Method for operating a linear conveying system and linear conveying system

Abstract

The invention relates to a computer-implemented method for operating a linear conveyor system (100), wherein the method comprises: in a test magnetic field generation step (201), outputting, from a controller (109), a control signal to at least one drive coil (115) of a test motor module (121) of a plurality of motor modules (117) to generate a test magnetic field (127) of the test motor module (121); in an interference variable generation step (203), outputting, by the controller (109), a control signal to at least one drive coil (115) of at least one interference motor module (123) of the plurality of motor modules (117) to generate an interference variable (128) of the at least one interference motor module (123); in an interference determination step (205), determining, by the controller (109), an interference of the test magnetic field (127) of the test motor module (121) caused by the interference variable (129) of the interference motor module (123); and in a placement determination step (207), determining, by means of the controller (109), an interference motor module (123) that is in close proximity to the test motor module (121) if the detected interference of the test magnetic field (127) by the interference variable (128) reaches or exceeds a predefined limit value. The invention also relates to a linear conveyor system (100).

Description

Technical Field

[0001] This invention relates to a method for operating a linear conveying system. This invention also relates to a linear conveying system. Background Technology

[0002] Linear conveying systems are known from the prior art. For example, publication DE 10 2012 204 919 A1 describes a linear conveying system having: a movable unit; a fixed unit having guide rails for guiding the movable unit; and a linear motor for driving the movable unit along the guide rails, wherein the linear motor includes a stator and a rotor, wherein the stator includes a plurality of motor modules arranged in a fixed manner along the guide rails, each motor module including a plurality of drive coils, and wherein the rotor is arranged on the movable unit and includes a plurality of magnets.

[0003] In order to operate a linear conveyor system, it is necessary to understand the arrangement of the individual motor modules of the stationary unit so that the movable unit can be moved along the guide rail by actuating the drive coils of the corresponding motor modules. Summary of the Invention

[0004] Therefore, the object of the present invention is to provide an improved method for operating a linear conveying system and an improved linear conveying system.

[0005] This objective is achieved through the method and linear delivery system described in the independent claim. Advantageous embodiments are indicated in the dependent claims.

[0006] According to one aspect, a computer-implemented method is provided for operating a linear conveying system, the linear conveying system including a controller and a stationary unit having a guide rail for guiding a moving unit and a plurality of motor modules arranged along the guide rail, wherein each motor module includes a drive coil for providing a drive magnetic field for driving the moving unit along the guide rail, and wherein the method includes:

[0007] In the test magnetic field generation step, the controller outputs a control signal to at least one drive coil of the motor module selected from multiple motor modules as the test motor module, so as to generate the test magnetic field of the selected motor module.

[0008] In the interference variable generation step, the controller outputs a control signal to at least one drive coil of at least one motor module selected from multiple motor modules as the interference motor module, so as to generate the interference variable of the at least one motor module selected as the interference motor module.

[0009] In the interference determination step, the interference on the test magnetic field of the selected motor module, caused by the interference variable of the selected motor module as the interference motor module, is determined by means of a controller; and

[0010] In the arrangement determination step, if the detected interference to the test magnetic field caused by the disturbance variable reaches or exceeds the predefined limit value, the controller determines the motor module that is directly adjacent to the motor module selected as the test motor module.

[0011] This allows for the technical advantages of improved methods used to operate linear conveyor systems. The method allows for the identification of motor modules adjacent to the motor modules of the stator of the stationary unit. If the positions of the motor modules within the multiple motor modules on the stator of the stationary unit are unknown, it can be determined whether other motor modules are located adjacent to the selected motor module by actuating the corresponding motor module of the stator and other motor modules, and if so, which other motor modules are located adjacent to the selected motor module.

[0012] For this purpose, at least one motor module is selected from a plurality of motor modules and defined as a test motor module. For the test motor module defined in this manner, the motor modules directly adjacent to the test motor module are then determined. This involves the controller of the linear conveyor system first actuating the previously selected test motor module to generate a test magnetic field. In this context, the test magnetic field is defined as the magnetic field generated by the test motor module. The test magnetic field may include specific predefined properties. However, the primary characteristic of the test magnetic field is the fact that it is generated by the test motor module.

[0013] Furthermore, at least one additional motor module is selected from multiple motor modules in the linear conveyor system. This module is defined as a disturbance motor module and is actuated by the controller to generate disturbance variables. Similar to the test motor module, the at least one disturbance motor module is also a conventional motor module of the stator, and its only characteristic is that it is actuated to generate disturbance variables. The disturbance variables are further distinguished by the fact that they are generated by the disturbance motor module. The disturbance variables may also have predefined properties.

[0014] Subsequently, a detection is performed to determine whether the interference variables generated by the interference motor module cause interference in the test magnetic field of the test motor module. If such interference to the test magnetic field caused by the interference variables of the interference motor module is detected, and the detected interference to the test magnetic field reaches or exceeds a predefined limit value, then the motor module immediately adjacent to the test motor module is identified.

[0015] Therefore, the described method can be used to determine which motor module on the stator is adjacent to the selected motor module for testing when selecting a motor module from a plurality of motor modules on the stator.

[0016] In this context, if no other motor modules are arranged between two motor modules, then the two motor modules are considered to be adjacent to each other within the meaning of this application.

[0017] The method according to the invention is particularly advantageous when the controller of a linear conveying system is unaware of the positions of all the motor modules within the stator of the stationary unit. Although the controller is able to control individual motor modules of the stator independently and without error, the actual positions of the motor modules within the stator (i.e., information about how the individual motor modules are arranged adjacent to each other) are not entirely known to the controller.

[0018] For example, this can happen when starting up a newly constructed linear conveyor system. In this case, individual motor modules are mounted on stationary units and connected to the controller in terms of data technology. The controller is also able to identify the individual motor modules and actuate them individually. However, the actual location of the motor modules on the stationary unit is unknown to the controller, depending on the actual assembly of the stationary unit in which the motor modules are mounted within the stator of the stationary unit in an arbitrary order that is at least partially unknown and, depending on the circumstances. A similar situation can occur when replacing or modifying individual parts of the stationary units of an existing linear conveyor system. The replaced or newly added motor modules are known to the controller at the software level, making it possible for the controller to address or actuate the motor modules individually without any problem. However, the actual location of the individual motor modules on the stationary unit remains unknown to the controller.

[0019] Therefore, this method allows the controller to automatically determine the adjacent motor module for any selectable motor module of the stator by actuating the individual motor modules and generating the test magnetic field and disturbance variables as described above.

[0020] By continuing the method for most motor modules (whose positions are unknown to the controller when the method is executed), the stator topology, i.e., the positions of all motor modules on the stator, can be determined or updated.

[0021] Therefore, it is possible to avoid manually programming the existing topology (i.e., information about the location of individual motor modules within the stator) into the controller.

[0022] In the context of this application, the interference variable is a variable that can be generated by switching the motor mode selected as the interference motor module. Based on this interference variable, interference to the test magnetic field can be generated and detected.

[0023] According to the implementation plan, the steps to be determined include:

[0024] In the identification step, based on the time series of the interference variables generated by at least one interference motor module and the interference to the test magnetic field determined by the controller, at least one interference motor module is identified as a motor module arranged adjacent to the test motor module.

[0025] This allows for the technical advantage of further determining the position of motor modules within the stator. It also allows for the identification of previously determined motor modules adjacent to the selected test motor module as selected as interfering motor modules. For example, this identification of motor modules adjacent to the test motor module can be achieved by the fact that, upon detection of interference to the test magnetic field of the test motor module caused by an interference variable from the interfering motor module, only one interfering motor module is actuated by the controller to generate the interference variable. This single-excited interfering motor module is then identified as the motor module adjacent to the test motor module.

[0026] This method is based on the following idea: if the corresponding interference motor module that generates the interference variable is located adjacent to the test motor module that generates the test magnetic field, then the interference mainly detected is caused by the interference variable in the test magnetic field, or the interference mainly reaches or exceeds a predefined limit value. Therefore, if the interference motor module is further away from the test motor module, for example, if another motor module is placed between the interference motor module and the test motor module, the influence of the interference variable generated by the interference motor module on the test magnetic field generated by the test motor module is small, so that there is no detectable interference in the test magnetic field, or the detected interference does not reach the predefined limit value.

[0027] When the test motor module is actuated and generates a corresponding test magnetic field, if interference with the test magnetic field based on an interference variable is detected, and the detected interference reaches or exceeds a predefined limit value, it can be concluded according to the present invention that the motor module adjacent to the selected test motor module is located. Furthermore, if the detected interference with the test magnetic field can be clearly assigned to an interference variable of the interfering motor module, the motor module adjacent to the test motor module can be identified as the interfering motor module, which generates the interference variable that causes interference with the test magnetic field.

[0028] If multiple interfering motor modules are simultaneously actuated, generating multiple interference variables, then when interference is detected in the test magnetic field of the selected test motor module, it can be determined that only the motor module immediately adjacent to the test motor module exists. This adjacent motor module must then be one of the multiple interfering motor modules. However, if the location of the interfering motor module is unknown, it is not possible to clearly determine which of the actuated interfering motor modules is located immediately adjacent to the test motor module.

[0029] However, if multiple interference motor modules are sequentially actuated to generate interference variables, then when interference in the test magnetic field is detected, the interference motor module actuated to generate interference variables when interference in the test magnetic field is detected can be identified as the motor module adjacent to the test motor module.

[0030] By identifying the detected motor modules that are adjacent to one or more selected test motor modules, complete information about the topology of the linear conveyor system can be obtained.

[0031] According to the implementation plan, the interference detection steps include:

[0032] In the voltage change determination step, the voltage change of the operating voltage of the drive coil of the test motor module that generates the test magnetic field is determined by means of a controller, wherein the predefined limit value is defined by the voltage change.

[0033] This allows for the following technical advantages: by measuring the voltage change across the voltage drop across the drive coil of the test motor module actuated to generate the test magnetic field, precise detection of interference in the test magnetic field of the test motor module can be achieved. The magnitude of the voltage change can also be used to accurately determine whether the detected interference to the test magnetic field reaches or exceeds a predefined limit value. In this context, the predefined limit value is defined by a predefined value of minimum voltage change.

