Method for operating a linear transport system, and linear transport system

Abstract

The invention relates to a computer-implemented method (200) for operating a linear transport system (100) having a control unit (109) and having a stationary unit (103) with a guide rail (105) for guiding a movable unit (101) and having a plurality of motor modules (117) arranged along the guide rail (105), the method (200) comprising: the control unit (109) identifying the motor modules (117) in a motor module identification step (201); the control unit (109) determining a motor module sequence of the motor modules (117) in a motor module sequence determination step (203); the control unit (109) determining an assembly assignment on the basis of assembly identification information (145) provided by the motor modules (117), in an assembly assignment step (205); the control unit (109) determining an assembly sequence of the assemblies (121) on the basis of the motor module sequence and the assembly assignment in an assembly sequence determination step (207); and the control unit (109) determining a topology of the motor modules (117) of the stationary unit (103) on the basis of the assembly sequence in a topology determination step (209). The invention also relates to a linear transport system (100).

Description

[0001] Description

[0002] Method for operating a linear transport system and linear transport system

[0003] The invention relates to a method for operating a linear transport system. The invention further relates to a linear transport system.

[0004] The patent application claims priority over the German patent application.

[0005] 10 2024 117 855.8, the disclosure content of which is hereby incorporated by reference.

[0006] Linear transport systems are known from the prior art. In particular, a linear transport system is known comprising a moving unit, a stationary unit with a guide rail for guiding the moving unit, and a linear motor for driving the moving unit along the guide rail, wherein the linear motor comprises a stator and a rotor, wherein the stator has several motor modules arranged stationary along the guide rail, each of which has several drive coils, and wherein the rotor is arranged on the moving unit and comprises several magnets.

[0007] To operate the linear transport system, knowledge of the arrangement of individual motor modules of the stationary unit is essential in order to achieve a movement of the moving unit along the guide rail by controlling drive coils of the respective motor modules.

[0008] It is therefore an object of the invention to provide an improved method for operating a linear transport system and an improved linear transport system.

[0009] This problem is solved by the method and the linear transport system of the independent claims. Advantageous embodiments are specified in the dependent claims.

[0010] According to one aspect, a computer-implemented method for operating a linear transport system with a control unit and a stationary unit is provided, wherein the stationary unit comprises a guide rail for guiding a movable unit and a plurality of motor modules arranged along the guide rail, wherein the motor modules each comprise drive coils for providing a drive magnetic field for driving the movable unit along the guide rail, wherein the motor modules are grouped into a plurality of assemblies, wherein each assembly comprises at least two immediately adjacent motor modules, wherein in each assembly at least one motor module is connected to another motor module of another assembly via at least one assembly-external data connection, wherein the control unit is connected to at least one motor module of at least one assembly via a control data connection.wherein the control unit is connected to the motor modules via the control data connection, the internal data connections within the assemblies and the at least one external data connection between the assemblies, and wherein the method comprises:

[0011] Identifying the motor modules by the control unit in a motor module identification step;

[0012] Determining the motor module sequence of the motor modules by the control unit in a motor module sequence determination step;

[0013] Determining an assembly assignment based on assembly identification information provided by the motor modules by the control unit in an assembly assignment step, wherein the assembly identification information includes at least for each motor module an assembly identifier of an assembly comprising the respective motor module, and wherein in the assembly assignment each motor module is assigned to an assembly;

[0014] Determining an assembly sequence of the assemblies based on the motor module sequence and the assembly assignment by the control unit in an assembly sequence determination step; and

[0015] Determining a topology of the motor modules of the stationary unit by the control unit based on the assembly sequence in a topology determination step.

[0016] This allows for the technical advantage of providing an improved method for operating a linear transport system. The improved method enables the automatic determination of the topology of the stationary unit of the linear transport system.

[0017] The topology of the stationary unit or the motor modules of the stationary unit describes, in the sense of the application, a unique arrangement of the motor modules along the stationary unit.

[0018] To automatically determine the topology, the control unit of the linear transport system first identifies the motor modules of the stationary unit. This identification allows the control unit to uniquely address and control the motor modules of the stationary unit, as defined in the application. Subsequently, the control unit determines the sequence of the motor modules on the stationary unit. This sequence, as defined in the application, is a list of the uniquely identified motor modules along a predefined direction on the stationary unit.

[0019] Subsequently, the motor modules of the stationary unit provide the control unit with assembly identification information. This assembly identification information uniquely identifies the assembly in which each motor module is configured. Based on this, the control unit determines an assembly assignment, assigning each motor module of the stationary unit to an assembly in which the respective motor module is configured according to the assembly identification information.

[0020] Subsequently, the control unit determines an assembly sequence based on the motor module sequence along the stationary unit and the component assignment. In accordance with the application, the assembly sequence defines, analogously to the motor module sequence, a sequence of uniquely identified assemblies along the stationary unit in a predefined direction.

[0021] Knowing the motor module sequence and the assembly sequence, the control unit is aware of the complete topology of the motor modules along the stationary unit and can assign a unique relative position and / or absolute position on the stationary unit to each motor module or assembly of the stationary unit.

[0022] The method according to the invention thus enables the automatic determination of the topology of the motor modules and the assemblies of the stationary unit. This eliminates the need for time-consuming manual determination of the topology.

[0023] By considering the component assignments and the determined component sequences, topologies can be determined, particularly for cases where the majority of motor modules are arranged in different motor module strings. Within a motor module string, the motor modules are interconnected and connected to the control unit, but the motor modules of different motor module strings do not have a direct connection to each other.

[0024] The assemblies can be designed as independent components in which at least two motor modules can be securely fixed. For this purpose, each assembly can include a housing and / or support frame into which the motor modules can be fixed. Alternatively, the assemblies can be designed as a mechanical structure that allows the motor modules to be accommodated. The assemblies can be produced in various assembly types with predetermined dimensions. The assemblies can include receiving spaces for the motor modules, in which the individual motor modules can be arranged.

[0025] The mounting spaces can be arranged at fixed positions within the assemblies. The dimensions of the mounting spaces within the assemblies can correspond to those of the motor modules. However, the mounting spaces can also be larger than the motor modules to allow for clearance when mounting the motor modules. The number of mounting spaces can correspond to the number of motor modules within the assembly.

[0026] The assemblies can define track sections of the linear transport system in terms of dimensions, shape, and orientation in space. Furthermore, the assembly can contain rail elements that guide the runners along them. The assemblies can also include functional elements to perform specific tasks, such as a lift function or a switch function. The motor modules can be pre-assembled in the assemblies. In addition, the assemblies can be exchanged as a complete unit and combined as desired.

[0027] According to one embodiment, the motor modules further provide assembly type information for the assemblies, wherein the assembly type information defines each assembly as a straight assembly and / or a curved assembly and / or a switch assembly and / or a ramp assembly and / or a lift assembly and / or a bridge assembly, and / or includes information regarding dimensions and / or shapes and / or orientations of the respective assembly, and wherein the assembly sequence in the assembly sequence determination step and / or the topology in the topology determination step are determined taking into account the assembly type information of the assemblies.

