Safety system to protect the operating area of ​​production equipment

Abstract

The present invention relates to a safety system for protecting the operating area of ​​production equipment, the safety system comprising a control device and at least one non-contact protective device, wherein in the operating mode of the safety system, the operating area of ​​the production equipment is defined by a safety boundary via a protective field formed at a distance from the operating area, the safety system is capable of transitioning to an alarm state when the safety boundary is breached, and in the alarm state, the control device is capable of supplying a control signal for the production equipment. The object of the present invention is to provide a solution that enables protection of a potential rear intrusion zone at the boundary of the operating area formed by a non-contact protective device (BWS).

Description

Technical Field

[0001] The present invention relates to a safety system for protecting the operating area of production equipment. This safety system has a control device and at least one non-contact protection device. In the operating mode of the safety system, the operating area of the production equipment is defined by a safety boundary through a protection field formed at a distance from the operating area. The safety system can shift to an alarm state when the safety boundary is violated, and in the alarm state, a control signal for the production equipment can be supplied by the control device.

Background Art

[0002] The requirements for protecting production equipment are increasing more and more as the use of autonomous material supply systems (automated guided vehicles "AGVs") increases and due to new interfaces that arise between such systems and the production equipment to be supplied. Operators and maintenance staff must rely on the safety of the machines or equipment. A number of regulations, guidelines and rules, such as the standard DIN EN ISO 13849 for machine safety, define the minimum safety technical requirements that both machine manufacturers and users must comply with. In the case of production equipment, in particular, the operating areas of these production equipment must be protected by the internal logistics material supply system. The operating area of production equipment particularly refers to the range swept by the movable parts of the production equipment during the operation of the production equipment. [[ID=......]]

[0003] [[ID=......]] The technical implementation is carried out, for example, by a non-contact protection device (BWS). Depending on the technology, the BWS can monitor protection areas of different shapes, and for its configuration, the device standard DIN EN IEC 61496-1-2021-06 is applicable. The non-contact protection device (BWS) is understood to be a protection device that detects the intrusion of body parts into the protection area using sensors that act without direct mechanical contact. This can be based on the following various physical principles: · Optical (light curtain, safety laser scanner, infrared motion detector, digital camera using pattern recognition or image comparison) • Acoustic method (using ultrasound) • Inductive type (inductive proximity switch, conductive objects only) • Capacitive type (capacitive distance sensor, only works for distances small compared to the sensor diameter)

[0004] A safety laser scanner operates, for example, by having a laser-generated light beam periodically scan a monitoring area using a deflection unit. The light is reflected by objects within the monitoring area and evaluated within the scanner. In pulse-based methods, which are preferred in safety technology, the laser scanner measures the propagation time until the emitted light pulse returns. The laser scanner acquires angular and distance information so that the two-dimensional position of objects within the monitoring area, and thus within the protected area, can be determined. If the laser scanner detects an intrusion into the protected field that is unacceptable, the laser scanner triggers an emergency stop of the machine. This type of safety laser scanner is known, for example, from Patent Document 1.

[0005] Safety laser scanners have many applications both in and outside industrial production environments. For example, Patent Document 2 proposes a system for monitoring railway crossings, and Patent Document 3 describes a monitoring device for open areas of production facilities.

[0006] Safety laser scanners can essentially be used to generate a two-dimensional protective field. By combining multiple two-dimensional protective fields, a three-dimensional protective space can be created. These protective spaces, or protective areas that generate protective spaces, must be at a distance from the hazardous equipment parts (operating areas), and this distance is determined according to DIN EN ISO 13855-2010-10 ("Safety of machinery - Arrangement of protective devices relating to the speed of approach of body parts"). In this case, a predetermined minimum distance must be maintained between the laser scanning field and the operating area of ​​the production equipment, so a hintertrittzone is created between the laser scanning field and the operating area. In particular, due to the inertia (time lag until stopping) of the drive unit and other mechanical systems of the production equipment to be protected, the distance that must be maintained between the laser scanning field and the operating area of ​​the production equipment can become very large, and a space may be created in the hintertrittzone in which a person could enter. This is a problem especially when the laser scanning field is started (switched on). If a person has completely entered this hintertrittzone before the laser scanning field is started, this person will not be recognized when the laser scanning field is constructed at the safety boundary. The operating area is often also referred to as the hazardous area or hazard zone of the equipment in question.