[0034] According to the implementation plan, voltage changes include changes in voltage amplitude and / or changes in voltage phase.

[0035] This allows for the following technical advantages: by taking into account the voltage amplitude or voltage phase of the voltage drop across the drive coil of the test motor module, voltage changes can be accurately determined, and thus interference with the test magnetic field can be accurately detected.

[0036] According to the implementation plan, the steps for testing the magnetic field generation include:

[0037] In the first excitation step, a control signal is output to the drive coil of the test motor module via the controller to excite the drive coil of the test motor module with a first operating current.

[0038] This allows for the technical advantage of precisely generating a test magnetic field by means of a correspondingly actuated drive coil of the test motor module.

[0039] According to the implementation plan, the interference generation steps include:

[0040] In the second excitation step, a control signal is output to the drive coil of at least one interference motor module by means of a controller, so as to supply a second operating current to the drive coil of at least one interference motor module and generate an interference magnetic field, wherein the interference variable is given by the interference magnetic field.

[0041] This achieves the following technical advantages: the interference variable given by the interference magnetic field can be accurately generated by correspondingly actuating the corresponding drive coil of the interference motor module. In the above embodiment, the interference variable is given by the interference magnetic field, which is generated by actively exciting at least one drive coil of the motor module selected as the interference motor module.

[0042] In this context, an operating current is actively supplied to the corresponding drive coil of the interference motor module, and this operating current is configured to generate the desired interference magnetic field. The operating current can be predefined to ensure that the generated magnetic field includes the desired properties.

[0043] The detectable interference with the test magnetic field in the motor module selected as the test motor module is based on the interaction between the test magnetic field of the motor module selected as the test motor module and the interference magnetic field of the motor module selected as the interference motor module.

[0044] According to the implementation plan, the interference generation steps include:

[0045] In the switching step, a control signal is output to the drive coil of at least one interfering motor module by means of a controller to generate an interference variable by switching the drive coil of at least one interfering motor module to a short-circuit state, wherein the interference variable is given by the short circuit in the drive coil of the motor module selected as the interfering motor module.

[0046] This allows for the technical advantage of using an alternative method to generate interference variables via a interference motor module. In the proposed embodiment, the interference variable is provided by a short circuit in at least one drive coil of the motor module selected as the interference motor module. To generate the interference variable, no operating current is actively supplied to the corresponding drive coil of the selected motor module. Instead, the corresponding drive coil is switched to a short-circuit state. When the corresponding short-circuited drive coil of the interference motor module interacts with the test magnetic field of the test motor module, a corresponding voltage or current is induced in the short-circuited drive coil of the interference motor module.

[0047] The induced current or voltage in at least one drive coil of the interfering motor module generates a corresponding interfering magnetic field. However, in this embodiment, the interference variable is primarily determined by the generated short-circuit state. The interference detectable in the motor module selected as the test motor module and generated by the interference variable is based on both the interfering magnetic field induced in the drive coil of the interfering motor module and the interaction between the test magnetic field and the interfering magnetic field. Active excitation of the drive coil to generate the interfering magnetic field is not required.

[0048] According to the implementation plan, the first operating current of the drive coil of the test motor module includes waveforms from the following list: sine waveform, cosine waveform, sawtooth waveform, triangular waveform, and rectangular waveform.

[0049] This achieves the following technical advantages: by exciting the drive coil of the test motor module with a first operating current of cosine, sine, sawtooth, triangular, or rectangular shape, a corresponding cosine or sine wave, sawtooth wave, triangular wave, or rectangular wave operating voltage is generated at the corresponding drive coil. The corresponding cosine or sine wave, sawtooth wave, triangular wave, or rectangular wave of the decreasing operating voltage at the drive coil of the test motor module facilitates the detection of changes in the operating voltage, and relatedly, it is conceivable that it also facilitates the detection of other current waveforms interfering in the test magnetic field.

[0050] According to the implementation scheme, the second operating current of the drive coil of at least one interference motor module includes waveforms from the following list: sine waveform, cosine waveform, sawtooth waveform, triangular waveform, rectangular waveform, and zero current.

[0051] This allows for the technical advantage of precisely actuating the interference motor module to generate interference variables.

[0052] According to the implementation plan, multiple interference variables are generated for multiple interference motor modules by actuating the corresponding drive coils of multiple interference motor modules, wherein multiple interference variables are checked to determine whether interference with the test magnetic field of the test motor module is detected.

[0053] This achieves the following technical advantages: by selecting multiple motor modules as interference motor modules and generating multiple interference variables for the selected test motor modules, it is possible to accurately determine whether a motor module adjacent to the corresponding test motor module is provided. This enables the realization of a complete topology for the stator or linear drive system.

[0054] According to the implementation plan, the generation of multiple interference variables of multiple interference motor modules is performed sequentially in time.

[0055] This achieves the following technical advantages: by sequentially generating multiple interference variables, when interference is detected in the test magnetic field of the test motor module, the interfering motor module can be clearly identified as the motor module immediately adjacent to the test motor module that was actuated to generate interference when interference was detected in the test magnetic field. Therefore, for the test motor module, it is possible to clearly determine which motor modules are positioned immediately adjacent to the test motor module.

[0056] According to the implementation plan, multiple test magnetic fields are generated for multiple motor modules selected as test motor modules by actuating the corresponding drive coils of the motor modules selected as test motor modules.

[0057] This offers the following technical advantages: For each of the multiple motor modules in the stator, a corresponding adjacent motor module can be identified. By successively selecting each of the multiple motor modules as the test motor module for generating the test magnetic field and executing the above method, the complete positioning of all motor modules in the stator can be determined.

[0058] According to the implementation plan, the generation of multiple test magnetic fields of multiple motor modules selected as test motor modules is performed simultaneously, and the generation of multiple interference variables of multiple motor modules selected as interference motor modules is performed sequentially, or the generation of multiple test magnetic fields of multiple motor modules selected as test motor modules is performed sequentially in time, and the generation of multiple interference variables of multiple motor modules selected as interference motor modules is performed simultaneously.

[0059] This offers the following technical advantages: it allows for the identification of motor modules that are adjacent to multiple motor modules. By simultaneously generating the test magnetic field and / or disturbance variables, the identification of motor modules adjacent to the multiple motor modules selected as test motor modules can be performed as quickly as possible.

[0060] According to the implementation plan, the method further includes:

[0061] In another arrangement determination step, if it is determined that any of the interference variables generated for the motor module selected as the interference motor module does not interfere with the test magnetic field, then it is determined that there is no adjacent motor module for the test motor module.

[0062] This allows for the determination of the end or beginning of the travel distance defined by multiple motor modules within a fixed unit, based on the gap between motor modules and / or the travel distance of the fixed unit. A motor module selected as a test motor module (for which no adjacent motor module is detected in one direction) is interpreted as the end / beginning of the travel distance in that direction.

[0063] According to the implementation scheme, multiple motor modules of the fixed unit are grouped into motor module strings, each motor module string including at least two motor modules connected to each other by a wire, and the method includes:

[0064] In the motor module determination step, the test edge motor modules of the test motor module string and the interference edge motor modules of the interference motor module string are determined by means of a controller, wherein the test edge motor modules are connected by wires to only one other motor module in the test motor module string, and wherein the interference edge motor modules are connected by wires to only one other motor module in the interference motor module string; and

[0065] In the motor module selection step, the controller selects the test edge motor module of the test motor module string as the test motor module for generating the test magnetic field, and selects the interference edge motor module of the interference motor module string as the interference motor module for generating interference variables.

[0066] This provides the following technical advantages: when motor modules are assembled into motor module strings, adjacent motor module strings can be determined for each motor module string by implementing the method according to the invention. In a motor module string, at least two motor modules of a corresponding motor module string are connected to each other via cables. The positions of the motor modules within a motor module string are known via a wired connection to the controller. However, the controller does not know the position of the individual motor module strings formed in the stator, nor the positions of adjacent motor module strings.

[0067] Each motor module string includes at least two edge motor modules. To determine the motor module strings immediately adjacent to the selected motor module string, at least one of the at least two edge motor modules is selected as the test edge motor module for generating one or two test magnetic fields. Furthermore, edge motor modules from other motor module strings are selected as interference edge motor modules for generating the corresponding interference variables.

[0068] Based on this, the method is performed according to the steps described above, and for at least one or two test edge motor modules, the interference on the corresponding test magnetic field caused by the interference variable of the interfering edge motor module of another motor module string is determined. This allows for the identification of the motor module string immediately adjacent to the selected test motor module string.

[0069] Since the positions of the motor modules within a motor module string are known, only the edge motor modules of the corresponding motor module string are selected as test motor modules or interference motor modules. Only these can be positioned so that they are adjacent to the motor modules of another adjacent motor module string.

[0070] According to the implementation plan, the method further includes:

[0071] In the topology determination step, the controller determines the topology of the motor modules of the fixed unit by determining at least one adjacent motor module for each of the multiple motor modules of the fixed unit.

[0072] This allows for the following technical advantage: the complete topology of a linear conveying system can be determined by performing the methods described above.

[0073] According to the implementation scheme, the linear conveying system includes a signal transmitting device formed on a movable unit, wherein the method includes:

[0074] In the positioning step, a control signal is output to the actuation coil of the motor module by means of a controller to actuate the drive coil, thereby positioning the movable unit in the transmitting position of the movable unit relative to the fixed unit. In the transmitting position of the movable unit relative to the fixed unit, the signal transmitting device is positioned to have a first transmitting element in the effective range of the interference variable and a second transmitting element in the effective range of the test magnetic field, and wherein the magnetic interference signal of the interference variable is transmitted by the signal transmitting device into the effective range of the test magnetic field.

[0075] This achieves the following technical advantages: the method according to the invention can also be performed on distant motor modules using a signal transmitting device. For this purpose, the signal transmitting device includes two transmitting elements, each positioned within the effective range of the test magnetic field of the motor module selected as the test motor module and within the effective range of the interference variable of the motor module selected as the interfering motor module. The signal transmitting device can be used to introduce a magnetic interference signal generated by the interference variable into the effective range of the test magnetic field of the test motor module, thereby causing interference with the test magnetic field. Therefore, the signal transmitting device can bridge the distance between motor modules that would otherwise prevent the interference variable generated by the respective motor module from affecting the test magnetic field generated by the respective motor module.

