CONTROL DEVICE WITH A MONITORING DEVICE

Description

[0001] The invention relates to a control device for controlling a machine or system, which has a first control device which is designed using non-safety technology and is configured to control at least one non-safety-relevant function of the machine or system, and a second control device which is designed using safe technology and is configured to control at least one safety-relevant function of the machine or system, wherein the second control device is connected to at least one input means in safe technology which is assigned to the second control device and is configured to be manually actuated in order to trigger the safety-relevant function.

[0002] DE 10 2015 206 571 B3 describes a robot handheld device, comprising a safety basic control device, a mobile terminal and a holder which is designed to fasten the mobile terminal to the safety basic control device, wherein the holder has at least one adapter device which is designed to mechanically connect the mobile terminal to the safety basic control device, wherein the safety basic control device has a first handheld device part and at least one second handheld device part which is adjustable with respect to the first handheld device part, wherein the handheld device parts are adjustably coupled to one another in such a way that the handheld device parts form a contour-reduced robot handheld device in a basic arrangement and in a contour-extended receiving arrangement in which the second handheld device part is arranged so as to be adjustable from the first handheld device part in the basic arrangement,the robot handheld device is designed to accommodate the mobile terminal through the adapter device.

[0003] DE 10 2017 108316 A1 relates to a method for operating a machine with a first handheld control device for non-safety-related machine control and a second handheld control device for safety-related machine control, wherein both handheld control devices can exchange control signals.

[0004] DE 10 2016 208811 B3 relates to a mobile security basic control device with a coding device for a mobile terminal with a multi-touchscreen. For this purpose, the device comprises a housing with a holder that can be attached to a mobile terminal. The device further comprises a coding device with which the device connected to the control device can automatically transmit an identifying code to the terminal's control unit via the touchscreen.

[0005] The object of the invention is to provide a control device for controlling a machine or system, by means of which the operating properties for controlling the machine or system are extended.

[0006] The object is achieved by a control device for controlling a machine or system, comprising: a first control device which is designed using non-safe technology and is configured to control at least one non-safety-relevant function of the machine or system, a second control device which is designed using safe technology and is configured to control at least one safety-relevant function of the machine or system, wherein the second control device is connected to at least one second input means in safe technology which is assigned to the second control device and is configured for manual actuation in order to trigger the safety-relevant function, characterized by a monitoring device which is designed and configured to monitor the second control device for its functional state in such a way that the monitoring device in an activated functional state of the second control device, by means of which the machine or system is transferred into a safe state,connects the at least one second input means assigned to the second control device to the first control device in such a way that non-safety-relevant functions of the machine or system can be triggered by manual actuation of the at least one second input means as long as the second control device is in its activated functional state in which the at least one second input means is not connected to the machine or system as a designated safety switching means.

[0007] In a specific embodiment, the second control device can comprise at least one second input means as input means, wherein the first control device comprises at least one first input means. Alternatively or additionally, the second control device can be connected to an emergency stop switching means. Accordingly, the at least one second switching means can be an emergency stop switching means. Alternatively or additionally to an emergency stop switching means, the second switching means can also be, for example, a monitoring means or sensor means arranged separately from the second control device, such as a safety laser scanner.

[0008] For each input means or switching means, in particular second input means, it can be displayed, for example by a light source, such as a yellow or red LED, in spatial proximity or directly on the respective input means, whether the input means which is connected to the first control device or the second control device is in its functional operating state in the respective connection mode, is in its non-functional operating state, and / or is connected to the second control device in a safe mode of operation, i.e. in safe technology, or is connected to the first control device in a non-safe mode of operation, i.e. in safe technology.

[0009] The object is therefore achieved in a specific embodiment in particular by a control device for controlling a machine or system, comprising: a first control device which is designed using non-safety technology and is configured to control at least one non-safety-relevant function of the machine or system, wherein the first control device is connected to at least one first input means which is designed for manual actuation in order to trigger the non-safety-relevant function, a second control device which is designed using safe technology and is configured to control at least one safety-relevant function of the machine or system, wherein the second control device is connected to at least one second input means using safe technology which is designed for manual actuation in order to trigger the safety-relevant function, wherein the at least one second input means comprises at least one emergency stop switching means, characterized by a monitoring device which is designed and configured,to monitor the emergency stop switching means for its functional state in such a way that the monitoring device connects the at least one second input means to the first control device in an activated functional state of the emergency stop switching means, by which the machine or system is transferred to a safe state, in such a way that non-safety-relevant functions of the machine or system can be triggered by manually actuating the at least one second input means, as long as the emergency stop switching means is in its non-functional operating state in which it is not connected to a machine or system as a safety switching means as intended.