[0028] This allows for the technical advantage of further improving the topology of the motor modules of the stationary unit, which is automatically determined by the control unit. For this purpose, the motor modules provide assembly type information in addition to assembly identification information. Based on this assembly type information, each assembly can be identified as a straight assembly, a curved assembly, and / or a switch assembly. The subsequent determination of the assembly sequence and / or topology takes into account this assembly type information for each individual assembly. This enables a more detailed determination of the topology of the stationary unit.

[0029] A lift assembly is configured to perform a lift function, enabling the movable unit attached to the lift assembly to be transported to different height levels. A bridge assembly allows the arrangement of various motor modules at different height levels, similar to a bridge in road traffic. A switch assembly allows the selection of at least two different travel paths for the movable unit, similar to a switch in rail traffic.

[0030] According to one embodiment, the method further comprises:

[0031] Determining module spacings between the motor modules based on the assembly type information and / or based on assembly implementation information stored in the control unit by the control unit in a motor module spacing determination step, wherein the assembly implementation information includes technical information of the respective assemblies.

[0032] This allows for the technical advantage of further improving the automatically determined topology information. For this purpose, the control unit determines module spacing between the motor modules based on the assembly type information or taking assembly implementation information into account, and incorporates this information into the topology. The assembly implementation information can, for example, be provided in a corresponding database of the control unit and include technical information about the assemblies.

[0033] The assemblies are installed as independent components in the stationary unit. The assembly implementation information provides the control unit with the technical information relevant for the operation of the stationary unit and, in particular, the assemblies. The assembly type information and / or the assembly implementation information can define, for example, the dimensions of the assembly, the type of assembly, performance information of the drive coils of the motor modules, the number of mounting points for motor modules, the number of motor modules in the assembly, or other function-related information about the assembly.

[0034] Furthermore, the assembly type information and / or the assembly implementation information can define the positions of the motor modules within the assemblies and, consequently, the distances between the motor modules within the assembly and / or between the motor modules and the assembly's edge regions. By considering the module distances between the motor modules in the topology information, a precise topology of the stationary unit can be determined. Detailed specification of the module distances between the motor modules on the stationary unit enables improved control of the moving unit along the guide rail by allowing the control unit to appropriately control the motor modules of the stationary unit.

[0035] According to one embodiment, the motor modules also provide motor module position information for the motor modules within the respective assemblies, wherein the assembly sequence determination step further includes:

[0036] Determining the installation direction of each assembly based on the motor module sequence, the assembly assignment, and the motor module position information of the motor modules by the control unit in an installation direction determination step.

[0037] This achieves the technical advantage of further improving the automatically determined topology. In addition to the assembly identification information and / or the assembly type information, motor module position information is provided by the motor modules of the control unit. This motor module position information defines unique positions of the individual motor modules within the assemblies. Based on this motor module position information, unique positions can be assigned to the motor modules within the assemblies.

[0038] Furthermore, the sequence of motor modules within the assemblies can be determined solely from the motor module position information. Taking into account the motor module sequence of the individual motor modules along the stator unit, previously determined by the control unit, an installation direction for each assembly relative to the predefined direction of the motor module sequence or assembly sequence can thus be determined. The corresponding information regarding the installation direction of the individual assemblies can also be integrated into the topology information by the control unit.

[0039] This enables further improved control of the motor modules by the control unit, as the control unit, knowing the assembly sequence and the installation direction of the individual assemblies, is able to control the motor modules of the stator unit in the correct sequence in order to effect precise movement of the moving units.

[0040] According to one embodiment, the assembly assignment step comprises:

[0041] The control unit generates virtual images of the motor modules and / or assemblies based on the assembly identification information and / or assembly type information and / or motor module position information provided by the motor modules in an image generation step.

[0042] This offers the technical advantage that the virtual representations of the motor modules and / or assemblies allow for an exact mapping between the motor modules and the assemblies. This further improves the automatic determination of the stationary unit's topology.

[0043] According to one embodiment, the assembly sequence determination step comprises: identifying the assemblies interconnected via the external data connections based on the motor module sequence and the assembly assignment of the motor modules by the control unit in an assembly identification step.

[0044] This offers the technical advantage that identifying the external data connections that link the different assemblies allows for a further improvement in topology information. In particular, knowing the external data connections linking the individual assemblies enables a more precise determination of the assembly sequence.

[0045] According to one embodiment, the plurality of motor modules are grouped into at least a first motor module string and a second motor module string, wherein in the first motor module string and in the second motor module string all motor modules are interconnected via the assembly-internal data connections and the assembly-external data connections, wherein the control unit is connected to the first motor module string via at least a first control data connection and to the second motor module string via a second control data connection, wherein at least a first connecting motor module of the first motor module string and a second connecting motor module of the second motor module string are arranged in a common connecting assembly, wherein the module identification step comprises: identifying the motor modules of the first motor module string and identifying the motor modules of the second motor module string in a motor module string identification step;the motor module sequence determination step includes:;

[0046] Determining a first motor module part sequence of the motor modules of the first motor module string and a second motor module part sequence of the motor modules of the second motor module string by the control unit in a motor module part sequence determination step; wherein the assembly assignment step comprises:

[0047] Determining a first assembly assignment of the motor modules of the first motor module string based on first assembly identification information of the assemblies of the first motor module string provided by the motor modules of the first motor module string, and a second assembly assignment of the motor modules of the second motor module string based on second assembly identification information of the assemblies of the second motor module string provided by the motor modules of the second motor module string, by the control unit in an assembly part assignment step; wherein the assembly sequence determination step comprises:

[0048] Determining a first sub-sequence of the assemblies of the first motor module string based on the first motor module sub-sequence and the first sub-sequence, and a second sub-sequence of the assemblies of the second motor module string based on the second motor module sub-sequence and the second sub-sequence by the control unit in one sub-sequence determination step; and

[0049] Determining the assembly sequence based on the first assembly part sequence, the second assembly part sequence, and the position of the connecting assembly in the first assembly sequence and the second assembly sequence by the control unit.

[0050] This allows for the technical advantage of precise topology determination even for a stationary unit with multiple separately controlled motor module strings. For the purposes of this application, motor module strings are groupings of motor modules, wherein all motor modules within a motor module string are interconnected via the module's internal data connections and / or external data connections.

[0051] In contrast, there is no direct connection between motor modules of two different motor module strings via internal or external data connections. According to the invention, each motor module string is connected to the control unit via a control data connection, so that data communication between the control unit and the motor modules of the different motor module strings can be carried out independently.

[0052] This makes it possible for the control unit to perform the identification of the motor modules, the determination of the motor module sequence, the determination of the assembly assignment and the determination of the assembly sequence separately for each motor module string and the motor modules or assemblies formed therein.

[0053] The motor module part sequences or assembly part sequences of the different motor module strings, determined accordingly, can then be combined into a common motor module sequence for all motor modules of the stationary unit and an assembly sequence for all assemblies of the stationary unit. By separately determining the motor module part sequences and / or assembly part sequences of the different motor module strings, time savings in automatic topology determination can be achieved, for example, through parallel calculation processes by the control unit. Furthermore, by dividing the motor modules of the stationary unit into separate motor module strings, improved control of the linear transport system can be achieved.

[0054] The connecting assembly is characterized in that at least one motor module of the connecting assembly is assigned to a first motor module string and at least one further motor module to a second motor module string. The motor module assigned to the first motor module string is referred to as the first connecting motor module, and the motor module assigned to the second motor module string is accordingly referred to as the second connecting motor module. The first connecting motor module and the second connecting motor module are not directly connected to each other within their respective connecting assembly.