[0007] Furthermore, it is known from prior art that, in order to monitor the rear intrusion zone during equipment operation, one or more additional BWSs (Bodyworks Stations) are used, for example, horizontally positioned. However, this has two inherent drawbacks. Firstly, the cost of the safety system is increased by the additional equipment and its commissioning. Moreover, the additional equipment requires additional installation space for the safety system, and in many cases, this installation space cannot be secured.

[0008] Another possibility for protecting the rear entry zone is to use a camera system. However, this type of system has three inherent drawbacks. First, camera systems are very expensive. Second, currently, no camera systems with the required performance level d for safety requirements for robotic systems are available on the market. Third, they are unsuitable for mass production equipment where high operating rates are required, either because they cannot distinguish complex equipment movements from human movements, or because their programming is extremely complicated and prone to errors.

[0009] The use of radar solutions to monitor the rear intrusion zone during equipment operation is also known from prior art. However, these also have a number of drawbacks. On the one hand, this type of system is extremely expensive. Furthermore, these systems are highly susceptible to interference, especially because steel equipment parts reflect radiation. This worsens the mobility of the safety system, and by extension, the equipment equipped with the safety system. Moreover, when equipment parts move within the safety zone, their status cannot be clearly determined. [Prior art documents] [Patent Documents]

[0010] [Patent Document 1] German Patent Application Publication No. 4340756 [Patent Document 2] German Utility Model No. 202012101250 [Patent Document 3] European Patent Application Publication No. 3754244 [Overview of the Initiative] [Problems that the invention aims to solve]

[0011] The objective of this invention is to provide a safety system that protects the operating area (Aktionsbereich) of production equipment while simultaneously protecting the rear intrusion zone. [Means for solving the problem]

[0012] This problem is solved by a safety system having the features of claim 1. This safety system for protecting the operating area of ​​production equipment comprises a control device and at least one non-contact protective device. In the operating mode of the safety system, the operating area of ​​the production equipment is restricted by a safety boundary, separated from the operating area by the non-contact protective device forming a protective field. If the safety boundary is violated, the safety system can transition to an alarm state, in which case the control device can supply a control signal to the production equipment. The control signal can, for example, initiate an emergency stop of the production equipment, thereby bringing the production equipment to a safe stop state. According to the present invention, the non-contact protective device is driven and adjustable in its position to protect a rear intrusion zone of the production equipment formed during the operating mode by the gap between the operating area and the safety boundary, and the protective field generated by the non-contact protective device can sweep at least a portion of the rear intrusion zone via the driven adjustability of the non-contact protective device in the initialization mode of the safety system.

[0013] In operating mode, the protective field is constructed at the intended safety boundary. Construction, in this sense, means that the protective field is activated at the safety boundary. The initialization mode, in this case, constructs or provides a laser scanning field at the safety boundary to create the operating mode. In the sense of the present invention, constructing a protective field includes turning on the protective field and guiding the protective field at least partially to the safety boundary over the back penetration zone.

[0014] In the safety system's initialization mode, the protective field generated by the non-contact protective device can be guided at least partially over the rear entry zone through the adjustment function driven by the non-contact protective device, so that at least a portion of the rear entry zone can be scanned by the protective field. This makes it possible to identify people within the rear entry zone when the protective field is being constructed.

[0015] In one embodiment, the non-contact protective device is configured to be rotatable by a predetermined angle within at least one plane, and the protective field formed by the non-contact protective device is rotatable by this predetermined angle relative to the operating area in the initialization mode. By rotating the protective field, the rear intrusion zone is scanned for the presence of a person, at least partially.

[0016] It is proposed that the non-contact protective device be driven by an electric motor or pneumatically and capable of rotating at a predetermined angle. This will enable the automation of monitoring the rear intrusion zone.

[0017] In another embodiment, the non-contact protective device is driven in at least one spatial axis and is formed to be linearly movable, and in the initialization mode, the protective field generated by the non-contact protective device is movable relative to the operating area by the amount of this movement. The possibility of displacing the non-contact protective device and the associated protective field provides another possibility for monitoring the rear intrusion zone during the initialization of the non-contact protective device.

[0018] In one embodiment, the non-contact protective device is driven by a linear axis or a telescopic axis and is linearly movable.

[0019] It is proposed that the linear or telescopic axis be driven by an electric motor or pneumatically. This will enable the automation of monitoring the rear entry zone.