[0076] By forming a signal transmitting device on at least one movable unit of a linear conveying system, the signal transmitting device can be positioned on any motor module by moving the movable unit along a guide rail, so as to determine the corresponding adjacent motor module for the corresponding motor module by performing the method according to the invention.

[0077] According to the implementation plan, the method is performed when the linear conveyor system is started and / or after motor modules have been added to and / or removed from the multiple motor modules.

[0078] This allows for the following technical advantages: the method according to the invention can be executed at different times during the operation of the linear conveyor system. As described above, at the first startup of the linear conveyor system, the method can be used to determine the positions of the individual motor modules within the stator, which are unknown to the controller at that point in time. Furthermore, when altering parts of the existing linear conveyor system, for example by replacing or modifying motor modules or sections of the linear conveyor system, and thus the corresponding positions of the newly added or rearranged motor modules remain unknown to the controller, the method according to the invention can be used. Therefore, the method can be used at any time for different sections of the route or for the entire linear conveyor system.

[0079] According to one aspect, a linear conveying system is provided, having a controller and a stationary unit, wherein the stationary unit includes a guide rail for guiding a movable unit and a plurality of motor modules arranged along the guide rail, wherein each motor module includes a drive coil for providing a driving magnetic field for driving the movable unit along the guide rail, wherein the drive coil is arranged to generate a test magnetic field and / or disturbance variables, and wherein the controller is arranged to perform a method for operating the linear conveying system according to one of the above embodiments.

[0080] This enables the provision of an improved linear conveying system, which is configured to perform the method according to the invention, having the aforementioned technical advantages.

[0081] According to the implementation scheme, the linear conveying system further includes a signal transmitting device, wherein the signal transmitting device is configured to transmit a magnetic interference signal of the interference variable of the drive coil of at least one interfering motor module to the effective range of the test magnetic field of the drive coil of the test motor module among the plurality of motor modules.

[0082] This achieves the following technical advantages: the signal transmitting device allows the method according to the invention to be executed for motor modules spaced apart from each other, and for the motor module, the correspondingly generated test magnetic field and the interference magnetic field of the interference variable do not interact due to the distance, which would result in interference to the test magnetic field reaching or exceeding a predefined limit value.

[0083] According to the implementation scheme, the signal transmitting device includes a first transmitting element and a second transmitting element wired to the first transmitting element, wherein the first transmitting element can be positioned within the effective range of the interference variable, and the second transmitting element can be positioned within the effective range of the test magnetic field.

[0084] This achieves the following technical advantages: the first and second transmitting elements of the signal transmitting device can bridge the distance between the two motor modules, which would otherwise prevent interference variables from affecting the test magnetic field.

[0085] According to the implementation scheme, the signal transmitting device is formed on a fixed unit, wherein the first transmitting element is arranged within the effective range of the interference variable of at least one interfering motor module, and wherein the second transmitting element is arranged within the effective range of the test magnetic field of the drive coil of the test motor module.

[0086] This achieves the following technical advantages: the signal transmitting device can introduce the interference signal of the interference variable of the interfering motor module into the effective range of the test magnetic field of the test motor module. When the control motor module is actuated and generates the interference variable, the magnetic interference signal introduced into the effective range of the test magnetic field of the test motor module via the signal transmitting device can be used to detect interference in the test magnetic field. This can then be used to identify the corresponding interfering motor module as a motor module directly adjacent to the test motor module.

[0087] According to the implementation plan, the signal transmitting device is arranged on a movable unit of the linear conveying system, wherein by means of the process involving the movable unit along the guide rail, the first transmitting coil can be positioned within the effective range of the interference variable, and the second transmitting coil can be positioned within the effective range of the test magnetic field.

[0088] This offers the following technical advantages: the signal transmitter can be moved to any motor module using the movable unit. Therefore, the signal transmitter does not necessarily need to be mounted on a fixed unit for each possible motor module. By moving the movable unit, the signal transmitter can be delivered to the desired motor module, allowing for the identification of which motor modules are located nearby. This significantly reduces the number of signal transmitters required in the entire linear conveyor system.

[0089] According to the implementation scheme, the first transmitting element is embodied in a first transmitting coil, and the second transmitting element is embodied in a second transmitting coil. When the first transmitting coil is positioned within the effective range of the interference variable and the second transmitting coil is positioned within the effective range of the test magnetic field, a voltage signal can be induced in the first transmitting coil by the interference variable. A current signal can be generated in the second transmitting coil from the induced voltage signal. A magnetic interference signal corresponding to the interference variable can be generated by the second transmitting coil excited by the current signal and introduced into the effective range of the test magnetic field.

[0090] This achieves the following technical advantages: by embodying the first transmitting element and the second transmitting element as corresponding first transmitting coil and second transmitting coil, reliable transmission of the magnetic interference signal generated by the interference variable of the interfering motor module to the effective range of the test magnetic field of the test motor module can be realized. Attached Figure Description

[0091] The invention is described in more detail with reference to the accompanying drawings, which show:

[0092] Figure 1 Top view of the linear conveying system according to the implementation plan;

[0093] Figure 2 according to Figure 1 Side view of two motor modules of a linear conveyor system;

[0094] Figure 3 A schematic depiction of a linear conveying system according to another embodiment;

[0095] Figure 4 A schematic depiction of the method steps for operating a linear conveying system according to another embodiment;

[0096] Figure 5 A schematic depiction of a linear conveying system according to another embodiment;

[0097] Figure 6 A schematic depiction of a linear conveying system according to another embodiment;

[0098] Figure 7 A schematic depiction of a linear conveying system according to another embodiment;

[0099] Figure 8 A schematic depiction of a linear conveying system according to another embodiment;

[0100] Figure 9 A flowchart of a method for operating a linear conveying system according to the implementation plan;

[0101] Figure 10 Another flowchart of a method for operating a linear conveying system according to another embodiment;

[0102] Figure 11 Another flowchart of a method for operating a linear conveying system according to another embodiment;

[0103] Figure 12 Another flowchart of a method for operating a linear conveying system according to another embodiment;

[0104] Figure 13 Another flowchart of a method for operating a linear conveying system according to another embodiment;

[0105] Figure 14 Another flowchart of a method for operating a linear conveying system according to another embodiment; and

[0106] Figure 15 Another flowchart of a method for operating a linear conveying system according to another embodiment. Detailed Implementation

[0107] In the following text, the same reference numerals may be used for elements having the same function. Where appropriate, these elements will not be described in every figure. However, in all embodiments, these elements having the same function may be provided accordingly.

[0108] Figure 1 A schematic top view of the linear conveying system 100 is shown.

[0109] The linear conveying system 100 includes: at least one movable unit 101; a fixed unit 103 having a guide rail 105 for guiding the at least one movable unit 101; and a linear motor 107 for driving the movable unit 101 along the guide rail 105.

[0110] The linear motor 107 includes a stator 111 and at least one rotor 113. The stator 111 is embodied in a fixed unit 103, while the at least one rotor 113 is embodied in at least one movable unit 101. The stator 111 is arranged adjacent to a guide rail 105 on the fixed unit 103 and includes a plurality of stator teeth 114 fixedly arranged along the guide rail 105. Figure 1 The drive coil 115 is not shown. The drive coil 115 is wound around every other stator tooth 114 and thus serves as the coil core of the corresponding drive coil 115. The stator teeth 114 may be made of a ferromagnetic material. Exciting the drive coil 115 can result in an enhanced drive magnetic field passing through the stator teeth 114.

[0111] At least one rotor 113 embodied at at least one movable unit 101 includes a plurality of drive magnet elements 119. A rotor magnetic field can be generated via the drive magnet elements 119 of the rotor 113. A stator magnetic field can be generated via an energized drive coil 115, such that the movable unit 101 can be moved along the guide rail 105 via magnetic coupling between the rotor magnetic field of the rotor 113 and the stator magnetic field of the stator 111, which can be variably generated by energizing the drive coil 115.

[0112] Multiple drive coils 115 of the stator 111 are combined in multiple motor modules 117. Therefore, the stator 111 includes multiple motor modules 117, each of which includes multiple excitable drive coils 115. The motor modules 117 are arranged along guide rails 105 at the fixed unit 103. Each motor module 117 can be individually actuated by the controller 109.

[0113] Figure 1The linear conveyor system 100 also includes a controller 109 connected to one or more motor modules 117 via a data line 159. Specifically, communication between the controller 109 and the motor modules 117 can be via a data bus (e.g., a fieldbus), which may be provided via the data line 159.

[0114] Specifically, controller 109 can be an active subscriber and provide a data bus, while motor module 117 can be a passive subscriber addressed by the data bus. Depending on the application, each motor module in motor module 117 can also be directly connected to controller 109. Data line 159 can also provide current and / or voltage supply to motor module 117. Alternatively, additional lines (not shown) can be used for current and / or voltage supply.

[0115] Alternatively, the controller 109 can also be incorporated into one or more motor modules 117. Data exchange between the controller 109 and the motor module 117 can also be minimized.

[0116] Additionally, the cables (specifically data cable 159 and other cables) can be plugged into the motor module 117. This can be achieved by means of... Figure 1 This is achieved using connectors, which are appropriately embodied but not shown. This allows for connecting the motor module 117 to a power supply or controller 109, and for connecting the motor modules 117 to each other. For this purpose, each motor module 117 may include two connecting elements, for example, having an input element and an output element. For example, the connecting elements may be arranged at the edge region of the motor module 117.

[0117] The controller 109 can be configured to issue control commands to the motor module 117 to control the motor module 117 to excite the drive coil 115, thereby causing the movable unit 101 to move along the guide rail 105.

[0118] In order to operate the linear conveyor system 100, the positioning of each motor module 117 on the fixed unit 103 of the controller 109 must be known to the controller 109. Only in this way can the controller 109 actuate the correct motor module 117 or the corresponding drive coil 115 to allow the movable unit 101 to move along the guide rail 105.