[0055] According to one embodiment, the topology determination step includes:

[0056] Defining a travel path of the stationary unit based on the topology of the motor modules by the control unit in a travel path definition step, wherein the travel path defines a path of the plurality of motor modules and assemblies on the stationary unit.

[0057] This offers the technical advantage of further improving the automatically determined topology information. Based on the topology, a travel path for the stationary unit is also calculated. This path describes the sequence of motor modules or assemblies along the predefined direction of the stationary unit. The resulting travel path can then be displayed graphically to a user of the linear transport system. This improves the control of the linear transport system and the monitoring of linear transport processes.

[0058] According to one embodiment, the topology determination step includes:

[0059] Generating a graphical representation of the topology of the stationary unit and providing the graphical representation to a display unit for display by the control unit in one representation generation step.

[0060] This achieves the technical advantage that the graphical representation of the topology enables improved usability of the automatically determined topology information. According to one embodiment, the method further comprises:

[0061] Generating driver software by the control unit in a driver generation step, wherein the driver software is adapted to the determined topology of the motor modules of the stationary unit and is configured to enable control of the motor modules.

[0062] This allows for the technical advantage of further improving the control of the linear transport system. For this purpose, appropriate driver software is generated based on the automatically determined topology, which is used to control the various motor modules. The improved, or rather, more detailed, automatically generated topology enables the creation of correspondingly enhanced driver software that incorporates the detailed information from the automatically determined topology. This improved driver software allows for better control of the various motor modules and thus improved control of the linear transport system.

[0063] According to one embodiment, data communication between the control unit and the motor modules takes place based on a fieldbus protocol, with the motor modules being defined as participants in the fieldbus.

[0064] This offers the technical advantage of enabling high-performance and reliable data communication between the control unit and the motor modules by using a fieldbus protocol. By defining the individual motor modules as participants in the fieldbus, automatic identification and determination of the motor module sequence can be achieved through the application of the fieldbus protocol. This further simplifies the automatic determination of the topology.

[0065] According to one embodiment, the method further comprises:

[0066] Sending an identification query from the control unit to the motor modules in an identification query step; and

[0067] Receiving motor module identification information provided by the motor modules by the control unit in an identification information reception step, wherein the motor module identification information includes at least the assembly identification information and / or the assembly type information and / or the motor module position information.

[0068] This allows for the technical advantage that by sending the identification query from the control unit to the motor modules, in which the motor modules are asked to identify themselves, and by the motor modules providing corresponding motor module identification information to the control unit, a precise identification of the motor modules and, based on this, a precise determination of the motor module sequence can be achieved.

[0069] By sending the identification query, each motor module can be prompted to provide the corresponding motor module identification information. This ensures that each motor module provides the appropriate motor module identification information, and consequently, the corresponding assembly identification information, assembly type information, and / or motor module position information.

[0070] According to one embodiment, the motor module identification information further includes a motor module identifier and / or technical information of the respective motor module.

[0071] This offers the technical advantage that additional information can be incorporated into the topology by providing the motor module identifier or technical information for the various motor modules. By considering this technical information within the topology, the topology information can be further refined. This technical information can include, for example, details regarding the coil power of the drive coils or additional functions of the motor modules.

[0072] The additional functions may include, for example, a power transfer function and / or a data transmission function from the motor module to the moving unit and / or a monitoring function or other additional functions.

[0073] According to one embodiment, the method is carried out for at least a part of the plurality of motor modules of the stationary unit during a start-up of the linear transport system and / or during at least partial operation of the linear transport system, wherein in at least partial operation the method is carried out on a part of the plurality of motor modules not included in the operation of the linear transport system.

[0074] This achieves the technical advantage of broad applicability of the method according to the invention. For example, the method can be executed during the start-up of the linear transport system to determine the entire topology of the motor modules of the stationary unit. Alternatively or additionally, the method can be executed during operation of the linear transport system for areas of the system where modifications have been made to the stationary unit, and in particular to the motor modules. For example, if motor modules have been replaced, added / removed, or new track sections integrated into the stationary unit, the topology of the modified area of ​​the stationary unit can be determined by executing the method while the unchanged areas of the linear transport system continue to operate at full capacity.This improves the operation of the linear transport system, as a complete shutdown of the entire system is not necessary to determine the topology of the modified areas of the stationary unit.

[0075] According to one aspect, a linear transport system is provided with a control unit and a stationary unit with a guide rail for guiding a movable unit and a plurality of motor modules arranged along the guide rail, wherein the motor modules each comprise drive coils for providing a drive magnetic field for driving the movable unit along the guide rail, wherein the motor modules are grouped into a plurality of assemblies, wherein each assembly comprises at least two motor modules, wherein in each assembly at least one motor module is connected to another motor module of another assembly via at least one assembly-external data connection, wherein the control unit is connected to at least one motor module of at least one assembly via a control data connection, wherein the control unit is connected via the control data connection,the internal data connections within the assemblies and the at least one external data connection between the assemblies and the motor modules are connected electronically, and wherein the control unit is configured to execute the method for operating a linear transport system according to one of the preceding embodiments.

[0076] This allows the technical advantage to be achieved that an improved linear transport system can be provided, which is set up to carry out the inventive method for operating a linear transport system with the technical advantages described above.

[0077] According to one embodiment, the assemblies are designed as mechanical units and the at least two motor modules are fixed and integrated into each assembly.

[0078] This approach offers the technical advantage of simplifying the stationary unit by grouping the motor modules into subassemblies and using these subassemblies as separate, independent mechanical units in which the respective motor modules are permanently integrated. The use of subassemblies results in modularity for the stationary unit, thus simplifying its manufacturing and assembly with individual travel paths. The motor modules can be fixed within their respective subassemblies using appropriate fixing devices. For example, the motor modules can be screwed, clamped, snapped, glued, or welded into the subassembly.

[0079] According to one embodiment, the assembly identification information and / or the assembly type information and / or motor module position information are stored in memory units in the motor modules and / or the assemblies.

[0080] This allows the technical advantage to be achieved that by storing the assembly identification information and / or the assembly type information and / or the motor module position information in storage units of the motor modules or the assemblies, the motor modules and / or assemblies can already be provided with the corresponding information at the factory after production.

[0081] When the assemblies are installed in the stationary units of various linear transport systems, the correspondingly installed assemblies or motor modules already contain the necessary information, so that only the method according to the invention needs to be carried out to determine the topology and the control unit can automatically determine the topology of the stationary unit by reading the information stored accordingly in the motor modules or assemblies.

[0082] The motor modules or assemblies, each equipped with the corresponding information, are thus considered completely independent components of the linear transport system and can be easily replaced or exchanged. This further simplifies the automatic determination of topology information.

[0083] When a motor module in an assembly is replaced, the assembly identification information and / or the assembly type information and / or the motor module position information are transferred to the new motor module, i.e., stored in the memory unit.

[0084] The linear motor of the linear transport system can be used in both motor and generator modes. This allows energy to be absorbed by the motor modules of the linear motor operating in generator mode during braking operations in which the moving units traveling along the guide rail are slowed down.

