular. The stator segments can be connected to form almost any pattern to form a plane of movement - from square, rectangular to complex shapes that traverse around other equipment or connect different workstations of a production process. One or more movable devices, the so-called moving parts, can move mainly in two dimensions in the plane of movement formed by the stator. For this purpose, magnetic elements are usually arranged on the stator, in particular on the stator segments of a planar motor. The magnetic elements can be electric drive coils. The drive coils are controlled by a control unit to generate a time-varying and moving magnetic field in the desired direction of movement by exciting the corresponding drive coils of the stator in the area of ​​the moving part. Alternatively, the magnetic elements can be permanent magnets, which are movably arranged on the stator to generate a magnetic field that varies and moves with time. The moving part includes a magnet unit, which includes a drive magnet (permanent magnet or electromagnet). The drive magnets are arranged on the moving part in a two-dimensional distribution. The magnet unit of the moving part or more precisely, the driving magnet of the magnet unit interacts electromagnetically with the moving magnetic field of the stator so that driving forces and suspension forces can be exerted on the moving part. In addition, it is also conceivable that only fixed permanent magnets are installed on the stator as magnetic elements and generate a moving magnetic field on the moving part. In connection with the present disclosure, the fixed unit of the planar motor is generally referred to as the stator, which includes at least one stator segment, and the device movable in the moving plane defined by the stator is referred to as the moving part, regardless of the operating mode.

[0008] The driving force produced by the electromagnetic interaction between the moving member and the stator can be used to move the moving member in the desired moving direction of the moving plane. The suspension force can be used to lift the moving member from the stator surface to an operating height (e.g., several millimeters to several centimeters), and the moving member is maintained at the operating height (e.g., as long as the drive coil is energized or the permanent magnet of the stator moves) during operation. Therefore, for example, an air gap is generated and / or configured by the suspension force. During the operation of the linear motor, the air gap between the moving member and the stator surface can be maintained, and the moving member can be magnetically suspended at the operating height above the stator surface. In addition, the tilting force and moment acting on the moving member can also be generated for more complex movement. The two-dimensional interaction of the magnetic field of the stator and the moving member is required to realize the two-dimensional movement of the moving member, which is a feature of the linear motor. The magnetic elements of the stator and the drive magnet are therefore advantageously arranged in such a way that, in addition to the one-dimensional movement along the axis spanned by the moving plane (e.g., based on the x-axis and y-axis of the coordinate system defined by the moving plane), the more complex two-dimensional movement of the moving member in the transmission plane is also possible.

[0009] Planar motors are well known in the prior art. For example, US Pat. No. 9,202,719 B2 discloses the basic structure and operation mode of a planar motor.

[0010] Modern linear motors can also achieve high-precision movement of moving parts. In the example of long stator linear motors, high-precision movement is mainly in the moving direction along the stator, and limited movement across the moving direction is also possible. In the example of planar motors, the moving part is suspended above the stator surface and can move in the directions of all six rigid body degrees of freedom. Due to the modular design of the stator including one or more stator segments, the translational movement of the moving part in two main moving directions (for example, based on the x-direction and y-direction of the coordinate system fixedly defined by the moving plane) is possible, and there is actually no restriction. In addition, the translation of the moving part in the third spatial direction (based on the coordinate system fixedly defined by the moving plane, the "lifting" or "lowering" of the moving part in the z-direction) and the rotation of the moving part (until a specific deflection) can be performed at least to a limited extent. The motor force and torque expected for these moving parts to move are generated by (electro)magnetism. Summary of the invention

[0011] The present invention relates to planar motors as well as long stator linear motors. In the following, only the term "linear motor" is used, which includes planar motors and long stator linear motors.

[0012] Linear motors can be used as transport devices in production processes, for example, where very flexible transport processes with complex movement profiles can be implemented. The movement profile can be given as the position of a moving part over time, or the speed of a moving part over time, or the speed of a moving part over position, etc. Such use of linear motors as transport devices is well known in the prior art.

[0013] In order to realize transport tasks with linear motors, it is necessary not only to plan the stator (i.e. the arrangement of the stator segments) and the position of the workstation (for handling objects transported on or along the stator by the moving parts of the linear motor), but also to plan the moving path of the moving part. For planar motors, the moving path is on the moving plane of the stator, while in long-stator linear motors, the moving path is along the stator, and several stators can be connected by switches. The moving path is the route taken by the moving part when the linear motor is operating, such as a route on a moving plane. EP 4194375A1, WO2020 / 109276A1 and US10,926,418B2 are examples of how to plan the moving path of a moving part for a planar motor, in particular to avoid collisions of the moving part when performing the movement.

[0014] Linear motor technology is inherently flexible in the way it can be configured relative to the arrangement of the stator segments and the position of the workstations on the stator and relative to the definition of the movement path of the moving part on the stator. Last but not least, the moving part can also move with different dynamics (speed, acceleration, jump, etc.). Typically, linear motors are used to perform more than just simple movement tasks, that is, to move the moving part from A to B. Linear motors are often integrated into workflows, such as a series of manufacturing process steps for transported objects that need to be performed in a predetermined order at workstations, where the linear motor performs the transportation of objects from one workstation to the next workstation in a predetermined order. The workflow can generally be considered as the sequence of workstations required to achieve the desired task with a linear motor. Due to its flexibility, linear motors are perfectly suited to different tasks. But this flexibility also requires great complexity in designing and planning new linear motor applications. In order to design and plan linear motor configurations, tools that allow users to configure linear motors according to the needs of their applications are needed.

[0015] However, there are only very basic graphical system configuration tools available on the market today for linear motor technology. For planar motors, this is primarily a grid-based deployment of segments in an array of X×Y segments, with the user then deselecting any segments that do not actually exist in the specific application within that given grid size. Workflow and other parameters are handled through programming steps and static table entries that lack any dynamic capabilities. This approach is quite burdensome for the user and also requires programming knowledge from the user.

[0016] Therefore, there is a need to provide a method and tool for configuring new linear motor applications that allows the inherent flexibility of linear motors to be exploited without requiring in-depth programming knowledge from the user.