[0010] The control device for controlling the machine or system can be combined in a single control unit. Alternatively, the control device can be distributed across multiple devices or control housings. The control device can in particular consist of multiple control units that are connected to form a common control system. Connecting multiple control units can in particular mean that different control units are coupled via electrical connections so that one control unit can communicate with another control unit, in particular can send and / or receive, in particular exchange, data and / or signals. The control device can also comprise a local control unit, which can be arranged in a fixed location, and also comprise a portable control unit, which is portable or mobile and can in particular be carried by a person from one location to another.Depending on the individual design, individual logical control components can be implemented either in a local control unit or in a portable control unit. Different control units can communicate with each other either wired or wirelessly, in particular via a radio connection.

[0011] The second control device, which is designed using safe technology, is a safety-related control system that complies with the relevant safety standards. The relevant safety standards can be, in particular, ISO 13849-1 and IEC 62061-1. For special machines and systems that include robots, ISO 10218-1 may also be used. The second control device is designed using safe technology, in particular, when function-critical components are redundant or even diverse. The second control device, which is designed using safe technology, is in particular configured to query at least one switching state of an emergency stop switching device, an operating mode selector switch, and / or at least one enabling button, which can each be one of the second input devices.

[0012] The emergency stop switching device is the essential switching element of an electrical emergency stop device or emergency stop mechanism or emergency off switch. This generally comprises a manually operated electrical switch which, when actuated by a person in the event of danger, is used to put a machine or system assigned to the emergency stop switching device into a safe state. For this purpose, the emergency stop switching device is connected to an electrical control device, i.e. the second control unit, which detects the switching states of the emergency stop device and, depending on this, triggers an emergency stop function that brings the machine or system into a safe state. Different emergency stop functions can be triggered depending on the type and operating mode of the machine or system.

[0013] Safety functions of electrical drives are defined, for example, in EN / IEC 61800-5-2 and include several types of safe operational stop, such as STO (Safe torque off), SS1 (Safe stop 1) and SS2 (Safe stop 2).

[0014] Safety stop functions of machines in general are defined, for example, in EN / IEC 60204-1 and are referred to there as stop category 0, stop category 1 and stop category 2.

[0015] The electrical emergency stop switch can thus be used to trigger emergency stop functions of a machine or system, for example, in accordance with EN / IEC 61800-5-2 or EN / IEC 60204-1. For this purpose, the machine or system in question can have a safety control device or be connected to such a safety control device, which in turn is connected to the corresponding electrical emergency stop device.

[0016] A concrete example of machines that have to meet corresponding safety requirements are industrial robots, which according to DIN EN ISO 10218-1 must be equipped with an emergency stop device in accordance with EN / IEC 60204-1 and DIN EN ISO 13850.

[0017] The enabling switch is generally a three-stage switch that can have three different switching positions. In a middle switching position, the switching contacts of the enabling switch are electrically closed, which corresponds to a switching state of the enabling switch in which the machine or system can be put into operation or is in operation. The middle switching position is an unstable switching position, i.e. the enabling switch only has this switching position when a person, for example, holds the enabling switch pressed with a hand or at least a finger. If, however, the enabling switch is released, the enabling switch automatically changes to its released switching position, in which the electrical switching contacts are open. In an open switching state, the machine or system is immediately and automatically transferred to a safe state. In the third switching position of the enabling switch, its actuating element is pressed through, i.e.The enabling switch is then in its fully depressed position. This means that the enabling switch is actuated with a greater force in its fully depressed position than the force required to actuate the enabling switch in its middle position. This third position ensures that in an emergency situation in which an operator of the machine or system panics and does not release the enabling switch, but instead presses it more forcefully than is necessary to start up the machine or system due to a human reflex, if the enabling switch is to be held in its middle position, which is an unstable position. The enabling switch can therefore be designed in accordance with IEC 60947-5. The enabling switch must be designed using safe technology in accordance with applicable regulations.

[0018] The operating mode selector switch can, for example, be a multi-stage rotary knob and / or a key switch that can be selectively moved to one of several switching positions, with each individual switching position of the operating mode selector switch being assigned a predetermined, separate safety-relevant functionality. For example, in robots, the operating mode selector switch can be used to switch between automatic mode, a first inching mode, and a second inching mode. Such an operating mode selector switch must be designed using safe technology in accordance with applicable regulations.