[0085] The energy absorbed by the motor modules can be transferred between them and used to accelerate the moving units again during further movement. The control unit can regulate the motor or generator operation to ensure that the maximum amount of energy is absorbed and transferred to the motor modules that are then activated to accelerate the moving unit again.

[0086] To avoid excessive power flows between the motor modules involved, the control unit can monitor the power flow between the motor modules accordingly.

[0087] Performance monitoring can be software-based and / or supported by a suitable performance monitoring system with power measuring elements integrated into the motor modules.

[0088] Furthermore, thermal overload monitoring functions can be included in software and / or hardware-based solutions.

[0089] The invention is explained in more detail with reference to the accompanying figures. These show:

[0090] Fig. 1 shows a schematic representation of a linear transport system according to one embodiment;

[0091] Fig. 2 shows a further schematic representation of the linear transport system according to another embodiment;

[0092] Fig. 3 shows a further schematic representation of the linear transport system according to another embodiment;

[0093] Fig. 4 shows a further schematic representation of the linear transport system according to another embodiment;

[0094] Fig. 5 shows a further schematic representation of the linear transport system according to another embodiment;

[0095] Fig. 6 shows a further schematic representation of the linear transport system according to another embodiment;

[0096] Fig. 7 shows a further schematic representation of the linear transport system according to another embodiment;

[0097] Fig. 8 shows a flowchart of a method for operating a linear transport system according to one embodiment; Fig. 9 shows a further flowchart of the method for operating a linear transport system according to another embodiment; and

[0098] Fig. 10 shows another flowchart of the method for operating a linear transport system according to a further embodiment.

[0099] The same reference symbols can be used for elements with the same effect in the following. It may be unnecessary to describe these elements again for each figure. Nevertheless, these elements with the same effect can be provided accordingly in all embodiments.

[0100] Fig. 1 shows a schematic top view of a linear transport system 100.

[0101] The linear transport system 100 comprises at least one movable unit 101, a stationary unit 103 with 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.

[0102] The linear motor 107 comprises a stator 111 and at least one rotor 113. The stator 111 is formed on the stationary unit 103, while the at least one rotor 113 is formed on the at least one moving unit 101. The stator 111 is arranged adjacent to the guide rail 105 on the stationary unit 103 and has a plurality of motor modules 117 along the guide rail. Each motor module 117 has at least one drive coil 115. By appropriately energizing the drive coils 115, the motor modules 117 can generate stator magnetic fields to drive the moving unit 101 along the guide rail 105.

[0103] As a counterpart to the stator 111 of the stationary unit 103, a corresponding rotor 113 is provided on each moving unit 101. The rotors 113 of the moving units 101 each have a plurality of drive magnet elements 119. A rotor magnetic field can be generated via the drive magnet elements 119 of the rotor 113, and the moving units 101 can be moved along the guide rail 105 via magnetic coupling between the rotor magnetic fields of the rotors 113 of the moving units 101 and the stator magnetic fields of the stator 111, which can be generated variably by energizing the drive coils 115.

[0104] To determine the position of the moving units 101 relative to the stationary unit 103, magnetic sensor elements 133 are provided on the motor modules 117. The magnetic sensor elements 133 allow the rotor magnetic fields of the rotors 113 of the moving units 101 to be measured, and the positions of the moving units 101 relative to the stationary unit 103 to be determined from this.

[0105] According to the invention, the motor modules 117 are grouped into assemblies 121. The assemblies 121 are independent components that are installed on the stationary unit 103. Each assembly 121 comprises at least two motor modules 117. The assemblies 121 are interconnected via external data connections 125.

[0106] The linear transport system 100 further comprises a control unit 109 for controlling the linear transport system 100. According to the invention, the control unit 109 is connected to the motor modules 117 or the assemblies 121 via at least one control data connection 127. Data communication between the control unit 109 and the motor modules 117 or the assemblies 121 is enabled via the control data connection 127, the internal data connections 123 between the motor modules 117, and the external data connections 125 between the assemblies 121.

[0107] The control unit 109 is set up to carry out a method according to the invention for operating a linear transport system 100 and to determine a topology of the motor modules 117 or assemblies 121 on the stationary unit 101.

[0108] Figure 1 shows four motor modules 117 by way of example: a first motor module 117-1, a second motor module 117-2, a third motor module 117-3, and a fourth motor module 117-4, which are grouped in pairs into two assemblies 121. The first and second motor modules 117-1 and 117-2 are formed in a first assembly 121-1, and the third and fourth motor modules 117-3 and 117-4 are formed in a second assembly 121-2. The fourth motor module 117-4 and the second assembly 121-2 are partially obscured in Figure 1 by the movable unit 101.

[0109] The control unit 109 is connected to the first module 121-1 via a control data connection 127. The first motor module 117-2 is connected to the second motor module 117-2 via an internal module data connection 123. The third motor module 117-3 is connected to the fourth motor module 117-4 via another internal module data connection 123. The first module 121-1 and the second module 121-2 are connected to each other via an external module data connection 125.

[0110] This can be achieved in particular by connecting the second motor module 117-2 of the first assembly 121-1 to the third motor module 117-3 of the second assembly 121-2 via the external data connection 125. The control unit 109 is thus connected to both assemblies 121-1 and 121-2 and the four motor modules 117-1, 117-2, 117-3, and 117-4.

[0111] The control unit 109 is thus equipped to perform an automatic determination of a topology of the motor modules 117 or the assemblies 121 on the stationary unit 103 by carrying out the inventive method for operating a linear transport system 100.

[0112] To automatically determine the topology of the motor modules 117 or assemblies 121 of the stationary unit 103, the control unit 109 first identifies the motor modules 117 connected to each other and to the control unit 109 via the control data connection 127, the assembly-internal data connection 123, and the assembly-external data connection 125. The identification of the motor modules 117 means that the control unit 109 can uniquely address the identified motor modules 117 and thus uniquely control them.

[0113] Furthermore, the control unit 109 determines a motor module sequence of the identified motor modules 117 along a predefined direction 161. In the example shown, the predefined direction 161 is defined along an increasing distance between the respective motor modules 117 and the control unit 109.

[0114] In the example shown, the correspondingly determined motor module sequence indicates that the first motor module 117-1 is located in the first position, the second motor module 117-2 in the second position, the third motor module 117-3 in the third position, and the fourth motor module 117-4 in the fourth position. Both the motor module sequence shown and the indicated predefined direction 161 are merely examples.

[0115] The identification and / or determination of the motor module sequence of the motor modules 117 by the control unit 109 can be achieved by the control unit 109 sending a corresponding identification query to the motor modules 117, and the motor modules 117 providing corresponding motor module identification information 151. The motor module identification information 151 includes at least the identifications of the individual motor modules 117, for example in the form of a motor module identifier.

[0116] The various motor modules 117 can also be configured differently. For example, the motor modules 117 can have different functions or different operating parameters and can be configured accordingly according to different motor module types. The motor modules 117 can thus be configured to provide the control unit 109 with motor module type information 152, in which the control unit 109 is shown at least the motor module types and / or the corresponding operating parameters of the respective motor modules 117.