[0017] This is achieved by arranging the stator segments in a layout view of the planning view to form a workspace for the linear motor and displaying the workspace in the layout view. In addition, the workstations are arranged in the workspace and are simultaneously displayed in the workflow view of the planning view, preferably next to the layout view. These steps can be completed by the user in an easy way, especially graphically in the layout view or the workflow view. The workstations are connected in the layout view and / or the flowchart view according to a given workflow defining the sequence of the workstations, while the workflow is displayed in the flowchart view in the form of a flowchart with the workstations as nodes linked by the connections defining the sequence. This connection step can also be easily completed graphically by the user. In order to support the user in the configuration, the layout view and the flowchart view are dynamically linked so that any changes in the configuration of the linear motor in the layout view are automatically reflected in the flowchart of the flowchart view, and / or vice versa. This allows the user to edit the configuration of the linear motor in the workflow view or the layout view, whichever is more appropriate. With this configuration method, linear motor applications can be graphically configured without programming knowledge. Therefore, linear motor applications can be planned intuitively and easily.

[0018] The arrangement of the stator segments or groups of segments and the workstations is preferably done by drag and drop. For this purpose, it is also possible to attach multiple segments or groups of segments to a given grid or other section. The setting of the stator segments or groups of segments or workstations is done by a graphically based user software. This supports the user in configuring the workspace and allows for a fast configuration of the workspace.

[0019] Furthermore, the workstations are preferably connected completely graphically (software-based) by the user by drawing a line between two workstations in a layout view or workflow view. This supports the user in configuring the workflow and allows for fast configuration of the linear motor.

[0020] Adding or removing a workstation or connection in one view is advantageously reflected in the corresponding other view. This also significantly supports the user in configuring the linear motor. As each change is immediately displayed in both views, the user can freely choose in which view he wants to work.

[0021] It is particularly advantageous when the configuration method further comprises the step of automatically planning a movement path between the workstations in the workspace according to an order defined by the connection of the workstations and according to a given planning rule. With the movement path, the configuration can be used to operate the linear motor. The configuration can be used by a control unit of the linear motor to control the movement of the moving element along the movement path. To this end, the configuration method can also automatically generate software instructions for moving the moving element from workstation to workstation along the movement path to realize the sequence of the flowchart of the workflow.

[0022] The configuration can be further supported when the configuration method further comprises the step of simulating the movement of the moving member along the movement path within a given time period and according to given dynamic parameters of the movement of the moving member to implement the workflow. By using simulation, the user gets immediate feedback if the configuration works when the linear motor is operated.

[0023] It is particularly advantageous to determine a characteristic parameter of the operation of the linear motor during the simulation. Such a characteristic parameter can be used to compare different configurations of the same workflow in order to optimize a configuration item for a certain target measured with the characteristic parameter. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 1A and 1B are different views of a possible embodiment of a planar motor,

[0025] Figure 2 is an exemplary embodiment of the working space of a planar motor,

[0026] Figure 3 shows a planning view of the present invention,

[0027] Figure 4 shows the planning of the moving path of the moving piece, and

[0028] Figure 5 A configuration computer system for configuring tools and methods is shown. DETAILED DESCRIPTION

[0029] The present invention is described below using an example of a planar motor as an embodiment of a linear motor, but the present invention can also be similarly applied to other embodiments of a linear motor, such as a long-stator linear motor in particular.

[0030] Reference Figure 1a and Figure 1b , the known principle of a planar motor as an example of a linear motor 1 is explained by means of an exemplary embodiment. Figure 1a and Figure 1b A simplified exemplary embodiment of a transport device in the form of a planar motor is shown. Figure 1a A planar motor is shown in a partially cutaway top view, Figure 1bA planar motor is shown in a partially cut-away side view. The planar motor has at least one stator segment Sm. "m" is used as an index to be able to distinguish between different stator segments, wherein generally the reference symbol Sm is used when no specific stator segment is addressed. The stator segment Sm forms a stator 2 having a movement plane 3. At least one moving element Tn can be moved at least two-dimensionally in two main movement directions H1, H2 in the movement plane 3, which correspond to the x-axis and the y-axis of the coordinate system. "n" is used as an index to be able to distinguish between different moving elements, wherein generally the reference symbol Tn is used when no specific moving element is addressed. Within the scope of the present invention, the movement plane 3 is a planar surface of the stator 2 and the stator segment Sm, which is determined by the size and shape of the stator 2. The movement plane 3 can be oriented in space in any way. For simplicity, in Figure 1a Only one stator segment Sm is shown. Of course, a plurality of stator segments Sm, which may have different shapes, are typically arranged adjacent to one another so as to form a stator 2 and a larger moving plane 3. As a result, the planar motor can have a modular workspace WS defined by the arrangement of the stator segments Sm, and moving planes 3 of different shapes and sizes can be realized. In the moving plane 3 of the stator 2, a plurality of moving parts Tn can naturally also move simultaneously and independently of one another. Even different objects O can be transported using moving parts Tn of, for example, different sizes or shapes.

[0031] It should be noted that the available working space WS does not necessarily correspond to the complete movement plane 3 formed by the stator segments Sm. The moving element Tn may be prevented from entering certain defined blocking areas BR of the movement plane 3 .

[0032] A first coil group SG1 having a plurality of drive coils AS1 defining a first main moving direction H1 and a second coil group SG2 having a plurality of drive coils AS2 defining a second main moving direction H2 are arranged on the stator segment Sm. Typically, the drive coils are also denoted by ASi, where "i" is an index so that the drive coils can be distinguished when necessary. The drive coils AS1 of the first coil group SG1 are arranged adjacent to each other in a specific direction (in this case, in the X direction of the Cartesian coordinate system) so as to form a first main moving direction H1 for movement of the moving part Tn, in this case, the moving part Tn extends along the X-axis. The drive coils AS2 of the second coil group SG2 are arranged adjacent to each other in a specific direction (in this case, in the Y direction of the Cartesian coordinate system) so as to form a second main moving direction H2 for the moving part Tn, in this case, the moving part Tn extends along the Y-axis. As Figure 1a As shown, they are preferably arranged relative to each other in such a way that the two main movement directions H1 , H2 are orthogonal to each other.

[0033] A plurality of drive magnets 4 are arranged on at least one mobile part Tn, which electromagnetically interact with the drive coils AS1, AS2 of at least one of the two coil groups SG1, SG2 in the region of the mobile part Tn for moving the mobile part Tn. To this end, the mobile part Tn generally has a body 9, and the drive magnets 4 are arranged on the lower side of the body 9 (facing the moving plane 3), such as Figure 1b As shown. Figure 1a In the figure, the main body 9 is shown to be largely cut away to enable the arrangement of the drive magnet 4 to be seen. Figure 1b As shown, the drive magnets 4 are arranged into several magnet groups MGa, MGb. The drive magnets 4 are usually arranged with alternating polarities, such as Figure 1b The drive magnets 4 can also be oriented differently in different magnet groups MGa, MGb.