[0119] When starting the linear conveyor system or after modifications to the linear operating system 100, in which additional motor modules 117 have been added to the existing motor modules 117 of the stator 111, or in which the existing motor modules 117 of the stator 111 have been replaced or removed, the controller 109 may not know the position of each motor module 117 on the stator 111 of the stationary unit 103.

[0120] Similarly, it is possible that during assembly, the data cables on the controller and the associated slots for the data cables were unclear or had been mixed up.

[0121] Figure 2 Showing from Figure 1 Another schematic depiction of the linear conveying system 100. Figure 2 Only a portion of the stationary unit 103 of the linear conveying system 100 is shown, specifically, only two adjacent motor modules 117.

[0122] In order to determine the position of the motor module 117 on the stator 111, i.e., the topology of the stator 111 of the movable unit 103, the controller 109 is configured according to the invention to perform a method for operating the linear conveyor system 100 according to the invention. When performing the method for operating the linear conveyor system, the controller 109 determines, for each of the plurality of motor modules 117 on the stator 111, whether the adjacent motor module 125 of the corresponding motor module 117 is arranged on the stator 111.

[0123] For this purpose, motor module 117 is selected from multiple motor modules 117 as test motor module 121. Figure 2 A first motor module 117-1 and a second motor module 117-2 of the stator 111 are shown. The first motor module 117-1 is chosen as the test motor module 121 only, to illustrate the method according to the invention.

[0124] The test motor module 121 is any one of the plurality of motor modules 117 of the stator 111. For the purposes of this application, the test motor module 121 is a motor module 117 of the plurality of motor modules 117 of the stator 111, and for this test motor module, the method is performed to determine whether a motor module 125 adjacent to the selected test motor module 121 is provided.

[0125] For this purpose, the controller 109 actuates the test motor module 121 to generate a test magnetic field 127 through at least one of the drive coils 115 of the test motor module 121. The test magnetic field 127 is a magnetic field generated by the motor module 117 selected as the test motor module 121.

[0126] In the illustrated embodiment, motor module 117 includes a plurality of drive coils 115 arranged at a distance from each other along the longitudinal axis LA of the respective motor module 117. Motor modules 117-1 and 117-2 each have a first edge drive coil 115-L at a first end 161 and a second edge drive coil 115-R at a second end 163 opposite to the first end 161.

[0127] In the example shown, the test magnetic field 127 is generated by correspondingly actuating a second edge drive coil 115-R arranged at the second end 163 of the first motor module 117-1, which is selected as the test motor module 121. The effective range of the test magnetic field 127 generated by the second edge drive coil 115-R is mainly arranged around the second end 163 of the first motor module 117-2.

[0128] The effective range of the test magnetic field 127 is defined as the spatial region arranged around the drive coil 115, which generates the test magnetic field 127. In this spatial region, the test magnetic field 127 can interact with other magnetic fields or with magnetizable and / or conductive components.

[0129] Alternatively or additionally, the first edge drive coil 115-L arranged at the first end of the first motor module 117-1 may also be actuated to generate a test magnetic field 127.

[0130] In order to determine whether another motor module 117 is located adjacent to the test motor module 121, at least one additional motor module 117 of the stator 111 of the fixed unit 103 is selected as the interference motor module 123 and actuated to generate interference variable 128.

[0131] In the following explanation of the method according to the invention, an interference variable 128 in the form of an interference magnetic field 129 is considered. Generating the interference variable 128 by outputting a control signal via the controller 109 may include both: actively stimulating the drive coil 115 of the motor module 117 selected as the interference motor module 123 to generate the corresponding interference magnetic field 129, and generating the interference variable 128 in the form of a short circuit 132 of the drive coil 115 of the motor module 117 selected as the interference motor module 123, wherein even in the case of the interference variable 128 in the form of a short circuit 132, the interference magnetic field 129 is passively generated.

[0132] In the example shown, the second motor module 117-2 is selected as the interference motor module 123 and is therefore actuated to generate, for example, an interference variable 128 in the form of an interference magnetic field 129. The interference magnetic field 129 is the magnetic field generated by the motor module 117 selected as the interference motor module 123.

[0133] For better and simpler illustration, only the field components arranged in the image plane for the test magnetic field 127 and the interfering magnetic field 129 are shown in the figure. However, the test magnetic field 127 and the interfering magnetic field 129 may also include field components oriented perpendicularly to the image plane. These field components oriented perpendicularly to the image plane can be stronger than the field components shown and extending parallel to the image plane.

[0134] Similar to the test motor module 121, the interference motor module 123 is a conventional motor module 117 of the stator 111, and is characterized by being actuated to generate an interference magnetic field 129. The interference magnetic field 129 is, in turn, a magnetic field generated by at least one drive coil 115 of the motor module 117 selected as the interference motor module 123.

[0135] In the example shown, the interfering magnetic field 129 is generated by energizing the first edge drive coil 115-L arranged at the first end 161 of the second motor module 117-2. The effective range of the interfering magnetic field 129 is mainly located in the region of the first end 161 of the second motor module 117-2.

[0136] By convention, for example, it can be stipulated that the test magnetic field 127 of the motor module 117 selected as the test motor module 121 is always generated by exciting the second edge drive coil 115-R arranged at the second end 163 of the corresponding motor module 117, and the interference magnetic field 129 of the motor module 117 selected as the interference motor module 123 is always generated by exciting the first edge drive coil 115-L arranged at the first end 161 of the corresponding motor module 117.

[0137] As an alternative or supplement, the test magnetic field 127 can always be generated by stimulating the first edge drive coil 115-L, and the interference magnetic field 129 can always be generated by stimulating the second edge drive coil 115-R of the motor module 117 selected as the test motor module 121 or interference motor module 123.

[0138] If the interfering magnetic field 129 is generated by more than one interfering motor module 123, the multiple interfering magnetic fields 129 can be generated simultaneously or sequentially.

[0139] To determine whether motor module 125 is adjacent to the first motor module 117-1 selected as test motor module 121, a check is now performed to determine whether interference caused by the interfering magnetic field 129 of interfering motor module 123 (i.e., second motor module 117-2) is detected in the test magnetic field 127 of test motor module 121 (i.e., first motor module 117-1).

[0140] If the test motor module 121 and at least one interfering motor module 123 are arranged adjacent to each other, that is, if no other motor module 117 is arranged between the test motor module 121 and the interfering motor module 123, then the interaction between the test magnetic field 127 and at least one interfering magnetic field 129 can be achieved. This interaction can be registered, at least in the test motor module 121, in the form of interference with the test magnetic field 127.

[0141] If such interference to the test magnetic field 127 caused by the interfering magnetic field 129 of at least one interfering motor module 123 is registered, and the registered interference to the test magnetic field 127 reaches or exceeds a predefined limit value, then the motor module 125 adjacent to the test motor module 121 is identified.

[0142] In the example shown, there is an interaction between the test magnetic field 127 of the first motor module 117 selected as test motor module 121-1 (selected as test motor module 121) and the interference magnetic field 129 of the second motor module 117-2 selected as interference motor module 123, and this interaction detects interference in the test magnetic field 127 of test motor module 121 that reaches or exceeds a predefined limit.

[0143] Based on the interference to the test magnetic field 127 generated by the interference magnetic field 129 of the second motor module 117-2, the controller 109 determines that the other motor module 117 is located adjacent to the second end 163 of the first motor module 117-1.

[0144] In the example shown, if the first motor module 117-1 selected as the test motor module 121 and the second motor module 117-2 selected as the interference motor module 123 are further spaced apart from each other, for example by arranging another motor module 117 between the first motor module 117-1 and the second motor module 117-2, then the test magnetic field 127 of the first motor module 117-1 and the interference magnetic field 129 of the second motor module 117-2 will not interact with each other, and no interference caused by the interference magnetic field 129 of the second motor module 117-2 will be generated or detected in the test magnetic field 127 of the first motor module 117-1.

[0145] Based on the fact that no interference with the test magnetic field of the first motor module 117-1 will be detected in the first motor module 117-1 after the first edge drive coil 115-L of the second motor module 117-2 is excited, it can be determined that the second motor module 117-2 is not located adjacent to the second end 163 of the first motor module 117-1.

[0146] If the test magnetic field 127 is generated by the first edge drive coil 115-L of the first motor module 117-1 selected as the test motor module 121, then if interference to the test magnetic field 127 is detected by the interfering magnetic field 129 of the motor module 117 other than the second motor module 117-2 shown here, another motor module 125 adjacent to the first motor module 117-1 can be detected based on the detected interference to the test magnetic field 127, wherein the other adjacent motor module will be arranged adjacent to the first end 161 of the first motor module 117-1.

[0147] Figure 3 Showing from Figure 1 Another schematic depiction of the linear conveying system 100. Figure 3 Multiple motor modules 117 of the stator 111 of the fixed unit 103 are shown. Eight motor modules 117-1, ..., 117-8 are shown in a circular circuit.

[0148] To illustrate another step of the method according to the invention, the first motor module 117-1 is again selected as the test motor module 121. (And...) Figure 2 Similarly, the second edge drive coil 115-R of the first motor module 117-1 is energized again to generate the test magnetic field 127.

[0149] To determine whether motor module 117 is adjacent to the first motor module 117-1 selected as the test motor module 121, and which motor modules are adjacent to the first motor module selected as the test motor module, multiple motor modules 117 are now selected as interference motor modules 123 for generating the interference magnetic field 129. In the example shown, the second motor module 117-2 and the fifth motor module 117-5 are selected as interference motor modules 123.

[0150] When this method is performed, the motor modules 117 of the controller 109 are at least partially unknown in sequence along the fixed unit 103. Any motor module 117 of the fixed unit 103 is selected as both the test motor module 121 and the interference motor module 123.

[0151] according to Figure 2 As is customary in the implementation schemes shown, in the illustrated implementation scheme, the first edge drive coils 115-L of the second motor module 117-2 and the fifth motor module 117-5, which are selected as the interference motor module 123, are each energized to generate an interference magnetic field 129.