[0117] According to one embodiment, data communication between the control unit 109 and the motor modules 117 is based on a fieldbus protocol. The individual motor modules 117 can be interpreted as participants in the fieldbus. The identification and determination of the motor module sequence can be performed automatically by the control unit 109 upon detection of the respective fieldbus participants and assignment of communication addresses. In particular, when the fieldbus protocol is based on EtherCAT technology, automatic determination of the motor module sequence of the motor modules 117 by the control unit 109 can be achieved. This automatic determination of the motor module sequence is analogous to the automatic determination of the sequence of participants in the EtherCAT fieldbus.

[0118] Data communication between the control unit 109 and the motor modules 117 can take place in particular in telegram form.

[0119] After identifying the motor modules 117 and determining their sequence, the control unit 109 determines a component assignment based on the assembly identification information 145 provided by the individual motor modules 117. This component assignment defines a relationship between the identified motor modules 117 and the assemblies 121 that comprise each of the motor modules 117.

[0120] The assembly identification information 145, which is provided individually by the identified motor modules 117, includes for each motor module 117 at least the assembly identification of the assembly 121 in which the respective motor module 117 is formed. Using the correspondingly determined assembly assignment, the control unit 109 can thus uniquely assign each identified motor module 117 to an assembly 121, and conversely, assign at least two motor modules 117 formed in each assembly 121.

[0121] Subsequently, the control unit 109 determines a corresponding assembly sequence, taking into account the previously determined motor module sequence and the determined component assignment. The assembly sequence describes a sequence of the identified components 121 along the predefined direction 161.

[0122] For the example shown, the control unit 109 first identifies the first to fourth motor modules 117-1 to 117-4 and determines the sequence of the four motor modules 117-1 to 117-4 described above. According to the assembly identification information 145 provided by the motor modules 117-1 to 117-4, the control unit 109 knows that the first and second motor modules 117-1, 117-2 are each located in the first assembly 121-1 and the third and fourth motor modules 117-3, 117-4 are each located in the second assembly 121-2.

[0123] Taking into account the motor module sequence, which states that the first and second motor modules 117-1, 117-2 are arranged in front of the third and fourth motor modules 117-3, 117-4 relative to the predefined direction 161, the control unit 109 now determines the assembly sequence, which accordingly states that the first assembly 121-1 is arranged in front of the second assembly 121-2 relative to the predefined direction 161.

[0124] By continuing the procedure described above for all motor modules 117 of the stationary unit 103, the control unit 109 can determine a complete assembly sequence of all assemblies 121 of the stationary unit 103 along the predefined direction 161. By determining the complete motor module sequence of all motor modules 117 and the assembly sequence of all assemblies 121, a complete topology of the motor modules 117 and assemblies 121, respectively, of the stationary unit 103 is determined.

[0125] According to one embodiment, in addition to the assembly identification information 145, the motor modules 117 also provide the control unit 109 with assembly type information 147. The respective types of the assemblies 121 can be communicated to the control unit 109 via the assembly type information 147. Based on the assembly type information 147, the control unit 109 can identify the assemblies 121, in particular as straight assembly assemblies 137, curved assembly assemblies 139, switch assembly assemblies 141, ramp assembly assemblies, lift assembly assemblies, or bridge assembly assemblies. The assembly types listed here are not exhaustive. Other assembly types can also be considered.

[0126] The relevant information regarding the types of the assemblies 121 can additionally be integrated into the topology information of the determined topology of the stationary unit 103.

[0127] According to a further embodiment, the motor modules 117 can provide motor module position information 149 in addition to the assembly identification information 145. The motor module position information 149 defines the positions of the respective motor modules 117 in the corresponding assemblies 121. Besides defining the positions of the motor modules 117, the motor module position information 149 also defines a sequence of the motor modules 117 within the respective assembly 121. Taking into account the motor module sequence of the motor modules 117 determined by the control unit 109 relative to the predefined direction 161, and in combination with the sequence of the motor modules 117 in the motor module position information 149, an installation direction of the assemblies 121 relative to the predefined direction 161 can be determined.

[0128] According to one embodiment, the determination of the assembly assignments by the control unit 109 can further include the generation of virtual images of the motor modules 117 and / or assemblies 121 based on the assembly identification information 145 and / or the assembly type information 147 and / or the motor module position information 149.

[0129] According to a further embodiment, the control unit 109 can identify the external data connections 125 connecting the various external data connections 121 to each other, based on the previously determined assembly sequence of the assemblies 121. The corresponding information regarding the identified external data connections 125 can be integrated as additional information into the topology information of the stationary unit 103.

[0130] According to one embodiment, a travel path of the stationary unit 103 is defined based on the topology information of the determined topology. The travel path is defined here as the path of the motor modules 117 along the stationary unit 103 and describes the true distances traveled by the moving units 101.

[0131] According to one embodiment, the topology information of the topology of the motor modules 117 or assemblies 121 of the stationary unit 103, determined according to the method described above, can be expressed by a graphical representation that can be displayed in a display unit (not shown) of the linear transport system 100.

[0132] According to a further embodiment, driver software can additionally be generated based on the topology information, which is configured to effect control of the motor modules 117.

[0133] As an alternative to the embodiment shown in Fig. 1, the motor modules 117 and / or the assemblies 121 can be configured differently. In particular, the motor modules can comprise a larger or smaller number of drive coils 115 than shown in Fig. 1. Furthermore, the assemblies 121 can comprise more than two motor modules 117. In the embodiment shown, storage units 169 are also formed in the motor modules 117. The storage units 169 can contain the data of the assembly identification information 145 and / or assembly type information 147 and / or motor module position information 149 and / or motor module identification information 151 and / or motor module type information 152.

[0134] Fig. 2 shows a further schematic representation of the linear transport system 100 according to a further embodiment.

[0135] The embodiment of the linear transport system 100 shown in Fig. 2 is based on the embodiment in Fig. 1 and includes all the features described therein. For the sake of simplicity, only a section of the stationary unit 103, including the motor modules 117 and assemblies 121 formed therein, is shown in simplified schematic form in Fig. 2.

[0136] In the example shown, the depicted section of the stationary unit comprises a first motor module 117-1, a second motor module 117-2, a third motor module 117-3, a fourth motor module 117-4, a fifth motor module 117-5, and a sixth motor module 117-6. The first and second motor modules 117-1 and 117-2 are combined in a first assembly 121-1, the third and fourth motor modules 117-3 and 117-4 are formed in a second assembly 121-2, and the fifth and sixth motor modules 117-5 and 117-6 are formed in a third assembly 121-3.

[0137] The motor modules 117 are interconnected within their respective assemblies 121 via internal data connections 123. The assemblies 121 are in turn interconnected via external data connections 125. For this purpose, the adjacent motor modules 117 of the adjacent assemblies 121 are connected via the external data connections 125.

[0138] The internal data connections 123 and the external data connections 125 can be designed in the same way and differ only in that at least two motor modules 117 arranged in the same assembly 121 are connected to each other via internal data connections 123, while at least two motor modules 117 from at least two different assemblies 121 are connected to each other via external data connections 125, or a motor module 117 assigned to an assembly 121 is connected to a motor module 117 that is not assigned to any assembly 121.