[0019] Further second input means can be not only manually operated hand buttons or hand switches, but also floor mats, door position sensors or laser scanners, for example for intrusion protection, for example on hydraulic presses, which each monitor certain states on the machine or system using safe technology.

[0020] The first control device, which is designed using non-safe technology, represents a general control system that is merely implemented according to general engineering principles and, in particular, does not meet the requirements stipulated by the relevant safety standards. The relevant safety standards may include, in particular, ISO 13849-1 and IEC 62061-1. For special machines and systems that include robots, ISO 10218-1 may also be applicable. The first control device is designed using non-safe technology, in particular, if functionally critical components are neither redundant nor diverse.

[0021] By the control device in particular having a monitoring device which is designed and configured to monitor the emergency stop switching means for its functional state, such that the monitoring device connects the at least one second input means to the first control device in an activated functional state of the emergency stop switching means, by which the machine or system is transferred into a safe state, such that non-safety-relevant functions of the machine or system can be triggered by manually actuating the second input means, as long as the second control device, in particular the emergency stop switching means, is in the non-functional operating state in which the input means is not connected to a machine or system as the intended safety switching means, a control device for controlling a machine or system is created,which extend the operating features for controlling the machine or system.

[0022] The monitoring device can be part of the second control device or a control unit separate from the second control device and / or the first control device.

[0023] The emergency stop switching means, regardless of whether it is already connected to the second control device or not, has a first switching state in an unactuated first operating position of its emergency stop control element, which characterizes the non-activated functional state of the emergency stop switching means, and a second switching state in an actuated second operating position of its emergency stop control element, which characterizes the activated functional state of the emergency stop switching means. The emergency stop switching means can, for example, have electrical switching contacts that are open in the first switching state, so that the emergency stop switching means interrupts a circuit, and that are closed in the second switching state, so that the emergency stop switching means closes a circuit.

[0024] The functional operating state of the emergency stop switching device is characterized in particular by the fact that when the emergency stop control unit is actuated, i.e. when the activated functional state of the emergency stop switching device is initiated, the machine or system assigned to the emergency stop switching device carries out the desired or required operating stop or emergency stop, if necessary controlled by the second control device.

[0025] However, if an emergency stop has already been triggered while the emergency stop switching device is in the functional operating state, i.e. the emergency stop switching device is in the activated functional state, the machine or system is in a safe state, i.e. the machine or system can no longer be put into operation by simple inputs without also returning the emergency stop switching device to its non-activated functional state. However, if the emergency stop switching device is already in the activated functional state and the machine or system is in a safe state, any additional second switching devices that may be present (and also the emergency stop switching device itself) are no longer in their intended use. Therefore, according to the technical solution according to the invention, these second switching devices can be used for other purposes.This second and, in this respect, new use can, in particular, be a use that does not necessarily have to be implemented using safe technology. According to the invention, the second switching means, which have lost their previous safety function when the machine or system is safely stopped, can now be used to control other functions, in particular functions not implemented using safe technology, which can be predefined and / or programmed or selected in advance. This is clearly described below using the example of an enabling switch. However, the technical solutions described in this context are also applicable in an analogous manner to other second input means in terms of their functional content.

[0026] Since the associated machine or system is in a safe state (i.e., in the emergency stop state) when the emergency stop switch is activated, the original functionality of the enabling switch as defined by IEC 60947-5 is no longer available. If a machine operator, such as a robot programmer, wishes to make changes to a robot program, for example, if incorrectly programmed movements have been programmed for the robot, they may want to edit text in the robot program's command lines. To do this, it is common to want to switch between lines in the robot program in order to activate a specific program line and edit it (i.e., change the text).It can now be provided, for example, that the first control device is set up in such a way that by manually pressing the enabling button a cursor jumps in the lines of the robot program to the next higher program line. This is then a new functionality for the enabling button which is not a safety-relevant function and therefore does not have to be designed using safe technology. This new functionality can be predetermined by the control technology, i.e. programmed in. Alternatively, this new functionality can be assigned by the user or the programmer themselves, for example, or selected from a number of several predetermined, possible functionalities. It can furthermore be provided, for example, that the first control device is additionally set up in such a way that by manually pressing the enabling button the cursor jumps in the lines of the robot program to the next lower program line.This is then an additional, second, new functionality for the enabling switch, which is not a safety-relevant function and therefore does not need to be implemented using safe technology. This additional, second, new functionality can be predetermined by the control system, i.e., programmed in. Alternatively, this additional, second, new functionality can be assigned by the user or programmer themselves, for example, or selected from a number of predefined, possible functionalities. An alternative functionality could, for example, be a command to confirm an input, which in the general computer technology environment is referred to as a "select" or "return" or "input." Jumping between program lines can be understood in the general computer technology environment as a "next" command.Thus, in addition to the specific example of jumping between program lines, a multitude of other programming functionalities are known to the person skilled in the art which can be used in this sense to assign a non-safety-relevant function to the second input means as long as the emergency stop switching means remains in its non-functional operating state, i.e. the machine or system is not in operation.