[0152] and Figure 2 The implementation plan is similar to that in Figure 3In this configuration, the second motor module 117-2 is directly positioned at the second end 163 of the first motor module 117-1, which is selected as the test motor module 121. Therefore, the test magnetic field 127 of the first motor module 117-1 is disturbed by interaction with the interfering magnetic field 129 of the second motor module 117-2. Due to the interference with the test magnetic field 127, the second motor module 117-2 is determined to be a motor module 125 immediately adjacent to the first motor module 117-1 according to the present invention. Since only the second edge drive coil 115-R is energized in the first motor module 117-1 to generate the test magnetic field 127, the interference of the interfering magnetic field 129 of the determined second motor module 117-2 on the test magnetic field 127 allows the second motor module 117-2 to be positioned immediately adjacent to the second end 163 of the first motor module 117-1.

[0153] Since the fifth motor module 117-5 is not located adjacent to the first motor module 117-1, there is no interaction between the interference magnetic field 129 of the fifth motor module 117-5 and the test magnetic field 127 of the first motor module 117-1. Therefore, the interference magnetic field 129 of the fifth motor module 117-5 does not interfere with the test magnetic field 127 of the first motor module 117-1.

[0154] If the first two edge drive coils 115-L of the second motor module 117-2 and the fifth motor module 117-5 are simultaneously excited to generate an interfering magnetic field 129, then the interference with the test magnetic field 127 of the first motor module 117-1 is determined to only indicate that the directly adjacent motor module 125 is located at the second end 163 of the first motor module 117-1. However, it cannot be determined whether this immediately adjacent motor module 125 is the second motor module 117-2 or the fifth motor module 117-5.

[0155] On the other hand, if the first two edge drive coils 115-L of the second motor module 117-2 and the fifth motor module 117-5 are excited one after another, and thus two interfering magnetic fields 129 are generated one after another without time overlap, then, based on the determined interference to the test magnetic field 127, the second motor module 117-2 can be identified as the motor module 125 that is adjacent to the second end 163 of the first motor module 117-1.

[0156] Since the interference magnetic field 129 of the fifth motor module 117-5 does not generate any interference in the test magnetic field 127 of the first motor module 117-1, in the illustrated configuration, the interference magnetic field 129 generated by the fifth motor module 117-5 can only be used to determine that the fifth motor module 117-5 is not located directly adjacent to the second end 163 of the first motor module 117-1. However, it cannot be determined at which point the fifth motor module 117-5 is arranged on the stator 111 of the fixed unit 103.

[0157] As an alternative to two motor modules 117 (which in the illustrated example generate the interfering magnetic field 129 as interfering motor module 123), a larger number of motor modules 117 can also be controlled to generate the interfering magnetic field 129. If multiple motor modules 117 are controlled sequentially (specifically, in a time sequence) to generate the interfering magnetic field 129, actuation can be interrupted once interference with the test magnetic field 127 of the motor module 117 selected as the test motor module 121 is detected.

[0158] In order to determine the motor module 125 that is adjacent to the first end 161 of the first motor module 117-1 selected as the test motor module 121, the first edge drive coil 115-L can be excited to generate a test magnetic field 127, and the above process can continue.

[0159] To determine the complete topology, the above method can be continued in such a way that each motor module in the motor module 117 of the stator 111 of the fixed unit 103 is selected in sequence as the test motor module 121 for generating the test magnetic field 127, wherein the corresponding other motor modules 117 are used as interference motor modules 123 to generate the interference magnetic field 129.

[0160] Alternatively, all motor modules 117 of the stator 111 of the fixed unit 103 can be selected as test motor modules 121, and the second edge drive coil 115-R of the selected motor module 117 can be excited to generate a test magnetic field 127. In addition, the first edge drive coil 115-L of all motor modules 117 of the stator 111 of the fixed unit 103 can be excited to generate an interference magnetic field 129.

[0161] Therefore, motor module 117 serves as a test motor module 121, wherein its second edge drive coil 115-R generates a test magnetic field 127, and at the same time serves as an interference motor module 123, wherein its first edge drive coil 115-L generates an interference magnetic field 129.

[0162] In this context, all the second edge drive coils 115-R of the motor module 117 can be excited simultaneously to generate the test magnetic field 127, and the first edge drive coils 115-L of the motor module 117 can be excited sequentially and individually to generate the interference magnetic field.

[0163] Alternatively, the second edge drive coil 115-R of the motor module 117 can be excited sequentially and individually to generate a test magnetic field 127, and the first edge drive coil 115-L of the motor module 117 of the stator 111 can be excited simultaneously to generate an interference magnetic field 129.

[0164] Test magnetic fields 127 are generated sequentially in a manner that does not cause temporal overlap between the two test magnetic fields 127. Similarly, interference magnetic fields 129 are generated sequentially in a manner that does not cause temporal overlap between the two interference magnetic fields 129.

[0165] By generating a test magnetic field 127 via the second edge drive coil 115-R and an interference magnetic field 129 via the first edge drive coil 115-L in all motor modules 117, the motor module 125 immediately adjacent to the second end 163 can be determined for each motor module 117 if such a motor module 117 is arranged in the stator 111. By performing this operation for all motor modules 117, the complete topology of the stator 111 of the fixing unit 103 can be determined.

[0166] On the other hand, if no interference magnetic field 129 of at least one of the other motor modules 117 is detected to interfere with the test magnetic field 127 for the motor module 117 selected as test motor module 121, it is recognized that no adjacent motor module 125 is arranged at the second end 163 of the corresponding motor module 117.

[0167] Alternatively, the first edge drive coil 115-L can be energized to generate a test magnetic field 127, and the second edge drive coil 115-R of the motor module 117 can be energized to generate a disturbance magnetic field 129. In this case, the method is performed similarly.

[0168] Figure 4 A schematic depiction of the steps of a method for operating a linear conveying system 100 is shown.

[0169] Figures a) to d) illustrate various steps or embodiments of the method for operating the linear conveying system 100 described above. For this purpose, a first motor module 117-1 and a second motor module 117-2 are shown in figures b) to d). Only a portion of the first motor module 117-1 and the second motor module 117-2 are shown. Multiple drive coils 115 are shown for both motor modules 117-1 and 117-2. Specifically, a second edge drive coil 115-R is shown disposed at a second end 163 of the first motor module 117-1, and a first edge drive coil 115-L is shown disposed at a first end 161 of the second motor module 117-2.

[0170] and Figures 1 to 3 Similar to the method described in the figure, a first motor module 117-1 is now selected as the test motor module 121, and a second motor module 117-2 is selected as the interference motor module 123. To determine the motor module 117 arranged immediately adjacent to the first motor module 117-1 selected as the test motor module 121, the second edge drive coil 115-R of the first motor module 117-1, located adjacent to the second end 163, is now actuated to generate a test magnetic field 127. Therefore, in figures b) to d), the first edge drive coil 115-L of the second motor module 117-2, selected as the interference motor module 123, positioned adjacent to the first end 161 of the second motor module 117-2, is actuated to generate an interference variable 128.

[0171] In the embodiments shown in Figures a) to d), a sine or cosine first operating current I1 is supplied to the second drive coil 115-R of the first motor module 117-1 to generate a test magnetic field 127.

[0172] Figure a) illustrates the case where no other motor module 117 is arranged adjacent to the second end 163 of the first motor module 117-1. Therefore, the test magnetic field 127 generated by the second edge drive coil 115-R of the first motor module 117-1 is not subject to any interference variable 128 based on the other motor module 117. Consequently, the operating voltage U applied to the second edge drive coil 115-R comprises a correspondingly undisturbed sine or cosine waveform. If such a curve of the operating voltage U is detected in one of the motor modules 117 after all motor modules 117 have been simultaneously energized as interfering motor modules 123, it can be concluded that the motor module 117-1 selected as the test motor module 121 does not include an adjacent module at the second end 163.

[0173] Figures b) to d) show the second motor module 117-2 arranged adjacent to the motor module 125 in the direction of the second end 163 of the first motor module 117-1. The test magnetic field 127 experiences corresponding interference by actuating the first edge drive coil 115-L of the second motor module 117-2, selected as the interference motor module 123, and the correspondingly generated interference variable 128 that interacts with the test magnetic field 127 of the first motor module 117-1.

[0174] Interference can be detected in the first motor module 117-1 by the corresponding change in the operating voltage U that decreases across the correspondingly actuated second edge drive coil 115-R. The correspondingly detected voltage change can include the voltage amplitude A and voltage phase φ of the operating voltage U.

[0175] For example, the voltage change of the operating voltage U can be detected in the first motor module 117-1, which is selected as the test motor module 121, by means of the adjustment unit 165, which is configured to control the establishment of the test magnetic field 127 by actuating the second edge drive coil 115-R.

[0176] In Figure b), a sinusoidal or cosine second operating current I2 is supplied to the first edge drive coil 115-L of the second motor module 117-2. When the sinusoidal or cosine second operating current I2 is supplied to the first edge drive coil 115-L of the second motor module 117-2, an interference variable 128 in the form of an interference magnetic field 129 is generated.

[0177] In Figure c), zero current is supplied to the first edge drive coil 115-L of the second motor module 117-2 as the second operating current I2 to generate interference variable 128. To supply zero current to the first edge drive coil 115-L as the second operating current I2, a compensation current is required at the first edge drive coil 115-L of the interference motor module 123 to cancel the current or voltage induced by the test magnetic field 127. This generates interference variable 128 in the form of interference magnetic field 129.

[0178] The different currents in b) and c) can lead to different disturbance variables 128, which can cause different disturbances to the test magnetic field 127.

[0179] In Figure d), as an alternative to actively stimulating the first edge drive coil 115-L of the second motor module 117-2 to generate an interference variable 128 in the form of an interfering magnetic field 128, based on a control signal from the controller 109, the first edge drive coil 115-L of the second motor module 117-2 is switched to a short-circuit state, wherein the interference variable 128 in the form of a short circuit 132 is generated. The active step performed based on the control signal from the controller 109 is thus intended to short-circuit the first edge drive coil 115-L of the second motor module 117-2 and not supply current to it, so that the short circuit 132 becomes the interference variable 128.