[0020] Naturally, the rotation of the non-contact protective device can be combined with the linear movement of the non-contact protective device.

[0021] In an advantageous configuration, the non-contact protective device has at least one evaluation unit for evaluating the signals emitted from the non-contact protective device, and this evaluation unit is connected to the control device. This enables a compact structure.

[0022] Furthermore, this problem is solved by a method having the features of claim 8. This method for protecting the operating area of a production facility operates using a safety system which, in an operating mode, provides a protection field using a non-contact protection device at a safety boundary spaced apart from the operating area. When the safety boundary is violated, the safety system is shifted to an alarm state and, in the alarm state, a control signal for the production facility is supplied by a control device of the safety system. In an initialization mode of the safety system, a protection field is constructed at the safety boundary. According to the invention, in the initialization mode, the non-contact protection device is adjusted by drive and the protection field generated by the non-contact protection device is guided, at least partially up to the safety boundary, on a rear intrusion zone formed between the safety boundary spaced apart from the operating area, with the adjustment by drive of the non-contact protection device.

[0023] Here too, when constructing the protection field, it is possible to identify a person present within the rear intrusion zone.

[0024] In one embodiment, the non-contact protection device is pivoted by drive by a predetermined angle in at least one plane in the initialization mode and the generated protection field is pivoted by the predetermined angle up to the safety boundary. By pivoting the protection field, it is possible to control whether a person is present in the area of the rear intrusion zone generated by the spacing rule.

[0025] In another embodiment, the non-contact protection device is driven and linearly moved in at least one spatial direction in the initialization mode, whereupon the generated protection field is moved by that amount from the operating area in a direction away from it up to the safety boundary.

[0026] Thus, the safety system according to the invention and the method according to the invention enable protection of the rear intrusion zone by moving at least one protection field between at least two positions in the initialization mode, whereby the protection field sweeps at least part of the rear intrusion zone.

[0027] In both safety systems and methods, non-contact protective devices are proposed to operate optically, acoustically, inductively, or capacitively.

[0028] In an advantageous embodiment, the non-contact protective device is a laser scanner that forms a laser scanning field as a protective field.

[0029] In another configuration, the non-contact protective device has a light source and a light receiver, thereby forming a light curtain as a protective field.

[0030] In another configuration, the non-contact protection device is an ultrasonic motion detector that generates a protective field formed from ultrasound. [Brief explanation of the drawing]

[0031] Embodiments of the present invention will be described below with reference to the drawings.

[0032] [Figure 1] This is a perspective view of the production equipment formed as a logistics unit. [Figure 2] Figure 1 shows another perspective view of the logistics unit. [Figure 3] Figure 1 is a plan view of the logistics unit. [Modes for carrying out the invention]

[0033] Figure 1 is a perspective view of a production facility configured as a logistics unit 1. This logistics unit 1 may be, for example, a container exchange system for providing containers containing production parts to a manufacturing line, and this container exchange system can be automatically stacked by a freight transport vehicle (FFFZ). The container exchange system itself is not shown. Only one anti-roll door of the container exchange system can be seen. The moving parts of the container exchange system (not shown) form the operating area 1.1 of the production facility, which is a hazardous area for the equipment operator. A safety system is provided to protect the operating area 1.1 of the production facility to prevent injury to the equipment operator from the moving parts.

[0034] The safety system includes a control unit and at least one non-contact protective device. In the illustrated embodiment, three non-contact protective devices are shown, formed as laser scanners 2.1, 2.2, and 2.3. The laser scanners 2.1, 2.2, and 2.3 generate three protective fields, configured as laser scanning fields 5.1, 5.2, and 5.3, which are positioned at a safety boundary 1.2 separated from the operating area 1.1 in the operating mode of the safety system for the production equipment. If the safety boundary 1.2 is violated (for example, if an equipment operator enters the laser scanning field), the safety system can transition to an alarm state in which a control unit can be provided for the production equipment by the control unit. This control unit can, for example, trigger an equipment shutdown so that the moving parts of the production equipment are stopped and danger to the equipment operator is avoided.