[0027] In general, however, a newly assigned second input device can be used to search through multiple objects and then select a specific object in the sense of object-oriented programming. The object, in its programmatic representation, can either be a virtual object, for example, an element of a list, or be assigned to a real object, such as a machine, especially a robot.

[0028] Another example is a case in which, within a system comprising several machines, in particular robots, a portable handheld device is controlled by a person, which handheld device can be selectively assigned to a specific machine or robot. If the machine or robot, which was previously connected to the handheld device for safety control purposes, is brought into a safe state by activating an emergency stop switch on the portable handheld device, one of the second input devices on the portable handheld device, for example its enabling button, can be used to switch the portable handheld device to another machine or robot in the system by means of a manual input on it, i.e.to initiate a control-related connection between the portable handheld device and one of the other machines or robots following an emergency stop of one machine or robot. For example, by repeatedly pressing (not pressing all the way through) the enabling button, it is possible to jump from one machine to the next or from one robot to the next. If it is the machine or robot that is being jumped to that is to be connected to the handheld device for control purposes, it is possible, for example, to press (not just press) the same enabling button to select or activate exactly this machine or robot, i.e. the handheld device can actually be connected to this machine or robot for control purposes.

[0029] After the actions for which the functionality of the repurposed second input means is completed, the monitoring device can remove or take away the repurposed functionality from the second input means so that the second input means in question regains its original safety-related functionality.

[0030] Thus, according to the invention, repurposing the functionality of an inherently safety-oriented second input means into a general, in particular non-safety-oriented input means can be particularly expedient if the input device or the handheld control unit in question has only a few different input means, as is the case in particular with a robot control unit mentioned at the outset, as described, for example, in DE 10 2015 206 571 B3.

[0031] The monitoring device can be configured to send a signal to the first control device when the second control device, in particular the emergency stop switching means, is in its activated functional state, wherein the first control device assigns a predetermined function to the at least one second input means on the basis of the signal received from the monitoring device, such that the assigned function is executed upon manual actuation of the at least one second input means.

[0032] In this respect, the monitoring device causes, in the case of the activated functional state of the second control device, in particular of the emergency stop switching means, i.e. when the machine or system is shut down, that the second input means, which was previously assigned to a specific safety-relevant function, is assigned a different function, in particular a non-safety-relevant function. It can be provided that only a single second input means is assigned a non-safety-relevant function, i.e. .insofar as a new function is assigned. However, it can also be provided that two or more second input means are each assigned a non-safety-relevant function, i.e. insofar as a new function is assigned. For this purpose, one or more non-safety-relevant function types can be specified, from which they can either be selected manually, from which a pre-selected, non-safety-relevant function type is automatically activated by program control, or a permanently stored non-safety-relevant function type is automatically activated. The non-safety-relevant function type can in this respect comprise a largely arbitrary control command or a plurality of control commands which can be interpreted, i.e. recognised and executed, by the first control device.

[0033] The non-safety-relevant function types can, for example, be or include programmatic commands. This can be, for example, a jump command, in the form of a programmatic "next" command, or an execution command, in the form of a programmatic "select" command, "enter" command, or "execute" command. In the sense of a "next" command, for example, the jump command can be used to switch from a first menu of a graphical user interface of a handheld device to another second menu. In the sense of a jump command, it is also possible to switch from one menu item to another within a menu of the graphical user interface of the handheld device. In the sense of an "enter" command or "execute" command, a selected menu item can be activated for execution, for example. This can be done, for example, via a further second input means within the meaning of the invention.

[0034] The first control device can be programmed to assign a specific function from a set of several different possible functions to the at least one second input device. Such a configurable assignment can be achieved by automatically selecting or initializing a desired function that was previously selected, set, or configured manually or programmatically.