[0180] When the interference variable (128) is in the form of a short circuit (132), an interference magnetic field (129) is also passively generated. Passive means that the interference magnetic field is not generated by actively exciting the first edge drive coil 115-L of the second motor module 117-2. Through the interaction between the test magnetic field 127 of the first motor module 117-1 selected as the test motor module 121 and the short-circuited first edge drive coil 115-L of the second motor module 117-2 selected as the interference motor module 123, a voltage or current can be induced in the short-circuited first edge drive coil 115-L, through which the short-circuited first edge drive coil 115-L of the second motor module 117-2 generates the corresponding interference magnetic field 129. This allows the interference magnetic field 129 to be automatically generated by the induction of the interaction between the corresponding drive coil 115 and the test magnetic field 127, without actively exciting the corresponding drive coil 115 of the interference motor module 123 to generate the interference magnetic field (129).

[0181] Figure 5 Another schematic depiction of a linear conveying system 100 according to another embodiment is shown.

[0182] In the illustrated embodiment, the motor modules 117 of the stator 111 are grouped together in a motor module string 135. In the motor module string 135, at least two motor modules 117 are embodied according to this application and are connected to each other by wires. In an exemplary embodiment, eight motor modules 117 (first motor module 117-1, second motor module 117-2, third motor module 117-3, fourth motor module 117-4, fifth motor module 117-5, sixth motor module 117-6, seventh motor module 117-7, and eighth motor module 117-8) are combined into a first motor module string 135-1, a second motor module string 135-2, and a third motor module string 135-3. The first motor modules 117-1 to the third motor modules 117-3 are combined in the first motor module string 135-1. The fourth motor module 117-4 and the fifth motor module 117-5 are combined in the second motor module string 135-2. The sixth motor module 117-6 and the seventh motor module 117-7 are combined in the third motor module string 135-3. The eighth motor module 117-8 is shown as a separate motor module.

[0183] The first motor module string to the third motor module strings 135-1, 135-2, and 135-3 are connected to the controller 109 via corresponding data lines 159. Each motor module string 135-1, 135-2, and 135-3 includes a first edge motor module 141-1 and a second edge motor module 141-2. The first edge motor module 141-1 and the second edge motor module 141-2 of two motor module strings 135 arranged adjacent to each other along the guide rail 105 are arranged adjacent to each other. In order to determine the individual position of each motor module string 135 relative to each other, according to the method of the invention, at least one motor module string 135 is selected as the test motor module string 139, and another motor module string 135 is selected as the interference motor module string 145.

[0184] In the illustrated embodiment, all second edge motor modules 141-2 selected as test edge motor modules 137 in the illustrated motor module string 135 are simultaneously actuated to generate a test magnetic field 127. Figure 2 and Figure 3 The implementation scheme is similar. For this purpose, the second edge drive coil 115-R, which is arranged at the second end 163 of the second edge motor module 141-2, is excited. All the first edge motor modules 141-1, which are interference edge motor modules 143, in the respective motor module strings 135 are sequentially actuated to generate an interference magnetic field 129.

[0185] Furthermore, according to the above implementation scheme, for this purpose, the first edge drive coil 115-L is actuated at the first end 161 of the first edge motor module 141-1. Figure 5The diagram specifically illustrates the actuation of the first edge motor module 141-1 in the second motor module string 135-2 to generate a corresponding interfering magnetic field 129. At other times, the first edge motor module 141-1 in another motor module string 135 can be actuated to generate the corresponding interfering magnetic field 129.

[0186] according to Figure 3 In the implementation scheme, the second edge motor module 141-2, selected as the test edge motor module 137, can be simultaneously controlled to generate the test magnetic field 127, and the first edge motor module 141-1, selected as the interference edge motor module 143, can be sequentially actuated to generate the interference magnetic field 129.

[0187] Alternatively, the second edge motor module 141-2, selected as the test edge motor module 137, can be sequentially controlled to generate the test magnetic field 127, and the first edge motor module 141-1, selected as the interference edge motor module 143, can be simultaneously actuated to generate the interference magnetic field 129.

[0188] In another embodiment, the second motor module string 135-2 is selected as the test motor module string 139. The first motor module string 135-1 and the third motor module string 135-3 are selected as the corresponding interference motor module strings 145. In order to determine the motor module string 135 arranged adjacent to the second motor module string 135-2 selected as the test motor module string 139, two edge motor modules 141-1 and 141-2 of the second motor module string 135-2 (i.e., the fourth motor module 117-4 and the fifth motor module 117-5) are selected as the test edge motor modules 137 for generating the corresponding test magnetic field 127 of the test motor module string 139 and they are actuated.

[0189] Furthermore, in the first motor module string 135-1, the third motor module 117-3 is selected as the interference edge motor module 143 and controlled, and in the third motor module string 135-3, the sixth motor module 117-6 is selected as another interference edge motor module 143 of the corresponding interference motor module string 145 for generating the interference magnetic field 129 and actuated.

[0190] After the test magnetic field 127 is generated by the test edge motor module 137 of the second motor module string 135-2, and after the corresponding interference magnetic field 129 has been generated by the interference edge motor module 143 of the first motor module string 135-1 and the third motor module string 135-3 selected as interference motor module strings 145, when interference is detected in the test magnetic field 127, the first motor module string 135-1 and the third motor module string 135-3 can be identified as motor module strings 135 directly adjacent to the second motor module string 135-2 according to the above method steps.

[0191] After selecting the corresponding test edge motor module 137 or interference edge motor module 143 of the corresponding test motor module string 139 or interference motor module string 145, the method proceeds in a similar manner to the steps described above. When the motor module 117 of the stator 111 is embodied in the motor module string 135, and... Figure 1 The only difference in the implementation scheme is that, in order to determine the complete topology of the linear conveying system 100, only the edge motor modules 141-1 and 141-2 of the corresponding motor module string 135 are selected as test motor modules 121 or interference motor modules 123.

[0192] Since the motor modules 117 of the common motor module string 135 are connected to each other by wires, the individual positions of the motor modules 117 within the motor module string 135 of the controller 109 are already known. When performing the method according to the invention, only the positioning of the individual motor module strings 135 on the stator 111 (i.e., the relative positioning of each motor module string 135 relative to each other) is unknown to the controller 109. To determine the relative positioning of each motor module string 135 relative to each other in the stator 111, according to the method according to the invention, only the edge motor modules 141-1, 141-2 of each motor module string 135 need to be considered.

[0193] Figure 6 Another schematic depiction of a linear conveying system 100 according to another embodiment is shown.

[0194] In the illustrated embodiment, the motor modules 117 of the stator 111 are divided into four motor module strings 135. The first motor module string 135-1, the second motor module string 135-2, and the third motor module string 135-3 are arranged one after the other along the longitudinal axis LA. The fourth motor module string 135-4 is shown parallel to the second motor module string 135-2 and is combined with the second motor module string 135-2 in the switch module 167.

[0195] For clarity, only one motor module 117 of the first motor module string 135-1 and the third motor module string 135-3 is shown. However, this should not be considered limiting.

[0196] Depending on the position of the switch module 167, the first motor module string 135-1 can be connected to the second motor module string 135-2 or the fourth motor module string 135-4. Depending on the position of the switch module 167, the movable unit 101 can therefore be moved from the first motor module string 135-1 along the second motor module string 135-2 or along the fourth motor module string 135-4.

[0197] By executing Figure 5The method described in the implementation scheme, namely by stimulating the second edge motor modules 141-2 of all motor module strings 135 to generate a test magnetic field 127 and by correspondingly stimulating all first edge motor modules 141-1 to generate a corresponding interference magnetic field 129, can determine the corresponding adjacent first edge motor module 141-1 of the corresponding adjacent motor module string 135 (if it exists) for each second edge motor module 141-2 of the motor module string 135.

[0198] In this example, knowing that the second motor module string 135-2 and the fourth motor module string 135-4 are arranged in the switch module 167, the position of the switch module 167 can be determined.

[0199] In this example, by performing the above method, it is determined that the first motor module 117-1, which is part of the first motor module string 135-1, and the second motor module 117-2, which is part of the second motor module string 135-2, are arranged adjacent to each other. Therefore, it is determined that the first motor module string 135-1 and the second motor module string 135-2 are arranged adjacent to each other. Based on this, the corresponding position of the switch module 167 can be determined.

[0200] Figure 7 Another schematic depiction of a linear conveying system 100 according to another embodiment is shown.

[0201] In the illustrated embodiment, the linear conveying system 100 further includes a signal transmitting device 147 having a first transmitting element 149 and a second transmitting element 151 connected to each other via a connecting line 153.

[0202] Figure a) shows two motor modules 117 including drive coils 115 according to the above embodiment. The motor modules 117 are separated from each other by a gap 155. The signal transmitting device 147 is arranged to have a first transmitting element 149 on the first motor module 117-1 and a second transmitting element 151 on the second motor module 117-2. Via the two transmitting elements 149 and 151, the magnetic interference signal 131 caused by the interference variable 128 of the second motor module 117-2, which is selected as the interfering motor module 123, can be transmitted into the effective range of the test magnetic field 127 of the first motor module 117-1, which is selected as the test motor module 121.

[0203] Because of the gap 155 between the two motor modules 117, the influence of the interference variable 128 on the test magnetic field 127 may be too small for the interference caused by the interference variable 128 in the test magnetic field 127 to become detectable or reach or exceed a predefined limit.

[0204] However, by transmitting the magnetic interference signal 131 of the interference variable 128 into the effective range of the test magnetic field 127 via the signal transmitting device 147, the interference to the test magnetic field 127 caused by the interference variable 128 can still be registered, and the second motor module 117-2 adjacent to the first motor module 117-1 can still be identified.

[0205] According to the implementation scheme, the first transmitting element 149 and the second transmitting element 151 are embodied as transmitting coils. In the transmitting coil of the second transmitting element 151, which is arranged within the effective range of the interference variable 128, a corresponding induced voltage or current can be generated by means of induction through the interference variable 128. In the transmitting coil of the first transmitting element 149 connected to the transmitting coil of the second transmitting element 151, a corresponding voltage or current can be induced by the voltage or current induced in the transmitting coil of the second transmitting element 151. This allows a magnetic field to be generated by means of the transmitting coil of the first transmitting element 149, wherein the magnetic interference signal 131 can be introduced into the effective range of the test magnetic field 127 through the transmitting coil of the first transmitting element 149.