[0035] In the illustrated embodiment, the safety system has three laser scanners 2.1, 2.2, and 2.3, each providing a laser scanning field 5.1, 5.2, and 5.3, thus forming a three-dimensional protected space. However, the present invention is not limited to this embodiment. The safety system may have more than three or fewer laser scanners 2.1, 2.2, and 2.3. In the illustrated embodiment, the laser scanners 2.1, 2.2, and 2.3 are fixed to a support frame 3 in the upper region of the logistics unit 1. However, the present invention is not limited thereto. The laser scanners 2.1, 2.2, and 2.3 may be fixed in suitable locations, such as the sides of the support frame or the bottom of the logistics unit 1. The number and arrangement of the laser scanners 2.1, 2.2, and 2.3 ultimately depend on the extent and geometry of the operating area 1.1 to be protected.

[0036] In order to protect the rear intrusion zone 4 formed by the distance between the operating area 1.1 and the safety boundary 1.2 in the operating mode, at least one of the laser scanners 2.1, 2.2, and 2.3 of the sensor device is driven and adjustable in its position, and the laser scanning fields 5.1, 5.2, and 5.3 generated by these laser scanners 2.1, 2.2, and 2.3 are capable of sweeping at least a portion of the rear intrusion zone 4, at least partially, via the driven and adjustable laser scanners 2.1, 2.2, and 2.3 in the safety system initialization mode. Therefore, when the laser scanning fields 5.1, 5.2, and 5.3 are initiated, they are formed on the safety boundary 1.2, and in accordance with the present invention, the laser scanner is adjusted to be driven in initialization mode, and the laser scanning fields 5.1, 5.2, and 5.3 generated by the laser scanner, along with the adjustment of the driven laser scanner, sweep at least a portion of the back penetration zone formed between the operating area 1.1 and the separated safety boundary 1.2, away from the operating area 1.1 towards the safety boundary 1.2.

[0037] In the illustrated embodiment, the laser scanners 2.1, 2.2, and 2.3 of the sensor device are configured to be rotatable by an angle 6 (swiveling angle) within at least one plane, and the laser scanning fields 5.1, 5.2, and 5.3 generated by the laser scanners 2.1, 2.2, and 2.3 are swiveling by this angle 6 relative to the operating region 1.1 in the initialization mode. The laser scanners 2.1, 2.2, and 2.3 are rotatable by pneumatic drive. However, the present invention is not limited to pneumatic drive. For example, the drive can also be electrically driven.

[0038] In this configuration, to protect the rear entry zone, the laser scanners 2.1, 2.2, and 2.3 are driven and rotated by an angle of 6 in initialization mode, and the generated laser scanning fields 5.1a, 5.1b, 5.2a, 5.2b, 5.3a, and 5.3b (Figures 2 and 3) are rotated by an angle of 6 to the safety boundary 1.2, sweeping at least a portion of the rear entry zone 4. In this case, the laser scanners 2.1, 2.2, and 2.3 do not necessarily all need to rotate by the same angle of 6. The rotation angle 6 of each laser scanner 2.1, 2.2, and 2.3 basically depends on the dimensions of the rear entry zone or section assigned to each laser scanner 2.1, 2.2, and 2.3.

[0039] Figure 2 shows another perspective view of the logistics unit 1 according to Figure 1. This figure highlights the laser scanner 2.2, including the vertical laser scanning field 5.2a and the laser scanning field 5.2b rotated by a rotation angle of 6, along with their associated rear entry zones 4.2.

[0040] Figure 3 shows the above-described arrangement of laser scanners 2.1, 2.2, and 2.3 again in a plan view. Laser scanner 2.1 generates a vertical laser scanning field 5.1a in operating mode, and this vertical laser scanning field is swiveled in the initialization mode (at position 5.1a) toward the safety boundary 1.2, moving away from the work area (Arbeitsbereich) from position 5.1b. This also applies to laser scanner 2.2, which has laser scanning fields at positions 5.2a and 5.2b, and to laser scanner 2.3, which has laser scanning fields at positions 5.3a and 5.3b. Laser scanners 2.1, 2.2, and 2.3 work together to protect the entire rear intrusion zone 4 of the logistics unit 1.

[0041] The construction of laser scanning fields 5.1a, 5.2a, and 5.3a at safety boundary 1.2 can be achieved, for example, by turning on laser scanners 2.1, 2.2, and 2.3 to first generate laser scanning fields 5.1b, 5.2b, and 5.3b, and then rotating them toward safety boundary 1.2 to form laser scanning fields 5.1a, 5.2a, and 5.3a. Similarly, it is possible that the laser scanning fields 5.1a, 5.2a, and 5.3a are oriented to be generated at safety boundary 1.2 when the laser scanners are turned on. In this case, the orientation of laser scanning fields 5.1b, 5.2b, and 5.3b is achieved by rotating laser scanners 2.1, 2.2, and 2.3. After that, the laser scanners are rotated back to their original positions to re-orient the laser scanning fields 5.1a, 5.2a, and 5.3a. Therefore, in all cases, the rotation of the ON laser scanner is performed in a manner that moves from the operating area 1.1 toward the safety boundary 1.2.