[0035] In this respect, the assignment of a specific non-safety-relevant function type to a specific second input device can be configurable. This allows a user of the operating device, such as a robot programmer, to determine the desired behavior of the second input device after the emergency stop switch is activated. Alternatively, the behavior of the second input device after the emergency stop switch is activated can be predefined at the factory, for example, or implemented in the control device according to customer requirements.

[0036] The at least one second input means can thus be formed on a hand-held operating device which is separate from the machine or the system and which also has the emergency stop switching means which, in its functional operating state, is connected to the machine or the system in terms of control technology in order to bring the machine or the system into a safe state in the connected state when the emergency stop switching means has its activated functional state, wherein in the activated functional state of the emergency stop switching means the predetermined function is assigned or directly assigned to the at least one second input means, so that when the second input means is manually actuated after activation of the emergency stop switching means the assigned function can be triggered by the first control device.

[0037] When the emergency stop switch is activated, the machine or system is immediately shut down, i.e. stopped and secured against restart, as required by the relevant standards.

[0038] The at least one second input means can be an enabling button of the handheld device.

[0039] The first control device can be designed and configured to assign a predetermined first function to the at least one enabling button in the activated functional state of the second control device, in particular of the emergency stop switching means, so that this assigned first function is triggered when the enabling button is simply pressed, and to assign a predetermined second function to the same enabling button which is different from the first function, so that the assigned second function is triggered when the enabling button is pressed.

[0040] As already mentioned above, it can be provided, for example, that the first control device is configured such that, by manually pressing the enabling button, a cursor in the lines of the robot program or a marker formed by graphically, in particular color-highlighting a line of the robot program jumps to the next higher program line. Furthermore, it can be provided, for example, that the first control device is additionally configured such that, by manually pressing the enabling button, the cursor or the marker in the lines of the robot program jumps to the next lower program line. This then represents a second, new, additional functionality for the enabling button, which is not a safety-relevant function and therefore does not need to be implemented using safe technology.If a selected or marked program line is to be optionally executed, edited or saved, this can be done, for example, by pressing or pushing through a second existing enabling key, which has been assigned this non-safety-relevant, new function by the first control device.

[0041] The handheld device can accordingly have a first enabling button and at least one further enabling button, and the first control device can be designed and configured to assign a predetermined first function to the first enabling button in the activated functional state of the second control device, in particular of the emergency stop switching means, so that this assigned first function is triggered by simply pressing the enabling button, and / or to assign a predetermined second function to the same enabling button which differs from the first function, so that the assigned second function is triggered by pressing the enabling button, and the first control device is designed and configured to assign a predetermined further function to the further enabling button in the activated functional state of the second control device, in particular of the emergency stop switching means,which differs from the first function and the second function of the first enabling button, so that a simple pressing of the additional enabling button and / or a pressing of the additional enabling button triggers this associated additional function.

[0042] Alternatively or in addition to a reassignment of the function of one or more enabling buttons, the at least one second input means can be an operating mode selector switch of the handheld device and the first control device can be designed and configured to assign a predetermined function to the at least one operating mode selector switch in the activated functional state of the second control device, in particular of the emergency stop switching means, so that this assigned function is triggered when the operating mode selector switch is switched manually.

[0043] An example of a new functionality assigned to such an operating mode selector switch can be such that a selection direction can be determined via the switching position of the operating mode selector switch. For example, a first switching position of the operating mode selector switch can be assigned the "move up" functionality, and a second switching position of the operating mode selector switch can be assigned the "move down" functionality. These movement directions then dictate how a cursor or marker behaves on a graphic display when, for example, the enabling button is pressed to trigger the jump functionality. Depending on the switching position of the operating mode selector switch, this can be either a cursor jump upwards, according to the first switching position of the operating mode selector switch, or a cursor jump downwards, according to the second switching position of the operating mode selector switch.

[0044] The at least one second input means may optionally also be the emergency stop button of the handheld device itself, wherein the first control device may be designed and configured to assign a predetermined function to the emergency stop switching means in the activated functional state of the emergency stop switching means, so that this assigned function is triggered when the emergency stop switching means is actuated.

[0045] Regardless of the type of second input device, an additional new functionality can be configured by triggering a specific functionality with several manual operations per specified time unit. This can be implemented, for example, in the form of a so-called "double click."

[0046] The machine can, as already mentioned in exemplary embodiments, be a robot, and / or the system can comprise several robots, wherein at least one of the robots can be controlled by the handheld control unit.

[0047] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of these exemplary embodiments may represent general features of the invention, even when considered individually or in further combinations.