[0206] According to another embodiment, the second transmitting element 151, which is at least located within the effective range of the interference variable 128, can be embodied as a magnetic sensor element. The interference variable 128 generated by the interference motor module 123 is detected via the second transmitting element 151, which is embodied as a magnetic sensor element. The electrical measurement signal triggered by the interference variable 128 in the second transmitting element 151, which is embodied as a magnetic sensor element, is forwarded by the signal transmitting device 143 to the transmitting coil of the first transmitting element 149, wherein the transmitting coil of the first transmitting element 149 generates a magnetic interference signal 131.

[0207] Figure b) illustrates another example of determining the adjacent motor module 125. In the example shown, no test magnetic field 127 is generated. Instead, the corresponding interference variable 128 is generated simply by supplying current to at least one drive coil 115 of the motor module 117, which is selected as the interference motor module 123.

[0208] In the example shown, the motor modules 117 spaced apart from each other are each embodied with a magnetic sensor element 133.

[0209] The signal transmitting device 143 is further illustrated according to the embodiment shown in Figure a). A second transmitting element 151 is arranged within the effective range of the interference variable 128 and is embodied to detect the interference variable 128. The second transmitting element 151 may also be embodied as a transmitting coil or a Hall sensor. A first transmitting element 149 is arranged within the effective range of the magnetic field sensor 133 of the motor module 1117 selected as the test motor module 121, and is embodied to generate a magnetic interference signal 131 and introduce it into the effective range of the magnetic sensor element 133. For this purpose, the first transmitting element 149 may be embodied as a transmitting coil.

[0210] The magnetic interference signal 131 can be detected by transmitting the magnetic interference signal 131 into the effective range of the magnetic sensor element 133 via the first transmitting element 149 of the signal transmitting device 143. The magnetic interference signal 131 is selected as the test motor module 117 of the test motor module 121 by transmitting the magnetic interference signal 131 into the effective range of the magnetic sensor element 133.

[0211] In this situation, because of the interference generated by the interference variable 128 of the motor module 117 selected as the interference motor module 123 in the test magnetic field 127 of the motor module 117 selected as the test motor module 121, the presence of the motor module 125 adjacent to the test motor module 121 is not detected. Conversely, if at least one magnetic field sensor 133 of the motor module 117 selected as the test motor module 121 detects an interference signal 131 introduced into the effective range of the magnetic sensor element 133 by the first transmitting element 149, the motor module 125 adjacent to the test motor module 121 is registered.

[0212] The identification of motor modules 117, which are selected as interference motor modules 123 and are located directly adjacent to test motor modules 121, is performed in a similar manner to the steps described above, since the generation of interference variables 128 by each motor module 117 selected as interference motor modules 123 is performed sequentially in time.

[0213] In diagram c), according to Figure 5 In the embodiment shown, motor modules 117 are combined into two motor module strings 135. A signal transmitter 147 is positioned between two edge motor modules 141-1 and 141-2 of the motor module strings 135-1 and 135-2 arranged close to each other. The operation mode of the signal transmitter 147 in the illustrated embodiment is similar to that in the embodiment shown in Figure a).

[0214] Figure 8 Another schematic depiction of a linear conveying system 100 according to another embodiment is shown.

[0215] In the illustrated embodiment, the signal transmitting device 147 is positioned on the movable unit 101 of the linear conveying system 100. By moving the movable unit 101 along the guide rail 105 to the desired motor module 117 of the fixed unit 103, the first transmitting element 149 and the second transmitting element 151 of the signal transmitting device 147 can be positioned within the effective range of the test magnetic field 127 of the motor module 117 selected as the test motor module 121 and the effective range of the interference variable 128 of the motor module 117 selected as the interference motor module 123, respectively.

[0216] Therefore, the signal transmitting device 147 can be moved from the movable unit 101 to the corresponding motor module 107 to be inspected. According to... Figure 7 The embodiment shown describes the operating mode of the signal transmitting device 147 with reference to the positioning of the movable unit 101 in the transmitting position, wherein the first transmitting element 149 is positioned within the effective range of the test magnetic field 127 of the test motor module 121, and the second transmitting element 151 is positioned within the effective range of the interference variable 128 of the interference motor module 123.

[0217] The first emitting element and / or the second emitting element 151 may be embodied as a emitting coil. The emitting coil may be embodied, for example, as a conductor path in the printed circuit board of the rotor 113 of the movable unit 101. For example, the emitting coils of the first emitting element 149 and the second emitting element 151 may each be arranged around the drive magnet element 119 of the rotor 113.

[0218] The example shown in Figure b) represents the same as... Figure 7 Similar to illustration b). In the example shown, motor module 117 includes magnetic sensor element 133. Second transmitting element 151 is arranged within the effective range of interference variable 128 interfering with motor module 123, and first transmitting element 149 is arranged within the effective range of at least one magnetic sensor element 133 of test motor module 121.

[0219] according to Figure 7 In the example in b), the motor module 125 adjacent to the test motor module 121 is registered by detecting the interference variable 128 of the interfering motor module 123 by the second transmitting element 151. The corresponding magnetic interference signal 131 is introduced by the first transmitting element 149 into the effective range of at least one magnetic sensor element 133 of the test motor module 121 and detected by the corresponding magnetic sensor element 133.

[0220] Figure 9 A flowchart of a method 200 for operating a linear conveying system 100 according to an embodiment is shown.

[0221] In order to operate the linear conveying system 100, in the test magnetic field generation step 201, a control signal is first output from the controller 109 to at least one drive coil 115 of the test motor module 121 to generate a test magnetic field 127.

[0222] In the interference generation step 203, a control signal is output from the controller 109 to at least one drive coil 115 of at least one interference motor module 123 to generate interference 128.

[0223] In the interference detection step 205, the controller 109 detects the interference on the test magnetic field 127 caused by the interference variable 128.

[0224] In the setup detection step 207, if the detected interference on the test magnetic field caused by the detected interference variable 128 reaches or exceeds the predefined limit value, the controller 109 detects the motor module 125 that is adjacent to the test motor module 121.

[0225] Figure 10 Another flowchart of a method 200 for operating a linear conveying system 100 according to another embodiment is shown.

[0226] Figure 10 The implementation plan is based on Figure 9 The implementation scheme, and includes all the methods and steps described therein.

[0227] In the illustrated embodiment, the arrangement determination step 207 includes an identification step 209. In the identification step 209, at least one interfering motor module 123 is identified as a motor module 125 adjacent to the test motor module 121. This identification is based on the time series of the generated interference variable 128 and the determination of interference to the test magnetic field 127.

[0228] Figure 11 Another flowchart of a method 200 for operating a linear conveying system 100 according to another embodiment is shown.

[0229] Figure 11 The implementation plan is based on Figure 9 The implementation scheme is described herein, including all the methods and steps described therein.

[0230] In the illustrated embodiment, the test magnetic field generation step 201 includes: in the first excitation step 213, the controller 109 outputs a control signal to the drive coil 115 of the test motor module 121 to excite the drive coil 115 of the test motor module 121 with a first operating current I1.

[0231] The interference generation step 203 includes: in the second excitation step 215, the controller 109 outputs a control signal to the drive coil 115 of at least one interference motor module 123 to excite the drive coil 115 of the interference motor module 123 with a second operating current I2.

[0232] Alternatively, in switching step 217, the controller 109 outputs a control signal to the drive coil 115, and the drive coil 115 of the interference motor module 123 is switched to a short-circuit state. In this case, the interference variable 128 is provided by the short-circuit state, and the drive coil 115 of the motor module 117 selected as the interference motor module 123 is switched to this short-circuit state by the control signal. In the short-circuited drive coil 115, an induced voltage or induced current is generated by interacting with the test magnetic field 127, and based on this induced voltage or induced current, the drive coil 115 generates a corresponding interference magnetic field 129.

[0233] In the illustrated embodiment, in interference determination step 205, interference to the test magnetic field 127 is determined by the controller 109 in voltage change determination step 211 by determining the voltage change of the operating voltage U of the drive coil 115 of the test motor module 121 that generates the test magnetic field 127. Here, the predefined limit value for determining interference to the test magnetic field 127 is defined by the minimum voltage change.

[0234] Figure 12 Another flowchart of a method 200 for operating a linear conveying system 100 according to another embodiment is shown.

[0235] Figure 12 The implementation plan in the document is based on Figure 9 The implementation scheme is described herein, including all the methods and steps described therein.

[0236] In the illustrated embodiment, if it is determined that there is no interference to the test magnetic field 127 for any of the generated interference variables 128 for the motor module 117 selected as the interference motor module 123, then another arrangement determination step 219 determines that there is no motor module 125 adjacent to the test motor module 121.

[0237] Figure 13 Another flowchart of a method 200 for operating a linear conveying system 100 according to another embodiment is shown.

[0238] Figure 13 The implementation plan in the document is based on Figure 9 The implementation scheme is described herein, including all the methods and steps described therein.

[0239] The illustrated implementation describes the situation where motor module 117 is divided into corresponding motor module strings 135.

[0240] In the motor module determination step 221, the controller 109 determines the test edge motor module 137 of the test motor module string 139 and the interference edge motor module 143 of the interference motor module string 145.

[0241] In the motor module selection step 223, the test edge motor module 137 of the test motor module string 139 is selected as the test motor module 121 for generating the test magnetic field 127, and the interference edge motor module 143 of the interference motor module string 145 is selected as the interference motor module 123 for generating the interference magnetic field 129 (size 128).

[0242] Figure 14 Another flowchart of a method 200 for operating a linear conveying system 100 according to another embodiment is shown.

[0243] Figure 14 The implementation plan in the document is based on Figure 9 The implementation scheme is described herein, including all the methods and steps described therein.

[0244] In the illustrated embodiment, in topology determination step 225, controller 109 determines the topology of motor modules 117 of fixed unit 103 by determining at least one adjacent motor module 125 among the multiple motor modules 117 of fixed unit 103.