[0034] In the example shown, two first magnet groups MGa and two second magnet groups MGb are arranged on the moving part Tn. A single first magnet group MGa and a single second magnet group MGb of each moving part Tn are basically sufficient to move the moving part Tn in the moving plane 3. Of course, each moving part Tn can also be provided with more than two first magnet groups MGa and more than two second magnet groups MGb. It is known that there are many different arrangements of the magnet groups MGa, MGb, such as 1-D arrangement, 2-D arrangement, Halbach arrangement, etc.

[0035] Use Figure 1a and Figure 1b With the planar motor shown, a substantially unlimited movement of the moving element Tn in the two main movement directions H1, H2 would be possible, for example, in the movement plane 3 of the stator segment 2. In this case, it is possible, for example, to move the moving element Tn only along the X axis or only along the Y axis. Figure 1a As shown in the figure, the mobile element Tn can naturally move simultaneously along two main movement directions H1, H2, for example, along a two-dimensional movement path Pk located in a movement plane 3 with X-coordinates and Y-coordinates. "k" is used as an index to be able to distinguish different movement paths, wherein the reference symbol Pk is usually used when no specific movement path is addressed. However, the other four degrees of freedom (translation movement in the vertical direction Z and rotation around the three axes X, Y, Z) can also be used at least to a limited extent.

[0036] The moving path Pk may be an open path, ie, a path whose start and end do not coincide, or a closed path, ie, a path whose start and end coincide.

[0037] The drive coils AS1 can also be arranged one above the other in the normal direction (here, in the Z direction). Figure 1bIn the embodiment of the present invention, the drive coil AS1 of the first coil group SG1 is arranged to be closer to the moving plane 3 in a direction perpendicular to the moving plane 3 (here, in the Z direction) than the drive coil AS2 of the second coil group SG2. Many different arrangements of the drive coil AS1 are known, such as a single-layer arrangement, a herringbone arrangement, a double-layer arrangement, etc.

[0038] The control unit 10 is also provided in the planar motor, and the drive coil AS1 of the stator segment 2 is controlled by the control unit 10 to be excited. Figure 1a As shown, in order to generate a magnetic field for moving the moving part Tn. Essentially, this means that the drive coil AS1 is excited by the control unit 10 so that the moving part Tn executes the desired movement path Pk in the moving plane 3 and has the desired movement profile, wherein the movement path Pk is not limited to movement in the main movement directions H1, H2, but can also specify movement in four other degrees of freedom. The movement path Pk will be defined, for example, for implementing a transportation task using a planar motor as a transportation device or according to a specific production process of a system in which the planar motor is integrated as a transportation device. The planar motor, more specifically, the drive coil ASi of the planar motor is controlled by the control unit 10 so that the moving part Tn moves along the desired movement path Pk in the moving plane 3. The control unit 10 not only controls the movement path Pk, but also controls the dynamics of the movement at any point in time, especially the speed, acceleration, and jump.

[0039] The actual value of the movement of the moving element Tn, such as the actual position (also the actual direction of the moving element Tn) or the actual speed, is usually also used to implement or control the movement path Pk in the control unit 10. For this purpose, suitable sensors, such as position sensors, can also be arranged on the stator segment 2, the measured variables detected by which are transmitted as the actual value of the movement to the control unit 10 or the actual value of the movement is determined therefrom.

[0040] The control unit 10 can also be designed as a distributed controller, for example with a plurality of coil control units 5, for example one coil control unit 5 per stator segment Sm, and a superordinate system control unit 6 connected to the plurality of coil control units 5, for example via a communication network. For example, the system control unit 6 can perform a transport task and specify the target point of the moving part Tn in the moving plane 3 to the segment control unit so that the moving part Tn is moved according to the moving path Pk to perform the transport task. For this purpose, power electronics can also be provided on the stator segment Sm, which generates the required coil voltage or coil current and applies them to the drive coil ASi.

[0041] The control unit may be implemented as microprocessor-based hardware, such as a computer, a microcontroller, a digital signal processor (DSP), a programmable logic controller (PLC), etc., on which a corresponding control program for implementing the corresponding functions is run. Embodiments as integrated circuits are also conceivable, such as application specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs).

[0042] In the operation of the planar motor, in a possible embodiment, a moving magnetic field is generated in the first main moving direction H1 by correspondingly activating the first drive coil AS1. The moving magnetic field in the first main moving direction H1 mainly interacts electromagnetically with the drive magnet 4 of the first magnet group MGa so as to move the corresponding moving part Tn in the first main moving direction H1. Similarly, a basic moving magnetic field is generated in the second main moving direction H2 by activating the second drive coil AS2, and the basic moving magnetic field mainly interacts electromagnetically with the drive magnet 4 of the second magnet group MGb so as to move the moving part Tn in the second main moving direction H2. According to the activation of the drive coils AS1, AS2, the moving magnetic fields are superimposed, as a result of which the moving part Tn can be moved in a desired manner along a predetermined two-dimensional moving path Pk in the moving plane 3. As already mentioned, movement with more degrees of freedom can also be achieved.

[0043] The drive coil ASi is usually activated in such a way that a force acts on the moving part Tn in the Z-axis direction, by means of which the moving part Tn is kept suspended above the moving plane 3 for generating the air gap L( Figure 1b ) (This is also possible when the moving part Tn is stationary).

[0044] As another example of a linear motor 1, a long-stator linear motor differs from a planar motor mainly in that the drive coils ASi are arranged adjacent to each other along the stator, so that the movement plane is reduced to a movement line defined by the geometry of the stator. It is not necessary to have drive coils ASi for different directions in a long-stator linear motor. Also on the moving part Tn of a long-stator linear motor, there are usually no drive magnets for different movement directions. The working space WS of a long-stator linear motor is also defined by its stator, which can also be connected via a switch.

[0045] The above description of the structure and function of the linear motor 1 is for explanation purposes only and should not be construed as limiting, and is used to better understand the present invention. For the present invention, it is not important how the linear motor 1 is configured in detail.

[0046] In order to operate the linear motor 1, the linear motor 1 and the movement of the moving part Tn need to be planned and configured first in order to achieve the desired workflow WF. The workflow WF is the sequence of workstations Wj required to achieve the desired task with the linear motor 1. "j" is used as an index to be able to distinguish different workstations, wherein the reference symbol Wj is usually used when no specific workstation is addressed. The workflow WF may also contain additional information, such as the processing time at the workstation Wj, the dynamic parameters of the moving part Tn between the workstations Wj or other relevant operating data. Such parameters can be defined for each workstation Wj and for the travel along the moving path Pk between each workstation Wj.