[0048] They show: Fig. 1 shows an exemplary machine in the specific design of an industrial robot, which has a control device to which a first handheld control device is connected by wire and a second handheld control device is in a wireless connection to the control device, Fig. 2 shows a schematic representation of an exemplary control device according to the invention in a general structure, Fig. 3 shows a schematic representation of the first control device, which is programmatically configured to assign a specific function from a set of several different possible functions to the at least one second input means, Fig. 4 shows a symbolic representation of an electrical circuit diagram of an exemplary three-stage enabling switch with working contacts and auxiliary contacts, and Fig. 5 shows a perspective representation of the wired first handheld control device according to Fig.1 in a view from below with a first enabling button and another enabling button.

[0049] In the Fig. 1 a robot 1a is shown as a concrete embodiment of a machine 1 or a component of a system 2. The robot 1a comprises a control device 3, which is designed and configured to control the robot 1a and, in particular, to automatically bring it into a safe state when an emergency stop is triggered, in particular to shut it down or halt it, i.e., to stop it. In the case of the present embodiment, a first handheld device 4.1 is connected to the control device 3 by wires. The first handheld device 4.1 is equipped with a first electrical emergency stop switching means 5.1, a first operating mode selector switch 6.1, and a plurality of enabling buttons 7.1. The first handheld device 4.1 also comprises a plurality of first input means 8.1, which are configured to trigger non-safety-relevant functions.

[0050] The machine 1 can accordingly be a robot 1a, in particular a robot 1a from a number of several robots of a system 2, wherein at least one of the robots 1a can be controlled by the handheld control device 4.1 and / or 4.2.

[0051] In the present embodiment, a wireless, second handheld device 4.2 is also connected to the control device 3. The second handheld device 4.2 is equipped with a second electrical emergency stop switching device 5.2, a second operating mode selector switch 6.2, and several enabling buttons 7.2. Each of the second emergency stop switching device 5.2, the second operating mode selector switch 6.2, and the several enabling buttons 7.2 form a second input device 8.2 of the handheld device 4.2. The second handheld device 4.2 may also include several first input devices 8.1 configured to trigger non-safety-relevant functions. The second handheld device 4.2 is a special version, constructed in two parts and comprising a basic safety control device 9 constructed using safe technology, to which a commercially available tablet computer 10 constructed using non-safe technology is connected.The tablet computer 10 may additionally have electro-mechanical input means 8.3 and / or software input means (so-called touch keys) displayed on a touchscreen 10a of the tablet computer 10.

[0052] Accordingly, the at least one second input means 8.2 can be formed on a hand-held operating device 4.1, 4.2 which is separate from the machine 1 or the system 2 and which also has the emergency stop switching means 5.1, 5.2 which, in its functional operating state, is connected to the machine 1 or the system 2 in terms of control technology in order to bring the machine 1 or the system 2 into a safe state in the connected state when the emergency stop switching means 5.1, 5.2 has its activated functional state, and in the activated functional state of the emergency stop switching means 5.1, 5.2, the predetermined function is assigned to the at least one second input means 8.2, so that upon manual actuation of the second input means 8.2, the assigned function can be triggered by the first control device 11, which in Fig.2 is shown.

[0053] The Fig. 2 shows the control device 3 for controlling the machine 1 or system 2. In the illustrated embodiment, the control device 3 comprises: a first control device 11, which is designed using non-safety technology (NST) and is configured to control at least one non-safety-relevant function of the machine 1 or system 2, wherein the first control device 11 is connected to at least one first input means 8.1, which is designed for manual actuation in order to trigger the non-safety-relevant function, a second control device 12, which is designed using safe technology (ST) and is configured to control at least one safety-relevant function of the machine 1 or system 2, wherein the second control device 12 is connected to at least one second input means 8.2 in safe technology, which is designed for manual actuation in order to trigger the safety-relevant function, wherein the at least one second input means 8.2 comprises at least one emergency stop switching means 5.1, 5.2, characterized by a monitoring device 13 which is designed and configured to monitor the emergency stop switching means 5.1, 5.2 for its functional state in such a way that the monitoring device 13, in an activated functional state of the emergency stop switching means 5.1, 5.2, by means of which the machine 1 or system 2 is transferred into a safe state, connects the at least one second input means 8.2 to the first control device 11 in such a way that non-safety-relevant functions of the machine 1 or system 2 can be triggered by manually actuating the second input means 8.2, as long as the emergency stop switching means 5.1, 5.2 is in its non-functional operating state in which it is not connected to a machine 1 or system 2 as an intended safety switching means.