[0139] In diagrams a) and b), the assemblies 121-1, 121-2, and 121-3 are each installed on the stationary unit 103 in installation directions 155. In the example shown, diagram a) depicts the three assemblies 121-1 to 121-3 with installation directions 155, which are parallel to the predefined direction 161 shown. In diagram b), however, the second assembly 121-2 is installed with the opposite installation direction 155, which runs contrary to the predefined direction 161.

[0140] Using the motor module position information 149, which is provided by the respective motor modules 117 of the control unit 109 and defines the positions of the respective motor modules 117 in the respective assemblies 121, the control unit 109 can identify the installation directions 155 with which the assemblies 121 are formed on the stationary unit 103, taking into account the motor module sequence.

[0141] In diagram a), the control unit 109 determines the following motor module sequence relative to the predefined direction 161: 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. In the example of diagram b), however, the control unit 109 determines the following motor module sequence: first motor module 117-1, second motor module 117-2, fourth motor module 117-4, third motor module 117-3, fifth motor module 117-5, sixth motor module 117-6.

[0142] By knowing the motor module position information 149, in which the individual positionings of the motor modules 117 in the respective assemblies 121 and thus the sequence of the motor modules 117 within the assemblies 121 are defined, the control unit 109 can determine the different installation direction 155 of the second assembly 121-2, taking into account the previously determined assembly sequence in the two cases of graphics a) and b).

[0143] Figure a) further illustrates that the control unit 109 determines module spacings 129 between motor modules 117 based on the assembly type information 147 and / or taking into account assembly implementation information 153. Based on the assembly type information 147 and / or the motor module position information 149, which defines the respective type of assembly 121 and / or the positions of the motor modules 117 within the assemblies 121, the control unit 109 is able to determine module spacings 129 between the motor modules 117.

[0144] Alternatively or additionally, the control unit can consider the assembly implementation information 153 to determine the module spacing 129. The assembly implementation information includes technical information regarding the respective assembly 121. The assemblies 121 are installed as mechanical units and thus as independent components in the stationary unit 103. The assembly implementation information 153 may contain corresponding technical information, such as the spatial dimensions of the assembly 121, the motor outputs of the motor modules 117 installed in the assemblies 121, additional functions of the modules installed in the assemblies 121, such as data or energy transmission functions, or spacing information of the motor modules 117 within the assembly 121 relative to each other.Distances of the motor modules 117 to edge areas of the assemblies 121, of the respective assemblies 121, must be defined.

[0145] By taking the aforementioned information into account, the control unit 109 can thus determine the module spacings 129 between motor modules of the same assembly 121 or between motor modules 117 of directly adjacent assemblies 121. The corresponding module spacings 129 can be integrated as additional information into the topology information of the determined topology of the motor modules 117 of the stationary unit 103. The assembly implementation information 153 can be provided to the control unit 109 via appropriate databases.

[0146] Fig. 3 shows a further schematic representation of the linear transport system 100 according to a further embodiment.

[0147] The embodiment of the linear transport system 100 is based on the embodiment in Fig. 1 and includes all features shown therein. Analogous to Fig. 2, the linear transport system 100 is also shown in a highly reduced form in Fig. 3. Also in Fig.

[0148] Figure 3 shows only a section of the stationary unit 103 with a plurality of motor modules 117 and a plurality of assemblies 121.

[0149] In the embodiment shown, the motor modules 117 are grouped into two separate motor module strings 135. The motor modules 117 are thus divided into motor modules 118 of a first motor module string 135-1 and motor modules 120 of a second motor module string 135-2. The first motor module string 135-1 comprises a first motor module 118-1, a second motor module 118-2, a third motor module 118-3, a fourth motor module 118-4, a fifth motor module 118-5, and a sixth motor module 118-6 of the first motor module string 135-1. The second motor module string 135-2 comprises a first motor module 120-1, a second motor module 120-2, and a third motor module 120-3 of the second motor module string 135-2.

[0150] The motor modules 118 of the first motor module string 135-1 are interconnected via internal data connections 123 and external data connections 125, and additionally connected to the control unit 109 via a first control data connection 127-1. The motor modules 120 of the second motor module string 135-2 are similarly interconnected via internal data connections 123 and external data connections 125, and connected to the control unit 109 via a second control data connection 127-2. However, there is no direct data connection between the motor modules 118 of the first motor module string 135-1 and the motor modules 120 of the second motor module string 135-2.

[0151] Furthermore, the motor modules 118 of the first motor module string 135-1 and the motor modules 120 of the second motor module string 135-2 are grouped into assemblies 121. The first and second motor modules 118-1 and 118-2 of the first motor module string 135-1 are grouped together in a first assembly 124-1 of the first motor module string 135-1. The third to fifth motor modules 118-3 to 118-5 of the first motor module string 135-1 are grouped together in a second assembly 124-2 of the first motor module string 135-1. The first and second motor modules 120-1 and 120-2 of the second motor module string 135-2 are grouped together in a first assembly 126-1 of the second motor module string 135-2. The third motor module 120-3 of the second motor module string 135-2 is arranged in a second assembly 126-2 of the second motor module string 135-2.

[0152] In the embodiment shown, the sixth motor module 118-6 of the first motor module string 135-1 is also formed in the first assembly 126-1 of the second motor module string 135-2. The first assembly 126-1 of the second motor module string 135-2 can accordingly also be defined as the third assembly 124-3 of the first motor module string 135-1. The aforementioned assembly 124-3, 126-1 is a connecting assembly 143. In the connecting assembly 143, the first and second motor module strings 135-1, 135-2 are connected to each other.

[0153] In the embodiment shown, the topology of the motor modules 117 of the stationary unit 103 is automatically determined by the control unit 109 such that, after identifying the motor modules 117, the motor module sequence and the assembly sequence are executed separately by the control unit 109 for each motor module string 135. Data communication between the control unit 109 and the motor modules 118, 120 of the motor module strings 135 takes place according to the method described above, and the corresponding motor modules 118, 120 provide the control unit 109 with the assembly identification information 145 and / or the assembly type information 147 and / or the motor module position information 149 and / or the motor module identification information 151 via the first and second control data connections 127-1, 127-2.

[0154] Based on the transmitted information, the control unit 109 first determines a first motor module sub-sequence of the motor modules 118 of the first motor module string 135-2, a first assembly assignment of the motor modules 120 and assemblies 124 of the first motor module string 135-1, and a first assembly sub-sequence of the assemblies 124 of the first motor module string 135-1. Similarly, the control unit 109 determines a corresponding second motor module sub-sequence, a second assembly assignment, and a second assembly sub-sequence of the motor modules 120 and assemblies 126 of the second motor module string 135-2, respectively.

[0155] Based on the first and second assembly part sequences, the control unit 109 subsequently creates the assembly sequence of all assemblies 121 of all motor module strings 135 by combining the assembly part sequences of the various motor module strings 135.

[0156] For this purpose, the control unit 109 takes into account the positions of the connection assembly 143. The control unit identifies a first connection motor module 122-1 and a second connection motor module 122-2. The first and second connection motor modules 122-1 and 122-2 are arranged in the connection assembly 143, with the first connection motor module 122-1 being part of the first motor module string 135-1 and the second connection motor module 122-2 being part of the second motor module string 135-2. The connection assembly 143 thus connects the motor modules 118 of the first motor module string 135-1 and the motor modules 120 of the second motor module string 135-2.