[0047] The configuration of the linear motor 1 includes the arrangement of stator segments Sm and the arrangement of multiple workstations Wj in the area of ​​the stator 2 to which a mobile part Tn for transporting a certain object O travels. The number of mobile parts Tn can vary, and the configuration includes at least one mobile part Tn, usually a plurality of mobile parts Tn. Different mobile parts can also be used in the configuration of the linear motor 1, for example with different sizes or dynamic capabilities. In order to realize the workflow WF, the object O can be transported through all required workstations Wj with the same mobile part Tn or with different mobile parts Tn. The mobile parts Tn must travel to the workstations Wj in a specific order in order to perform specific tasks on the transported object O to realize the workflow WF.

[0048] Figure 2 A simple configuration of a planar motor with a plurality of stator segments Sm defining a rectangular stator 2 is shown. In the configuration shown, the stator segments Sm, Sm-1 represent a blocking region BR (indicated by hatching) of the stator 2 and, at least during normal operation of the planar motor, the stator segments Sm, Sm-1 must not be entered by the mobile Tn. The working space WS of the planar motor, i.e. the area in which the mobile Tn can move, is therefore defined by the stator segments S1 to Sm-2. There are four workstations W1 to Wj arranged on the stator 2 and the mobile Tn travels to all workstations Wj in a predetermined order. The arrows at the mobile Tn indicate the direction of movement of the corresponding mobile Tn. In this example, in the first workstation W1, an object O is placed on the mobile TE1. The mobile Tn then travels to the next workstation W2, Wj-1, avoiding the blocking region BR (indicated by hatching) of the stator 2. In these workstations W2, Wj-1, certain tasks are performed on or with the object O. The mobile element Tn travels to the side of the last workstation Wj, where the processed object O completed is taken out from the mobile element Tn.

[0049] There are many different possible applications for the linear motor 1, such as life sciences, assembly, pharmaceuticals, logistics, laboratory automation, packaging, food, beverages, e-mobility, battery manufacturing, etc., but the invention is not limited to a specific application. The application only affects the workflow WF and the workstations Wj required to implement the workflow WF.

[0050] In a simple example, Figure 2 The planar motor is used in the laboratory to transport blood samples (object O) to different blood analysis stations (workstations W2, Wj-1). The blood sample is loaded onto the mobile part T1 in the loading station (workstation W1) and then moved to the blood analysis stations in a specific order. After the analysis, the blood sample is taken out from the mobile part in the unloading station (workstation Wj) and the empty mobile part Tn is returned to the loading station or the mobile part buffer. In order to increase the throughput, there can be several parallel blood analysis stations, which perform the same analysis, and the mobile part Tn with the blood sample travels to the free workstation.

[0051] The present invention relates to a configuration tool and method that allows a user to configure a linear motor 1 for executing a desired workflow WF in a simple, intuitive and easy manner. The linear motor 1 configured in this way is then used to execute the workflow WF by moving a moving part Tn along a defined movement path Pk, and moves to the required workstation Wj in a defined order with the desired dynamics. To this end, it is necessary to configure the layout of the linear motor 1, in particular the layout of the stator 2, so as to define the workspace WS for the application of the linear motor 1. In addition, the workstation Wj required for the workflow WF needs to be positioned on or in the area of ​​the workspace WS of the stator 2. Different applications or workflows WF require different linear motor 1 layouts, sizes and shapes. Then, it is necessary to plan and define the movement path Pk of the moving part Tn for moving the moving part Tn from one workstation Wj to the next in the desired order. Using the movement path Pk, the control unit 10 can control the movement of the moving part Tn so as to execute the workflow WF using the linear motor 1.

[0052] However, it is quite difficult to plan the workflow WF directly on the layout of the workspace WS of the stator 2, especially when the workflow WF is complex with several workstations Wj and possibly also with parallel paths with equal workstations Wj, because the workflow WF is not immediately reflected in the planned layout of the stator 2 and the positions of the workstations Wj. The workflow WF would be more intuitive in the form of a flowchart as a sequence of workstations Wj connected in a certain way. On the other hand, in the flowchart, no information is included on how the workspace WS of the linear motor 1 must look in order to realize the workflow WF.

[0053] The basic method of the present invention is to configure the linear motor 1 using the layout of the workspace WS and the workflow WF simultaneously. In this way, the advantages of both can be utilized and their inherent disadvantages can be avoided. The configuration tool and method of the present invention use a planning view 10 shown to the user on a display 11. The display 11 can be, for example, a computer screen. The planning view 10 includes a layout view 12 and a workflow view 13 shown to the user simultaneously, preferably adjacent to each other. This is in Figure 3 It is schematically shown in FIG.

[0054] The planning view 11 is displayed on a computer screen of, for example, a configuration computer system 20 on which the configuration software is installed. When the configuration software is run on the configuration computer system 20, the configuration method can be performed. The configuration software can also be run on a server computer 21, and a user 22 accesses the configuration software from another computer 23 (client) connected to the server computer 21, for example, via the Internet 24. The configuration software can be accessed via a web browser on the computer 23 of the user 22. The client computer 23 of the user 22 includes a display 25 on which the planning view 11 is displayed. The user 22 can control the configuration software by ordinary computer input / output devices such as a computer mouse, a touch screen, a keyboard, etc. Figure 5 Such an embodiment of a configuration computer system 20 of a configuration tool is shown in FIG.

[0055] In the layout view 12 the working space WS of the linear motor 1 is graphically shown with its stator segments Sn and possibly also with any blocking areas BR.

[0056] As described above, in the case of a long stator linear motor as the linear motor 1, a switch may also be provided to connect the stator. Such a switch is considered a special stator segment Sm and can be handled in a configuration tool and method similar to the stator segment Sm.

[0057] The configuration tool and method allow the user to freely arrange (graphical representation of) stator segments Sm in any desired number and configuration for defining the working space WS of the linear motor 1. The user may also define specific areas of the working space WS that do not necessarily correspond to the entire stator segment Sm as blocking areas BR.