[0054] In the case of the present exemplary embodiment, the monitoring device 13 is configured to send a signal to the first control device 11 when the emergency stop switching means 5.1, 5.2 is in its activated functional state and the first control device 11 assigns a predetermined function to the at least one second input means 8.2 on the basis of the signal received from the monitoring device 13, such that the assigned function is executed upon manual actuation of the at least one second input means 8.2.

[0055] The at least one second input means can thus also be the operating mode selector switch 6.1, 6.2 of the handheld device 4.1, 4.2, wherein the first control device 11 is designed and configured to assign a predetermined function to the at least one operating mode selector switch 6.1, 6.2 in the activated functional state of the emergency stop switching means 5.1, 5.2, so that this assigned function is triggered when the operating mode selector switch 6.1, 6.2 is switched manually.

[0056] Alternatively or additionally, the at least one second input means 8.2 may even be the emergency stop button 5.1, 5.2 of the handheld device 4.1, 4.2 itself, wherein the first control device 11 is designed and configured to assign a predetermined function to the emergency stop switching means 5.1, 5.2 or another emergency stop switching means 5.1, 5.2 of another handheld device 4.1, 4.2 in the activated functional state of the emergency stop switching means 5.1, 5.2, so that the assigned function is triggered when this emergency stop switching means 5.1, 5.2 is actuated.

[0057] As in Fig. 3 As shown schematically, the first control device 11 can be programmed to assign a specific function (F4) from a set of several different possible functions (F1 to F6) to the at least one second input means 8.2 if the specific function (F4) was selected manually or automatically by program control.

[0058] The first control device 11 can be designed and configured to assign a predetermined first function to the at least one enabling button 7.1, 7.2 in the activated functional state of the emergency stop switching means 5.1, 5.2, so that this assigned first function is triggered by a simple pressing of the enabling button 7.1, 7.2, and to assign a predetermined second function to the same enabling button 7.1, 7.2, which is different from the first function, so that the assigned second function is triggered by a full pressing of the enabling button 7.1, 7.2.

[0059] To achieve this functionality, the fact that three-stage enabling switches 7.1, 7.2 in conventional designs, in addition to their electrical working contacts AK1, which are connected in such a way that they are closed in the pressed state Z1 and open both in the non-pressed state Z0 and in the fully pressed state Z2, can be used, as well as auxiliary contacts HK1, HK2, which, due to their individual switching configurations, allow an electrical query, which makes it possible to determine whether the enabling switch 7.1, 7.2 is in its non-pressed state Z0 or in its fully pressed state Z2. This is shown schematically in Fig. 4 shown.

[0060] The handheld device 4.1, 4.2 can have a first enabling button 7.1 and at least one further enabling button 7.3, as is particularly shown in Fig. 5is shown, wherein the first control device 11 is designed and configured, in the activated functional state of the emergency stop switching means 5.1, 5.2, to assign a predetermined first function to the first enabling button 7.1, so that upon a simple pressing of the first enabling button 7.1, this assigned first function is triggered, and / or to assign a predetermined second function to the same enabling button 7.1, which differs from the first function, so that upon a full pressing of the first enabling button 7.1, the assigned second function is triggered, and the first control device 11 is designed and configured, in the activated functional state of the emergency stop switching means 5.1, 5.2, to assign a predetermined further function to the further enabling button 7.3, which differs from the first function and the second function of the first enabling button 7.1, so that upon a simple pressing of the further enabling button 7.3 and / or pressing the further enabling button 7.3, this assigned further function is triggered.

Claims

1. Control apparatus for controlling a machine (1) or system (2), having: - a first control device (11) which is designed in non-safety technology and is configured to control at least one non-safety-relevant function of the machine (1) or system (2), - a second control device (12) which is designed in safety technology and is configured to control at least one safety-relevant function of the machine (1) or system (2), wherein the second control device (12) is connected in safety technology to at least one second input means (8.2) which is assigned to the second control device (12) and which is designed to be manually actuated in order to trigger the safety-relevant function, characterized by - a monitoring device (13) which is designed and configured to monitor the second control device (12) for its functional state in such a way that the monitoring device (13), in an activated functional state of the second control device (12), by way of which the machine (1) or system (2) is transferred to a safe state, connects the at least one second input means (8.2) assigned to the second control device (12) to the first control device (11) in such a way that non-safety-relevant functions of the machine (1) or system (2) can be triggered by manually actuating the at least one second input means (8.2) so long as the second control device (12) is in its activated functional state in which the at least one second input means (8.2) is not connected to the machine (1) or system (2) as an intended safety switching means.