[0157] Since the connecting assembly 143 comprises at least one motor module 118 of the first motor module string 135-1 and at least one motor module 120 of the second motor module string 135-2, the connecting assembly 143 can be assigned to the first motor module string 135-1, the second motor module string 135-2, and / or both motor module strings 135-1 and 135-2. Such an assignment can be chosen by definition.

[0158] Knowing the position of the connecting assembly 143 relative to the assemblies 124 of the first motor module string 135-1 and relative to the assemblies 126 of the second motor module string 135-2, taking into account the first assembly part sequence of the assemblies 124 of the first motor module string 135-1 and the second assembly part sequence of the assemblies 126 of the second motor module string 135-2, an entire assembly sequence of all assemblies 121 of the stationary unit 103 can be determined.

[0159] If the control unit 109 recognizes the connecting assembly 143 as the first or last assembly 124 of the first motor module string 135-1 based on the first assembly part sequence of the assemblies 124 of the first motor module string 135-1, then the second motor module string 135-2, or the assemblies 126 of the second motor module string 135-2, are at least partially spaced away from the respective end of the first motor module string 135-1 at which the connecting assembly 143 is arranged according to the first assembly part sequence.

[0160] If the connecting assembly 143 is neither the first nor the last assembly 124 of the first motor module string 135-1 according to the first assembly part sequence, then the connecting assembly 143 is designed as a switch assembly, according to the embodiment in Fig. 5.

[0161] Similarly, the location of the connecting assembly 143 in relation to the second motor module string 135-2 is based on the second motor module part sequence and the second assembly part sequence.

[0162] The connecting assembly 143 is a normal assembly 121 and is distinguished solely by the fact that at least one motor module 118 of the first motor module string 135-1 and at least one motor module 120 of the second motor module string 135-2 are arranged in the connecting assembly 143, so that a connection between the first motor module string 135-1 and the second motor module string 135-2 is effected via the connecting assembly 143.

[0163] For a larger number of motor module strings 135, a motor module sequence of the respective motor modules 117 and a sub-sequence of the respective sub-assemblies 121 of the various motor module strings 135 are determined accordingly for each motor module string 135. Furthermore, the position of the connecting sub-assemblies 143 is determined for each motor module string 135, and by combining the motor module sub-sequences and sub-sequences determined for the various motor module strings 135, the motor module sequences and sub-sequences of all motor modules 117 and sub-assemblies 121 of the stationary unit 103 are calculated.

[0164] Based on this, the topology is determined according to the above procedural steps.

[0165] After creating the motor module sequence based on the motor module part sequences and the assembly sequence based on the assembly part sequences of the various motor module strings 135, the assembly type information 147, motor module position information 149 and / or the assembly implementation information 153 can be integrated into the topology information analogously to the embodiments above.

[0166] Fig. 4 shows a further schematic representation of the linear transport system 100 according to another embodiment. The embodiment shown in Fig. 4 is based on the embodiments of Figs. 1 to 3 and includes all the features described therein. In the embodiment shown, the motor modules 117 or assemblies 121 of the stationary unit 103 are arranged in a continuous track. The track shown is divided into two motor module strings 135. The first motor module string 135-1 describes an inner circular path. The second motor module string 135-2 describes a U-shaped curved section adjacent to the inner circular path.

[0167] The first motor module string 135-1 comprises a first motor module 118-1, a second motor module 118-2, a third motor module 118-3, a fourth motor module 118-4, a fifth motor module 118-5, a sixth motor module 118-6, a seventh motor module 118-7, an eighth motor module 118-8, a ninth motor module 118-9, a tenth motor module 118-10, an eleventh motor module 118-11 and a twelfth motor module 118-12.

[0168] The first motor module 118-1 and the twelfth motor module 118-12 are arranged in a first assembly 124-1, the second and third motor modules 118-2, 118-3 are arranged in a second assembly 124-2, the fourth and fifth motor modules 118-4, 118-5 are arranged in a third assembly 124-3, the sixth and seventh motor modules 118-6, 118-7 are arranged in a fourth assembly 124-4, the eighth and ninth motor modules 118-8, 118-9 are arranged in a fifth assembly 124-5, and the tenth and eleventh motor modules 118-10, 118-11 are arranged in a sixth assembly 124-6 of the first motor module string 135-5.

[0169] The third and sixth assemblies 124-3 and 124-6 are designed as straight assemblies 137. The first assembly 124-1 and the second assembly 124-2 are designed as curved assemblies 139. The fourth assembly 124-4 and the fifth assembly 124-5 are designed as turnout assemblies 141.

[0170] The second motor module string 135-2 comprises a first motor module 120-1, a second motor module 120-2, a third motor module 120-3, a fourth motor module 120-4, a fifth motor module 120-5, a sixth motor module 120-6, a seventh motor module 120-7, an eighth motor module 120-8, a ninth motor module 120-9 and a tenth motor module 120-10.

[0171] The first motor module 120-1 is arranged as the second connecting motor module 122-2 in the first connecting assembly 143-1. In the embodiment shown, the first connecting assembly 143-1 is defined both as the fourth assembly 124-4 of the first motor module string 135-1 and as the first assembly 126-1 of the second motor module string 135-2. The second and third motor modules 120-2, 120-3 are arranged in a second assembly 126-2, the fourth and fifth motor modules 120-4, 120-5 are arranged in a third assembly 126-3, the sixth and seventh motor modules 120-6, 120-7 are arranged in a fourth assembly 126-4, and the eighth and ninth motor modules 120-8, 120-9 are arranged in a fifth assembly 126-5. The tenth motor module 120-10 is arranged as the second connecting motor module 122-2 of the second connecting assembly 143-2.The second connecting assembly 143-2 is defined as the fifth assembly 124-5 of the first motor module string 135-1 and as the sixth assembly 126-6 of the second motor module string 135-2.

[0172] The assignment of the first and second connection assemblies 143-1 , 143-2 as assemblies to the first and / or second motor module strings 135-1 , 135-2 can be done by convention.

[0173] The second and fifth assembly 126-2, 126-5 are designed as straight assembly 137 and the third and fourth assembly 126-3, 126-4 are designed as curved assembly 139.

[0174] In the embodiment shown, the fourth assembly 124-4 of the first motor module string 135-1 is configured as the first connecting assembly 143-1. The sixth motor module 118-6 of the first motor module string 135-1 is defined here as the first connecting motor module 122-1. The first motor module 120-1 of the second motor module string 135-2 is configured in the first connecting assembly 143-1 and is accordingly defined as the second connecting motor module 122-2. Therefore, in the embodiment shown, the first connecting assembly 143-1 is also interpreted as the first assembly 126-1 of the second motor module string 135-2.

[0175] Accordingly, the fifth assembly 124-5 is configured as the second connecting assembly 143-2. ​​The ninth motor module 118-9 of the first motor module string 135-1 is defined as the first connecting motor module 122-1, and the tenth motor module 120-10 of the second motor module string 135-2 is defined as the second connecting motor module 122-2. Accordingly, in the embodiment shown, the second connecting assembly 143-2 is additionally interpreted as the sixth assembly 126-6 of the second motor module string 135-2.