[0058] To this end, the stator segments Sm can advantageously be arranged by the user by "drag and drop" to create the desired workspace WS. Drag and drop is a software feature that allows the user to do this graphically in the layout view 12, for example by means of a computer mouse or on a touch screen. The user selects the stator segments Sm from, for example, a menu or selection list of the software interface and drags them into the layout view 12. This is done in Figure 3denoted by a stator segment Sm+1 dragged by the user to the workspace WS. It is also advantageous in this connection that the stator segment Sm is arranged in the layout view 12 by using an attach connection, i.e. when the user places a stator segment Sm near a stator segment Sm already present in the workspace WS, the placed stator segment Sm is automatically placed in the correct way. It is also possible that the segment is attached to a defined grid of the workspace WS. It is also possible that not only a single stator segment Sm can be arranged by the user, but also a predefined stator segment group comprises a plurality of stator segments Sm in a predefined arrangement. For example, a segment group of an L-shape comprising four stator segments Sm or a rectangle or square comprising an arbitrary number of stator segments Sm can be defined. The user can then drag and drop such a segment group.

[0059] The configuration tool and method also allow placing (a graphical representation of) a workstation Wj in the workspace WS of the linear motor 1, also preferably by dragging and dropping and pasting to correct defined positions on the stator segment Sm. Figure 3 In the figure, a workstation Wj+1 is represented by being dragged by the user to the workspace WS. In addition, a workstation Wj may be selected by the user from a menu or list of available workstations Wj.

[0060] The blocking area BR may be defined by the user in the layout view 12 by drawing an area with a defined shape in the workspace WS or by selecting certain stator segments Sm.

[0061] The layout of the workspace WS can also be changed or edited at any time during configuration, also preferably by dragging and dropping. This can be achieved by adding stator segments Sm and / or workstations Wj to the workspace WS, or removing certain stator segments Sm and / or workstations Wj from the workspace WS, or by rearranging or relocating certain stator segments Sm and / or workstations Wj. Such editing can be easily performed based on software in a graphical manner in the layout view 12.

[0062] It is also possible that the planning of the linear motor 1 starts with a predetermined workspace WS having a predefined shape and number or stator segments Sm and that this predetermined workspace WS is adapted by the user by adding or removing or rearranging stator segments Sm.

[0063] exist Figure 3 It can be appreciated that it is almost impossible to identify the workflow WF only through the workstations Wj in the workspace WS and only from the layout view 12 .

[0064] Therefore, the workflow view 13 is shown in parallel with the planning view 10. The workflow view 13 shows the workflow WF in the form of a flow chart as a desired sequence of workstations Wj for realizing a desired task using the linear motor 1. The necessary and available workstations Wj for realizing a specific task are of course known.

[0065] In the workflow WF, the sequence of workstations Wj is shown by means of a flow chart. In the flow chart, the nodes represent workstations Wj and the sequence is given by the arrows connecting the nodes. The arrow starting from workstation Wj-1 indicates the next workstation Wj that must be followed in order to achieve the desired workflow WF.

[0066] exist Figure 3 In the example of FIG. 1 , the flow chart also includes parallel branches with equal workstations W3, W4 and W5, W6 in each branch. In order to achieve the desired task, the mobile piece Tn must follow one of the parallel branches. For example, it is almost impossible to identify such a parallel branch in the layout view 12.

[0067] The workflow view 13 and the layout view 12 are interconnected and dynamically linked by configuration tools and methods (i.e. by software). On the one hand, this means that each workstation Wj is present in the layout view 12 and in the workflow view 13. The sequence of the workstations Wj is shown in the workflow view 13 by arrows linking the nodes (workstations Wj) in the flow chart. The connections of the workstations Wj are preferably also shown in the layout view 12, as shown in FIG. Figure 3 This is shown in the figure by the dotted lines connecting the workstations Wj. However, in the layout view 12, the connections do not necessarily reflect the order.

[0068] The interconnected and dynamically linked workflow view 13 and layout view 12 allow the user to configure the linear motor 1 application in the layout view 12 by arranging (placing / adding / removing / rearranging) stator segments Sm and / or workstations Wj. Workstations Wj can be connected in the layout view 12, which connection indicates which workstation Wj can be reached from which other workstations Wj. This is dynamically reflected in the workflow view 13 through a flowchart. However, the flowchart not only reflects the connection of workstations Wj (as in the layout view), but also gives the order of workstations WF in the flowchart. The user can follow and check the configuration in the layout view 12 in parallel in the resulting flowchart of the workflow WF. However, the user can also configure the linear motor 1 application in the workflow view 13 through the flowchart of the workflow WF. The user can define the workflow WF in the workflow view 13 by connecting the workstations Wj to the flowchart, and the workstations Wj in the workflow WF can be dynamically added to the existing workspace WS in the layout view 12. The workstation Wj can be located on an available segment Sm in the workspace WS. The user can then place or reposition the workstations Wj as required in the workspace WS in the layout view 12. In practice, the configuration will likely be a mix of the two, with the user working in both the layout view 12 and the workflow view 13, with changes in one view dynamically reflected in the other.

[0069] It is possible that editing of the workspace WS, the arrangement of the stator segments Sm, the arrangement of the workstations Wj is allowed only in the layout view 12, and changes in the layout view 12 are reflected in the workflow view 13. However, it is also possible that editing is possible only in the flowchart of the workflow view 13, and changes in the workflow view 13 are reflected in the layout view 12. However, it is very beneficial to be able to work seamlessly between the workspace WS in the layout view 12 and the flowchart in the workflow view 13. Therefore, it is very beneficial that editing is allowed in both the layout view 12 and the workflow view 13, and changes in one of the views are dynamically linked to the corresponding other view.

[0070] Therefore, on the other hand, dynamically linked means that the layout view 12 and the workflow view 13 are linked so that changes in the configuration of the linear motor 1 in the layout view 12 are automatically reflected in the flowchart of the workflow view 13, and / or vice versa. “And / or vice versa” means that changes in the configuration of the linear motor 1 in the layout view 12 are automatically reflected in the flowchart of the workflow view 13, or changes in the flowchart of the workflow view 13 are automatically reflected in the configuration of the linear motor 1 in the layout view 12, or changes in the configuration of the linear motor 1 in the layout view 12 are automatically reflected in the flowchart of the workflow view 13, and changes in the flowchart of the workflow view 13 are automatically reflected in the configuration of the linear motor 1 in the layout view 12.

[0071] The connection of the workstations Wj in the flow chart of the layout view 12 or the workflow view 13 can be done graphically (i.e. software-based) by, for example, drawing a line between two workstations Wj. To this end, the graphical object representing the workstation Wj in the layout view 12 or the workflow view 13 can have a connection point, to which one end of the drawn line is automatically connected, preferably also by snapping. However, connecting two workstations Wj can also be achieved by graphically selecting two points (e.g. connection points), which are then automatically connected by a line based on a command.