[0042] In the illustrated embodiment, scanning of the rear entry zone 4 is performed periodically after the entry of the cargo transport vehicle, after which an automated transport process that endangers people is initiated between the cargo and the container exchange system. While the container exchange system is operating or during the automated transport process, the vertical scanning fields 5.1a, 5.2a, and 5.3a remain active. If a person passes through any of the scanning fields 5.1a, 5.2a, or 5.3a from the outside, all related operating axes are immediately switched to emergency stop.

[0043] In another embodiment not shown, the laser scanners 2.1, 2.2, and 2.3 of the sensor device are driven along at least one spatial axis and are formed to be linearly movable, and in the initialization mode, the laser scanning fields 5.1, 5.2, and 5.3 generated by the laser scanners 2.1, 2.2, and 2.3 are displaceable relative to the operating region 1.1 by this amount of movement. The laser scanners 2.1, 2.2, and 2.3 are driven along a linear axis or a telescopic axis and are linearly movable, but the present invention is not limited thereto.

[0044] In the operating mode, in order to protect the rear intrusion zone 4 formed by the distance between the operating area 1.1 and the safety boundary 1.2, in this embodiment, at least one laser scanner 2.1, 2.2, 2.3 of the sensor device is driven in at least one spatial direction in the initialization mode and moved linearly, so that the laser scanning fields 5.1, 5.2, 5.3 generated by this laser scanner 2.1, 2.2, 2.3 are moved toward the safety boundary 1.2 toward the operating area 1.1 by the amount of that movement.

[0045] Advantageously, evaluation units for evaluating the optical signals emitted from laser scanners 2.1, 2.2, and 2.3 are integrated into the laser scanners 2.1, 2.2, and 2.3 of the sensor device itself, and each evaluation unit is connected to a control unit. However, it is not mandatory for the evaluation units to be integrated into the laser scanners 2.1, 2.2, and 2.3.

[0046] Non-contact protective devices are not limited to laser scanners 2.1, 2.2, and 2.3. In embodiments not shown, they can also be formed optically, acoustically, inductively, or capacitively. For example, a non-contact protective device (2.1, 2.2, 2.3) may have a light source and a light receiver, and a light curtain can be formed as a protective field. Alternatively, a non-contact protective device (2.1, 2.2, 2.3) may have an ultrasonic motion detector that generates a protective field formed from ultrasonic waves.

[0047] The present invention is not limited to production equipment formed as a logistics unit 1. [Explanation of Symbols]

[0048] 1. Logistics unit for production facilities 1.1 Operating area 1.2 Safety perimeter 2.1 Laser scanner, non-contact protective device 2.2 Laser scanners, non-contact protective devices 2.3 Laser scanner, non-contact protective device 3. Support frame for laser scanner 4. Rear entry zone 4.2 Rear entry zone for laser scanner 2.2 5.1a Vertical scanning field of scanner 2.1 5.1b Scanning field after rotation of scanner 2.1 5.2a Vertical scanning field of scanner 2.2 5.2b Scanning field after rotation of scanner 2.2 5.3a Vertical scanning field of scanner 2.3 5.3b Scanning field after rotation of scanner 2.3 6. Swivel angle of the scanning scanner

Claims

1. A safety system for protecting the operating area (1.1) of production equipment (1), wherein the safety system comprises a control device and at least one non-contact protective device (2.1, 2.2, 2.3), wherein in the operating mode of the safety system, the non-contact protective device defines a safety boundary (1.2) via a protective field formed separately from the operating area (1.1), and the safety system can transition to an alarm state when the safety boundary (1.2) is violated, and in the alarm state, the control device can supply a control signal for the production equipment, and the non-contact protective device (2.1, 2.2, 2.3) 3) A safety system characterized in that, in the operating mode, the position of the rear intrusion zone (4) of the production equipment formed by the separation between the operating area (1.1) and the safety boundary (1.2) is adjustable by drive, and in the initialization mode of the safety system, the protective field (5.1a, 5.1b, 5.2a, 5.2b, 5.3a, 5.3b) generated by the non-contact protective device (2.1, 2.2, 2.3) can be guided at least partially over the rear intrusion zone (4) through the adjustment function by drive of the non-contact protective device (2.1, 2.2, 2.3).