[0245] Figure 15 Another flowchart of a method 200 for operating a linear conveying system 100 according to another embodiment is shown.

[0246] Figure 15 The implementation scheme shown is based on Figure 9 The implementation scheme shown herein includes all the method steps described therein.

[0247] In the illustrated embodiment, the linear conveying system 100 includes a signal transmitting device 147 embodied at at least one movable unit 101. In positioning step 227, a control signal is output from controller 109 to drive coil 115 of motor module 117 to position the movable unit 101 in a transmitting position. In the transmitting position of movable unit 101, a first transmitting element 149 and a second transmitting element 151 of the signal transmitting device 147 are positioned within the effective range of the test magnetic field 127 of test motor module 121 and the effective range of the interference variable 128 of interference motor module 123. Therefore, the signal transmitting device 147 can use the first transmitting element 149 and the second transmitting element 151 to bring the magnetic interference signal generated by the interference variable 128 into the effective range of the test magnetic field 127.

[0248] Figures 9 to 15 The implementation of method 200 can be combined in any desired manner.

[0249] List of reference numerals

[0250] 100 Linear conveyor system 101 movable unit 103 Fixed unit 105 guide 107 linear motor 109 controller 111 stator 113 rotor 114 stator teeth 115 drive coil 115-L First edge drive coil 115-R Second edge drive coil 117 Motor Module 117-1 First motor module 117-2 Second motor module 117-3 Third motor module 117-4 Fourth motor module 117-5 Fifth motor module 117-6 Sixth motor module 117-7 Seventh Motor Module 117-8 Eighth motor module 119 Drive magnet components 121 Test motor module 123 Interference motor module 125 Adjacent to the motor module 127 Test magnetic field 128 Disturbance variables 129 Interference magnetic field 131 Magnetic interference signal 132 Short circuit 133 Magnetic sensor element 135 motor module string 135-1 First motor module string 135-2 Second motor module string 135-3 Third motor module string 135-4 Fourth motor module string 137 Test edge motor module 139 Test motor module string 141-1 First edge motor module 141-2 Second edge motor module 143 Interference edge motor module 145 Interference motor module string 147 signal transmitting device 149 First launching element 151 Second transmitting element 153 Connecting wire 155 gap 159 Data cable 161 First end 163 Second end 165 controller 167 Switch module 200 method 201 Test magnetic field generation steps 203 Interference generation steps 205 Interference detection steps 207 Arrangement and determination steps 209 Identification steps 211 Steps for determining voltage changes 213 First incentive step 215 Second incentive step 217 Switching steps 219 Another arrangement determination step 221 Motor module determination steps 223 Motor module selection steps 225 Topology determination steps 227 Positioning steps U Operating voltage A voltage amplitude φ voltage phase I1 First operating current I2 Second operating current t time

Claims

1. A computer-implemented method for operating a linear conveying system (100), the linear conveying system having a controller (109) and a fixed unit (103), the fixed unit having a guide rail (105) for guiding a movable unit (101) and a plurality of motor modules (117) arranged along the guide rail (105), wherein each of the motor modules (117) includes a drive coil (115) for providing a driving magnetic field for driving the movable unit (101) along the guide rail (105), and wherein the method comprises: In the test magnetic field generation step (201), the controller (109) outputs a control signal to at least one drive coil (115) of at least one motor module (117) selected from the plurality of motor modules (117) as the test motor module (121) to generate the test magnetic field (127) of the test motor module (121). In the interference variable generation step (203), the controller (109) outputs a control signal to at least one drive coil (115) of at least one motor module (117) selected from the plurality of motor modules (117) as the interference motor module (123) to generate the interference variable (128) of the at least one interference motor module (123). In the interference determination step (205), the controller (109) determines the interference to the test magnetic field (127) of the motor module (117) selected as the test motor module (121) caused by the interference variable (128) of the motor module (117) selected as the interference motor module (123); as well as In the arrangement determination step (207), if the detected interference of the interference variable (128) on the test magnetic field (127) reaches or exceeds a predefined limit value, the controller (109) determines the adjacent interference motor module (123) selected as the test motor module (121).

2. The method (200) according to claim 1, wherein the arrangement determination step (207) comprises: In the identification step (209), by means of the controller (109), based on the time series of the interference variable (128) generated by the at least one interference motor module (123) and the determination of the interference on the test magnetic field (127), the at least one interference motor module (123) is identified as a motor module (125) adjacent to the test motor module (121).

3. The method (200) according to claim 1 or 2, wherein the interference determination step (205) comprises: In the voltage change determination step (211), the voltage change of the operating voltage (U) of the drive coil (115) of the test motor module (121) that generates the test magnetic field (127) is determined by means of the controller (109), wherein the predefined limit value is defined by the voltage change.

4. The method (200) according to claim 3, wherein the voltage change includes a change in the voltage amplitude (A) and / or a change in the voltage phase (φ) of the operating voltage (U).

5. The method (200) according to any one of the preceding claims, wherein the test magnetic field generation step (201) comprises: In the first excitation step (213), the controller (109) outputs a control signal to the drive coil (115) of the test motor module (121) to excite the drive coil (115) of the test motor module (121) with a first operating current (I1).

6. The method (200) according to any one of the preceding claims, wherein the interference generation step (203) comprises: In the second excitation step (215), the controller (109) outputs a control signal to the drive coil (115) of the at least one interference motor module (123) for exciting the drive coil (115) of the at least one interference motor module (123) with a second operating current (I2) and for generating an interference magnetic field (129), wherein the interference variable (128) is given by the interference magnetic field (129).

7. The method (200) according to any one of the preceding claims, wherein the interference variable generation step (203) comprises: In the switching step (217), the controller (109) outputs a control signal to the drive coil (115) of the at least one interference motor module (123) to generate the interference variable (128) by switching the drive coil (115) of the at least one interference motor module (123) to a short-circuit state, wherein the interference variable (128) is provided by a short circuit (132) in the drive coil (115) of the motor module (117) selected as the interference motor module (123).

8. The method (200) according to any one of claims 5 to 7, wherein the first operating current (I1) of the drive coil (115) of the test motor module (121) comprises waveforms from the following list: sine waveform, cosine waveform, sawtooth waveform, triangular waveform, square waveform.

9. The method (200) according to any one of claims 6 to 8, wherein the second operating current (I2) of the drive coil (115) of the at least one interference motor module (123) comprises a waveform from the following list: sine wave, cosine wave, sawtooth wave, triangular wave, square wave or zero current.

10. The method (200) according to any one of the preceding claims, wherein for a plurality of motor modules (117) selected as interference motor modules (123), a plurality of interference variables (128) are generated by actuating the respective drive coils (115) of the motor modules (117) selected as interference motor modules (123), and wherein the plurality of interference variables (128) are examined to determine whether interference to the test magnetic field (127) of the test motor module (121) is detected.

11. The method (200) according to claim 10, wherein the generation of the plurality of interference variables (128) of the plurality of interference motor modules (123) is performed sequentially in time.

12. The method (200) according to any one of the preceding claims, wherein for a plurality of motor modules (117) selected as test motor modules (121), a plurality of test magnetic fields (127) are generated by actuating the respective drive coils (115) of the motor modules (117) selected as test motor modules (121).

13. The method (200) according to claims 10 and 12, wherein the generation of the plurality of test magnetic fields (127) of the plurality of motor modules (117) selected as test motor modules (121) is performed simultaneously, and the generation of the plurality of interference variables (128) of the plurality of motor modules (117) selected as interference motor modules (123) is performed sequentially over time, or wherein the generation of the plurality of test magnetic fields (127) of the plurality of motor modules (117) selected as test motor modules (121) is performed sequentially over time, and the generation of the plurality of interference variables (128) of the plurality of motor modules (117) selected as interference motor modules (123) is performed simultaneously.

14. The method (200) according to any one of the preceding claims further includes: In another arrangement determination step (219), if it is determined that there is no interference to the test magnetic field (127) for any of the generated interference variables (128) for the motor module selected as the interference motor module (123), then it is determined that there is no motor module (125) adjacent to the test motor module (121).

15. The method (200) according to any one of the preceding claims, wherein the motor modules (117) of the plurality of motor modules (117) of the fixing unit (103) are combined into a motor module string (135), wherein each motor module string (135) includes at least two motor modules (117) connected to each other by wires (117) connected in a wired manner, and wherein the method (200) includes: In the motor module determination step (221), the test edge motor module (137) of the test motor module string (139) and the interference edge motor module (143) of the interference motor module string (145) are determined by means of the controller (109), wherein the test edge motor module (137) is wired to only one other motor module (117) of the test motor module string (139), and wherein the interference edge motor module (143) is wired to only one other motor module (117) of the interference motor module string (145); and In the motor module selection step (223), the test edge motor module (137) of the test motor module string (139) is selected by means of the controller (109) as the test motor module (121) for generating the test magnetic field (127), and the interference edge motor module (143) of the interference motor module string (145) is selected as the interference motor module (123) for generating the interference variable (128).

16. The method (200) according to any one of the preceding claims, wherein the method (200) further comprises: In the topology determination step (225), the topology of the motor modules (117) of the fixed unit (103) is determined by means of the controller (109) by determining at least one adjacent motor module (125) for the motor modules (117) of the plurality of motor modules (117) of the fixed unit (103).

17. The method (200) according to any one of the preceding claims, wherein the method is performed when the linear conveying system (100) is started and / or after adding motor modules (117) to and / or removing motor modules from the plurality of motor modules.

18. A linear conveying system (100) having a controller (109) and a stationary unit (103), wherein the stationary unit includes a guide rail (105) for guiding a movable unit (101) and a plurality of motor modules (117) arranged along the guide rail, wherein each of the motor modules (117) includes a drive coil (115) for providing a drive magnetic field for driving the movable unit (101) along the guide rail, wherein the drive coil (115) is arranged to generate a test magnetic field (127) and / or a disturbance variable (128), and wherein the controller (109) is arranged to perform a method for operating the linear conveying system (100) according to any one of claims 1 to 17.

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