[0072] Once the user has planned and configured the desired workflow WF, the configuration tools and methods can automatically plan the movement paths Pk in the workspace WS that the moving parts Tn must follow in order to pass through the workstations Wj of the workflow WF in a given order. The configuration tools and methods include a movement path planning tool implemented as software running on the configuration computer system 20. For a long stator linear motor as linear motor 1, the planning of the movement path Pk can include the setting of switches if the moving part Tn must change the track to achieve the movement path Pk.

[0073] The planning of the mobile path Pk by the mobile path planning tool can be performed according to predetermined rules. For example, the mobile path Pk can be provided to connect two workstations Wj with the shortest possible path in the workspace WS. It can also be provided that the path can be aligned only parallel to the edge of the stator segment Sm. Then the mobile part Tn only moves in one of the main moving directions H1, H2 at a time.

[0074] A well-known modified A* (A-star) pathfinding algorithm can be used, which uses customized weighting to plan and optimize the mobile path Pk to provide the best layout for a large number of mobile parts Tn in the minimum possible workspace WS. The A* algorithm attempts to find the optimal path in some environments, which in this application is a grid of segments. The goal is to reach the target location (e.g., workstation Wj) from the starting position (e.g., workstation Wj-1) in the best possible way. This is not always the shortest path, because other requirements to be met can be defined. For example, two mobile parts Tn can move in opposite directions, and they must be ensured not to collide by making enough space between the two opposite paths. In addition, since the mobile part Tn must brake and remain stationary for a certain time (dwell time) before continuing to move, it may be desirable to avoid turning movements. This will reduce the final throughput. The weights of the algorithm can be configured for optimization based on user preferences, such as the shortest travel distance or the minimum direction change.

[0075] Figure 4 The working space WS of the planar motor is shown in a layout view 12 resulting from such a planning.

[0076] exist Figure 4 , a planning workspace WS in the layout view 12 and a planning workflow WF in the workflow view 13 are shown. Automatic path planning leads to a moving path BP1 connecting the first workstation W1 with the second workstation W2, a moving path BP2 connecting the second workstation W2 with the third workstation W3, a moving path BP3 connecting the second workstation W2 with the fourth workstation W4 (parallel to the third workstation W3), a moving path BP4 connecting the third workstation W3 with the fifth workstation W5, a moving path BP5 connecting the third workstation W3 with the fifth workstation W5, and so on.

[0077] It may be provided in the configuration tool and method that the planned movement path Pk is changed or adapted graphically (ie software-based) by the user in the layout view 12 , preferably by dragging the path at defined points of the path.

[0078] In another aspect of the invention, the configuration tool and method allow adding waypoints WP in the workspace WS. Waypoints WP are points that the moving path Pk must pass through and can therefore be used to influence the route of the moving path Pk. The planning of the moving path Pk will take into account the defined waypoints WP. The moving path Pk is planned so that the set waypoints WP assigned to the moving path Pk are located on the planned moving path Pk. The waypoints WP can also be edited by the user in the workspace WS, preferably graphically (i.e. software-based) by dragging and dropping in the layout view 12. Figure 4 A waypoint WP is shown, for example, on path P3 between workstations W2 and W4.

[0079] Waypoints WP may also be used to define entry points or exit points of a workstation Wj. Such waypoints WP may be part of a workstation Wj and will be automatically set in the workspace WS when the workstation Wj is included in the workspace WS.

[0080] It is also conceivable that for a given planning rule and a given workspace WS, it is not possible to automatically plan a movement path Pk. For example, if two workstations Wj can only be connected via a movement path Pk in such a way that they cross another movement path Pk, then this configuration may be prohibited, because crossing a movement path Pk may result in a collision of the mobile parts Tn. Other rules may also be implemented in the configuration tool and method for checking whether a possible movement path Pk is allowed.

[0081] In case a movement path Pk between two workstations Wj cannot be planned with the existing planning rules, planning can be stopped and the configuration tools and methods can indicate to the user where problems with the movement path Pk exist, preferably directly in the layout view 12 and / or the workflow view 13. This can be done graphically (i.e. software-based) in the respective views, for example. The user can then edit the workspace WS, for example by adding or removing or rearranging at least one stator segment Sm or by relocating the workstation Wj.

[0082] The configuration tools and methods may also suggest to the user how the workspace WS needs to be adapted to allow the movement path Pk. The configuration tools and methods may, for example, place the new segment Sm in the layout view 12 at the desired location or may reposition the workstation Wj. The user may then accept the suggested adaptation or manually adapt the workspace WS.

[0083] Another possible result of the planning of the movement paths Pk is that stator segments Sm may be identified that are not used when implementing the workflow WF. If a stator segment Sm is not used at all, this may be indicated to the user by the configuration tools and methods, preferably graphically (i.e. software-based) in the layout view 12, and such stator segments Sm may be removed from the workspace WS.

[0084] In order to move the moving part Tn along the planned moving path Pk, software instructions can be automatically generated by the software generation tool of the configuration tool and method, and the linear motor 1 is controlled by the configuration tool and method to move the moving part Tn from one workstation Wj to the next workstation Wj in the order of the flowchart for realizing the workflow WF. The software instructions can be in the form of simple movement instructions, such as instructions for moving from the current coordinates on the workspace WS to the destination coordinates on the workspace WS (for example, to define the position of the workstation). For this purpose, a coordinate system can be defined in the workspace WS. Using such instructions, a movement profile for moving the moving part Tn with certain dynamic parameters can be generated by the configuration tool and method or the control unit 10 of the linear motor 1. However, the configuration tool and method or the control unit 10 of the linear motor 1 can also create a movement profile for moving the moving part Tn with certain dynamic parameters based on the planned moving path Pk. The movement profile realizes the movement of the moving part Tn. The movement profile may be in the form of a speed ramp over time, with which the mobile member Tn is first accelerated at a given acceleration until a given speed in the desired direction is obtained, and then the mobile member Tn is moved at this speed before the mobile member Tn is decelerated at a given deceleration to reach the destination coordinates. To this end, a movement planning tool may be included in the configuration tool and method, or may be run as software on the control unit 10, which controls the movement of the mobile member Tn according to the provided movement instructions.

[0085] The mobile planning tool may also include a routine for deciding which branch a mobile Tn must follow in the case of parallel branches of a workflow. For example, such a decision may be made based on the current workload of the workstations in the parallel branches.