2. The safety system according to claim 1, characterized in that at least one of the non-contact protective devices (2.1, 2.2, 2.3) is configured to be rotatable by a predetermined angle (6) in at least one plane, and the protective field (5) generated by the non-contact protective device (2.1, 2.2, 2.3) is rotatable by the predetermined angle (6) relative to the operating area (1.1) in the initialization mode.

3. The safety system according to claim 2, characterized in that the non-contact protective device (2.1, 2.2, 2.3) is driven by an electric motor or pneumatically and is rotatable.

4. The safety system according to claim 1, characterized in that at least one of the non-contact protective devices (2.1, 2.2, 2.3) is driven in at least one spatial axis and is formed to be linearly movable, and in the initialization mode, the laser scanning field (5) generated by the non-contact protective device (2.1, 2.2, 2.3) is movable relative to the operating area (1.1) by the amount of this movement.

5. The safety system according to claim 4, characterized in that the non-contact protective device (2.1, 2.2, 2.3) is driven by a linear axis or telescopic axis and is linearly movable.

6. The safety system according to claim 5, characterized in that the linear axis or the telescopic axis is driven by an electric motor or by pneumatics.

7. The safety system according to any one of claims 1 to 6, characterized in that the non-contact protective device (2.1, 2.2, 2.3) has at least one evaluation unit for evaluating signals emitted from the non-contact protective device (2.1, 2.2, 2.3), and the evaluation unit is connected to the control device.

8. The safety system according to any one of claims 1 to 7, characterized in that the non-contact protective device (2.1, 2.2, 2.3) operates optically, acoustically, inductively, or capacitively.

9. The safety system according to claim 8, characterized in that the non-contact protective device (2.1, 2.2, 2.3) is a laser scanner that forms a laser scanning field as a protective field, or the non-contact protective device (2.1, 2.2, 2.3) has a light source and a light receiver that thereby forms a light curtain as a protective field, or the non-contact protective device (2.1, 2.2, 2.3) has an ultrasonic motion detector that thereby forms a protective field formed from ultrasonic waves.

10. A method for protecting the operating area (1.1) of production equipment (1) equipped with a safety system, wherein the safety system, in its operating mode, provides a protective field at a safety boundary (1.2) separated from the operating area (1.1) using non-contact protective devices (2.1, 2.2, 2.3), transitions the safety system to an alarm state when the safety boundary (1.2) is breached, supplies a control signal for the production equipment by the control device of the safety system in the alarm state, and constructs the protective field at the safety boundary (1.2) in the initialization mode of the safety system, wherein in the initialization mode, the non-contact protective device is adjusted by driving, and the protective field generated by the non-contact protective device is guided at least partially to the safety boundary (1.2) on a rear intrusion zone (4) formed between the operating area (1.1) and the safety boundary (1.2) separated from it, in accordance with the adjustment by driving the non-contact protective device.

11. The method according to claim 10, characterized in that, in the initialization mode, the non-contact protective device (2.1, 2.2, 2.3) is driven to rotate by a predetermined angle (6) in at least one plane, and the generated protective field (5) is rotated by the predetermined angle (6) until it reaches the safety boundary (1.2).

12. The method according to claim 10, characterized in that the non-contact protective device (2.1, 2.2, 2.3) is driven in at least one spatial direction in the initialization mode and moved linearly, and in the process the generated protective field (5) is moved to the safety boundary (1.2) by the amount of that movement.

13. The method according to any one of claims 10 to 12, characterized in that the non-contact protective device (2.1, 2.2, 2.3) operates optically, acoustically, inductively, or capacitively.

14. The method according to claim 13, characterized in that the non-contact protective device (2.1, 2.2, 2.3) is a laser scanner that forms a laser scanning field as a protective field, or the non-contact protective device (2.1, 2.2, 2.3) has a light source and a light receiver that thereby forms a light curtain as a protective field, or the non-contact protective device (2.1, 2.2, 2.3) has an ultrasonic motion detector that thereby forms a protective field formed from ultrasonic waves.

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