2. Control apparatus according to Claim 1, characterized in that the monitoring device (13) is configured to transmit a signal to the first control device (11) if the second control device (12), in particular the emergency stop switching means (5.1, 5.2), is in the activated functional state and, on account of the signal received from the monitoring device (13), the first control device (11) assigns a predetermined function to the at least one second input means (8.2) in such a way that when the at least one second input means (8.2) is manually actuated the assigned function is executed.

3. Control apparatus according to Claim 2, characterized in that the first control device (11) is programmatically configured to assign a particular function from a set of several different possible functions to the at least one second input means (8.2).

4. Control apparatus according to one of Claims 1 to 3, characterized in that the at least one second input means (8.2) is formed on a hand-held device (4.1, 4.2) which is separate from the machine (1) or the system (2) and which also has the emergency stop switching means (5.1, 5.2) which in its functional operating state is connected to the machine (1) or the system (2) for control purposes in order to, in the connected state, bring the machine (1) or the system (2) into a safe state when the emergency stop switching means (5.1, 5.2) has its activated functional state, and in the activated functional state of the emergency stop switching means (5.1, 5.2) the predetermined function is assigned to the at least one second input means (8.2) so that when the at least one second input means (8.2) is manually actuated after activation of the emergency stop switching means (5.1, 5.2) the assigned function is able to be triggered by the first control device (11).

5. Control apparatus according to Claim 4, characterized in that the at least one second input means (8.2) is an enabling button (7.1, 7.2) of the hand-held device (4.1, 4.2).

6. Control apparatus according to Claim 5, characterized in that the first control device (11) is designed and configured to, in the activated functional state of the second control device (12), in particular of the emergency stop switching means (5.1, 5.2), assign a predetermined first function to the at least one enabling button (7.1, 7.2) so that, when the enabling button (7.1, 7.2) is simply pressed, this assigned first function is triggered, and assign a predetermined second function to the same enabling button (7.1, 7.2), which second function differs from the first function, so that when the enabling button (7.1, 7.2) is pressed through, the assigned second function is triggered.

7. Control apparatus according to Claim 5 or 6, characterized in that the hand-held device (4.1, 4.2) has a first enabling button (7.1, 7.2) and at least one further enabling button (7.3) and the first control device (11) is designed and configured to, in the activated functional state of the second control device (12), in particular of the emergency stop switching means (5.1, 5.2), assign a predetermined first function to the first enabling button (7.1, 7.2) so that, when the first enabling button (7.1, 7.2) is simply pressed, this assigned first function is triggered, and / or assign a predetermined second function to the same enabling button (7.1, 7.2), which second function differs from the first function, so that when the first enabling button (7.1, 7.2) is pressed through, the assigned second function is triggered, and the first control device (11) is designed and configured to, in the activated functional state of the second control device (12), in particular of the emergency stop switching means (5.1, 5.2), assign a predetermined further function to the further enabling button (7.3), which further function differs from the first function and the second function of the first enabling button (7.1, 7.2), so that, when the further enabling button (7.3) is simply pressed and / or the further enabling button (7.3) is pressed through, this assigned further function is triggered.

8. Control apparatus according to Claim 4, characterized in that the at least one second input means (8.2) is an operating mode selector switch (6.1, 6.2) of the hand-held device and the first control device (11) is designed and configured to, in the activated functional state of the second control device (12), in particular of the emergency stop switching means (5.1, 5.2), assign a predetermined function to the at least one operating mode selector switch (6.1, 6.2) so that, when the operating mode selector switch (6.1, 6.2) is manually switched over, this assigned function is triggered.

9. Control apparatus according to Claim 4, characterized in that the at least one second input means (8.2) is the emergency stop button (5.1, 5.2) of the hand-held device (4.1, 4.2) itself and the first control device (11) is designed and configured to, in the activated functional state of the emergency stop switching means (5.1, 5.2), assign a predetermined function to the emergency stop switching means (5.1, 5.2) so that, when the emergency stop switching means (5.1, 5.2) is actuated, this assigned function is triggered.

10. Control apparatus according to one of Claims 4 to 9, characterized in that the machine (1) is a robot (1a) and / or the system (2) comprises a plurality of robots (1a), wherein at least one of the robots (1a) is able to be controlled by the hand-held device (4.1, 4.2).