[0086] To this end, the movement planning tool must know the default or maximum dynamic parameters of the movement of the moving part Tn, such as speed, acceleration, jump, dwell time before changing direction, etc. For example, a default speed of 2 m / s and a maximum speed of 20 m / s can be set. 2An acceleration of 1 s and a dwell time of 1 s. These dynamic parameters can also be set differently for different moving parts Tn. This can be ensured by setting the desired dynamic parameters in the movement planning tool. The required dynamic parameters can also be stored in the parameter set of the moving part Tn used in the linear motor 1 application. The movement planning tool can then receive the dynamic parameters from the parameter set of the moving part Tn. This means that these dynamic parameters can be predefined.

[0087] The configuration tool and method allow configuring the linear motor 1 without writing a single line of code, which greatly simplifies and speeds up the configuration of the linear motor 1 .

[0088] Using the planned movement path Pk, the configuration tool and method can also simulate the workflow WF by simulating the movement of the moving part Tn along the planned movement path Pk in the workspace WS. To this end, the configuration tool and method may include a simulation tool. The simulation tool is basically a software running on the configuration computer system 20. In order to simulate, it is necessary to make the simulation tool know the dynamic parameters of the movement of the moving part Tn, such as speed, acceleration, jump, dwell time before changing direction, etc. This can be ensured by setting the desired dynamic parameters in the simulation tool. The required dynamic parameters can also be stored in the parameter set of the moving part Tn used in the linear motor 1 application. This means that these parameters can be predefined.

[0089] A simulation of a workflow WF for a given time period (a few minutes, a few hours, a few days, etc.) can be used to evaluate the configuration of the linear motor 1. In order to evaluate the configuration, characteristic parameters can be calculated or determined during the simulation. Examples of characteristic parameters are the total throughput of the moving parts Tn, the throughput of the individual workstations Wj and the utilization of the workstations Wj. The higher the values ​​of these parameters, the better the configuration. Therefore, the user can make different linear motor configurations for a certain workflow WF, such as different workspaces WS, in order to compare and improve a certain characteristic parameter. The throughput can be defined as the number of moving parts Tn per time unit (e.g. minutes) in the workspace WS (which can be set by the user) or at a specific point in the workstation Wj. The utilization rate (percentage) of the workstation Wj can also be used as a characteristic parameter, i.e. for evaluating parallel branches of the workflow WF.

[0090] In fact, it may be helpful to graphically animate the simulation of the movement of the moving part Tn used to execute the workflow WF and display the animation to the user. To this end, the configuration tool and method may also include an animation tool. The animation tool is basically software running on the configuration computer system 20. The animation tool animates the movement of the moving part Tn along the moving path Pk in the layout view 12 so as to give the user graphical feedback on how the operation of the linear motor 1 looks. The animation can also be performed at a slowed or accelerated time. Also for the animation, the simulation tool knows the dynamic parameters of the movement of the moving part Tn, such as speed, acceleration, jump, dwell time before changing direction, etc. This can be ensured by setting the desired dynamic parameters in the animation tool. The desired dynamic parameters can also be stored in the parameter set of the moving part Tn used in the linear motor 1 application. This means that these parameters can be predefined. The user can use the animation to edit in the position or waypoint WP of the workspace WS or workstation Wj.

[0091] In the simulation and / or animation, other operating parameters may also be taken into account, such as the processing time in the workstation Wj. Such additional operating parameters may be provided to the corresponding tools in the same way as the dynamic parameters. These parameters may also be part of the parameter set of the workstation Wj and may be obtained from these parameter sets.

[0092] In the simulation and / or animation, random events can also be considered. A random event can be any random disturbance, such as the failure of a moving piece or a workstation. This will allow for a more realistic simulation or animation of the workflow WF.

[0093] The planned movement path Pk can of course be used to operate the linear motor 1, for example as described above. To this end, the control unit 10 controls the movement of the mobile element Tn according to the movement path Pk and according to the workflow WF and using the set dynamic parameters of the mobile element Tn.

[0094] In another advantageous aspect of the invention, the movement path Pk is planned as described above, but without the workflow view 13. This is possible in particular for simple linear motor applications. This will result in a configuration method for configuring a linear motor application, comprising the following steps: arranging stator segments in a layout view of a planning view to form a workspace for the linear motor, and displaying the workspace in the layout view; arranging workstations in the workspace; connecting the workstations in the layout view according to a given workflow defining the sequence of the workstations; and automatically planning movement paths between the workstations in the workspace according to the sequence defined by the connection of the workstations and according to given movement planning rules. This will also result in a configuration tool for configuring a linear motor application, the configuration tool comprising a configuration computer system having a display, the display having a planning view, the computer system being configured to allow a user to arrange stator segments in the layout view to form a workspace for the linear motor and displaying the workspace in the layout view, the computer system being further configured to allow a user to arrange workstations in the workspace, the computer system being further configured to allow a user to connect workstations in the layout view according to a given workflow defining the sequence of the workstations. And the configuration tool also includes a movement path planning tool, which is configured to automatically plan the movement path between the workstations in the workspace according to the order defined by the connection of the workstations and according to a given planning rule.

Claims

1. A method for configuring a linear motor (1) application, comprising the following steps: - arranging stator segments (Sm) in a layout view (12) of the planning view (11) to form a working space (WS) of the linear motor (1) and displaying the working space (WS) in the layout view (12), - arranging workstations (Wj) in the workspace (WS) and simultaneously displaying the workstations (Wj) in a workflow view (13) of the planning view (11), preferably displaying the workstations (Wj) near the layout view (12), - connecting the workstations (WS) in the layout view (Wj) and / or in the workflow view (13) according to a given workflow (WF) defining a sequence of the workstations (Wj), wherein the workflow (WF) is displayed in the workflow view (13) in the form of a flow chart, wherein the workstations (Wj) are nodes linked by connections defining the sequence, - Dynamically linking the layout view (12) and the workflow view (13) so that changes in the configuration of the linear motor (1) in the layout view (12) are automatically reflected in the flow chart of the workflow view (13), and / or vice versa.

2. The configuration method according to claim 1, characterized in that: The step of arranging the stator segments (Sm) in the layout view (12) is done graphically by dragging and dropping, wherein a stator segment (Sm) or a group of stator segments (Sm) is dragged into the layout view (12) and placed at a desired position in the workspace (WS), where the stator segment (Sm) or the group of stator segments (Sm) is attached to a predefined grid in the workspace (WS) or to an already existing stator segment (Sm) or a group of stator segments (Sm) in the workspace (WS).

3. The configuration method according to claim 1 or 2, characterized in that: The step of arranging workstations (Wj) in the layout view (12) is done graphically by dragging and dropping, wherein workstations (Wj) are dragged into the layout view (12) and dropped at desired locations in the workspace (WS).

4. The configuration method according to any one of claims 1 to 3, characterized in that: The step of connecting workstations (Wj) in the layout view (12) and / or the workflow view (13) is done graphically by drawing a line between two workstations (Wj) in the layout view (12) or the workflow view (13).

5. The configuration method according to any one of claims 1 to 4, characterized in that: The dynamic linking step comprises automatically adding the workstation (Wj) to the flowchart or removing the workstation (Wj) from the flowchart in the workflow view (13) when the workstation (Wj) is added to the layout view (12) or removed from the layout view (12), and vice versa.

6. The configuration method according to any one of claims 1 to 5, characterized in that: The dynamic linking step includes automatically adding a connection between the workstations (Wj) in the layout view (12) when two workstations (Wj) are connected to each other in the flowchart in the workflow view (13).

7. The configuration method according to any one of claims 1 to 6, characterized in that: The configuration method further comprises the following steps: automatically planning a movement path (Pk) between the workstations (Wj) in the workspace (WS) according to an order defined by the connection of the workstations (Wj) and according to a given planning rule, wherein the movement path (Pk) defines the route of the moving part (Tn) of the linear motor (1).

8. The configuration method according to claim 7, characterized in that: The configuration method further comprises the step of automatically generating software instructions for moving the mobile element (Tn) from workstation (Wj) to workstation (Wj) along the movement path (Pk) in the order of the flowchart implementing the workflow (WF).

9. The configuration method according to claim 7 or 8, characterized in that: The configuration method further comprises the step of simulating the movement of the mobile part (Tn) along the movement path (Pk) within a given time period and according to given dynamic parameters of the movement of the mobile part (Tn) to realize the workflow (WF).

10. The configuration method according to claim 9, characterized in that: The configuration method further comprises the following steps: animating the simulated movement of the moving part (Tn) along the moving path (Pk) within a given time period and according to given dynamic parameters of the movement of the moving part (Tn) to implement the workflow (WF) in the layout view (12).

11. The configuration method according to claim 9 or 10, characterized in that: During the simulation, characteristic parameters of the operation of the linear motor (1) are determined.

12. A configuration tool for configuring a linear motor (1) application, comprising a configuration computer system (20) having a display (25) for displaying a planning view (11), the configuration computer system (20) being configured to simultaneously display a layout view (12) and a workflow view (13) in the planning view (11), preferably the workflow view (13) being adjacent to the layout view (12), the configuration computer system being further configured to allow a user (22) to graphically arrange stator segments (Sm) in the layout view (12) to form a workspace (WS) of the linear motor (1), and to display the workspace (WS) in the layout view (12), the configuration computer system (20) being further configured to allow the user (22) to graphically arrange workstations (Wj) in the workspace (WS), and to simultaneously display the workspace (WS) in the planning view (11). The configuration computer system (20) is further configured to allow the user (22) to connect the workstations (Wj) in the layout view (12) and / or in the workflow view (13) according to a given workflow (WF) defining the sequence of the workstations (Wj), and to display the workflow (WF) in the workflow view (13) in the form of a flowchart, wherein the workstations (Wj) are nodes linked by connections defining the sequence, and the configuration computer system (20) is further configured to automatically and dynamically link the layout view (12) and the workflow view (13), so that changes in the configuration of the linear motor (1) in the layout view (12) are automatically reflected in the flowchart of the workflow view (13), and / or vice versa.

13. The configuration tool according to claim 12, characterized in that The configuration computer system (20) is configured to allow a user to graphically drag a stator segment (Sm) or a group of stator segments (Sm) into the layout view (12), and place the dragged stator segment (Sm) or the group of stator segments (Sm) at a desired position in the workspace (WS), where the stator segment (Sm) or the group of stator segments (Sm) is automatically attached to a predefined grid of the workspace (WS), or to a stator segment (Sm) or a group of stator segments (Sm) already existing in the workspace (WS).

14. The configuration tool according to claim 12 or 13, characterized in that: The configuration computer system (20) is configured to allow the user to graphically drag a workstation (Wj) into the layout view (12) and place the dragged workstation (Wj) at a desired position in the workspace (WS).

15. The configuration tool according to any one of claims 12 to 14, characterized in that The configuration computer system (20) is configured to allow the user to graphically connect workstations (Wj) in the layout view (12) and / or the workflow view (13) by drawing a line between two workstations (Wj) in the layout view (12) or the workflow view (13).

16. The configuration tool according to any one of claims 12 to 15, characterized in that The configuration computer system (20) is configured to dynamically link the layout view (12) and the workflow view (13), and when a workstation (Wj) is added to the flowchart or the workstation (Wj) is removed from the flowchart in the workflow view (13), the workstation (Wj) is automatically added to or removed from the layout view (12), and vice versa.

17. The configuration tool according to any one of claims 12 to 16, characterized in that The configuration computer system (20) is configured to dynamically link the layout view (12) and the workflow view (13); when two workstations (Wj) are connected to each other in the flowchart in the workflow view (13), the connection between the workstations (Wj) is added to the layout view (12).

18. The configuration tool according to any one of claims 12 to 17, characterized in that The configuration tool comprises a movement path planning tool, which is configured to automatically plan a movement path (Pk) between the workstations (Wj) in the workspace (WS) according to an order defined by the connection of the workstations (Wj) and according to given planning rules, wherein the movement path (Pk) defines the route of the moving part (Tn) of the linear motor (1).

19. The configuration tool according to claim 18, characterized in that The configuration tool comprises a software generation tool configured to automatically generate software instructions for moving the moving part (Tn) from workstation (Wj) to workstation (Wj) along the movement path (Pk) in the order of the flowchart implementing the workflow (WF).

20. The configuration tool according to claim 18 or 19, characterized in that The configuration tool comprises a simulation tool configured to simulate the movement of the mobile part (Tn) along the movement path (Pk) within a given time period and according to given dynamic parameters of the movement of the mobile part (Tn) to realize the workflow (WF).

21. The configuration tool according to claim 20, characterized in that The configuration tool comprises an animation tool configured to animate the simulated movement of the moving part (Tn) along the moving path (Pk) within a given time period and according to given dynamic parameters of the movement of the moving part (Tn) so as to implement the workflow (WF) in the layout view (12).

22. The configuration tool according to claim 20 or 21, characterized in that During the simulation by the simulation tool, characteristic parameters of the operation of the linear motor (1) are determined.

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