[0176] Analogous to the embodiment in Fig. 3, the motor module identification information 151 and / or the assembly identification information 145 and / or the assembly type information 147 and / or the motor module position information 149 are provided to the control unit 109 separately by the motor modules 118, 120 of the different motor module strings 135-1, 135-2 via the first and second control data connections 127-1, 127-2 for the different motor module strings 135. Based on this, the motor module part sequences and assembly part sequences of the motor modules or assemblies of the different motor module strings 135 are determined, and based on this, the motor module sequence and assembly sequence of the motor modules or assemblies of the stationary unit 103 are calculated. The topology of the motor modules 118, 120 or assemblies 124, 126 calculated on the basis of this describes the complete track of the stationary unit 103.Taking into account the assembly type information 147, the corresponding assemblies 124 and 126 can be identified as straight assembly 137, curved assembly 139, and switch assembly 141, respectively. Based on this, the exact track alignment can be determined.

[0177] Fig. 5 shows a further schematic representation of the linear transport system 100 according to a further embodiment.

[0178] In the embodiment shown, three motor module strings 135 are connected to the control unit 109 via first to third control data connections 127-1, 127-2, 127-3. The first motor module string 135-1 comprises at least six motor modules 118-1 to 118-6 shown, which are arranged in two assemblies 124-1, 124-2. The second motor module string comprises three motor modules 120-1 to 120-3, of which the first and second motor modules 120-1, 120-2 are combined in a first assembly 126-1. Only one motor module 128 of the third motor module string 135-3 is shown. The third motor module 120-3 of the second motor module string 135-2 and the motor module 128 of the third motor module string 135-3 are combined in the second assembly 126-2 of the second motor module string 135-2.

[0179] The first assembly 124-1 of the first motor module string 135-1 is configured as a switch assembly 141 and serves as a first connecting assembly 143-1 between the first motor module string 135-1 and the second motor module string 135-2. The third motor module 118-3 of the first motor module string 135-1 is configured as the first connecting motor module 122-1, and the first motor module 120-1 of the second motor module string 135-2 is configured as the second connecting motor module 122-2 of the first connecting assembly 143-1. The positioning of the first and second motor module strings 135-1 and 135-2 relative to each other can be determined via the first and second connecting motor modules 122-1 and 122-2 of the first connecting assembly 143-1.

[0180] Similarly, the second assembly 126-2 of the second motor module string 135-2 is configured as the second connecting assembly 143-2 for connecting the second motor module string 135-2 and the third motor module string 135-3. The third motor module 120-3 of the second motor module string 135-2 is defined here as the first connecting motor module 122-1, and the only motor module 128 shown of the third motor module string 135-3 is defined as the corresponding second connecting motor module 122-2 of the second connecting assembly 143-2. ​​The identification of the motor modules 117 within the connecting assemblies 143 as first and second connecting motor modules 122-1 and 122-2 is highly flexible. For example, each motor module 118-1, 118-2, 118-3 of the first motor module string 135-1 within the first connecting assembly 143-1 can be identified as the first connecting motor module 122-1.Similarly, each motor module 120-1 , 120-2 of the second motor module string 135-2 within the first connecting assembly 143-1 can be identified as the second connecting motor module 122-2.

[0181] The calculation of the motor module part sequences or assembly part sequences is carried out analogously to the embodiments shown in Figures 3 and 4. In contrast to the three motor module strings 135 shown here only as examples, the motor modules 117 of the stationary unit 3 can be combined into any other number of motor module strings 135. The procedure described above is carried out analogously in this case.

[0182] Fig. 6 shows a further schematic representation of the linear transport system 100 according to a further embodiment.

[0183] In the embodiment shown, the linear transport system 100 comprises a first control unit 109-1, a second control unit 109-2, and a higher-level control unit 110. The first control unit 109-1 is connected to the motor modules 118 of a first motor module string 135-1 via a first control data connection 127-1. The second control unit 109-2 is connected to the motor modules 120 of a second motor module string 135-2 via a second control data connection 127-2. The first and second control units 109-1 and 109-2 are further connected to the higher-level control unit 110 via data connections 163.

[0184] The first control unit 109-1 and the second control unit 109-2 can also be directly connected to each other. In addition to the first and second control units 109-1 and 109-2, further control units can also be integrated.

[0185] The first control unit 109-1 for the above-described procedure with respect to the motor modules 118 of the first motor module string 135-1 and determined the first motor module part sequence 165-1 and the first assembly part sequence 167-1. Analogously, the second control unit 109-2 determines the second motor module part sequence 165-2 and the second assembly part sequence 167-2 for the motor modules 120 of the second motor module string 135-2.

[0186] The first and second motor module part sequences 165-1, 165-2 and the first and second assembly part sequences 167-1, 167-2, as determined accordingly, are subsequently provided to the higher-level control unit 110 by the first and second control units 109-1, 109-2 via the data connections 163. Based on the first and second motor module part sequences 165-1, 165-2 and the first and second assembly part sequences 167-1, 167-2, the higher-level control unit 110 determines the topology of all motor modules 117 and assemblies 121 of the stationary unit 103 according to the procedure steps described above.

[0187] Fig. 7 shows a further schematic representation of the linear transport system 100 according to a further embodiment.

[0188] The embodiment in Fig. 7 is based on the embodiment in Fig. 3 and includes all the features described therein.

[0189] In contrast to the embodiment shown in Fig. 3, the first motor module string 135-1 further comprises a seventh motor module 118-7. In the embodiment shown, the seventh motor module 118-7 is arranged as the first connecting motor module 122-1 in the first assembly 126-1 of the second motor module string 135-2, which is defined as the connecting assembly 143.

[0190] The sixth motor module 118-6 of the first motor module string 135-1, however, is designed as a single motor module 130 and is not integrated into any of the assemblies 124 of the first motor module string 135. The sixth motor module 118-6 is instead arranged between the second assembly 124-2 of the first motor module string 135-1 and the first assembly 126-1 of the second motor module string 135-2 and is connected to the fifth motor module 118-5 and the seventh motor module 118-7 via external data connections 125.

[0191] Similarly, the third motor module 120-3 of the second motor module string 135-2 is designed as a single motor module 130 and is not integrated into any of the assemblies 126 of the second motor module string 135-2.

[0192] The individual motor modules 130 are, analogous to all other motor modules 117 organized in assemblies 121, each connected to at least one other motor module 117 via data transmission. As shown in Fig. 7, the individual motor modules 130 can be arranged between two successive assemblies 121 and thus connected to one motor module 117 of each of the two assemblies 121, or they can be arranged at one end / beginning of a motor module string 135 and thus connected to only one motor module 117 of the same motor module string 135.

[0193] The individual motor modules 130 are recognized by the control unit 109 according to the procedure steps described above and taken into account in the motor module sequence. Considering the motor module sequence and the assembly sequence, the control unit 109 incorporates the individual motor modules 130 into the topology and positions them between the respective adjacent assemblies 121 according to the motor module sequence and the assembly sequence.

[0194] The individual motor modules 130 can also be configured as special modules. Special modules can be, for example, energy transmission modules, chopper modules, position detection modules, or modules for adapting the track, such as modules for adjusting switches, or other specially designed modules with additional functionality.

[0195] Chopper modules are able to measure an intermediate circuit voltage and regulate the energy fed back into the linear motor 107 during braking operations of the moving units 101.

[0196] Energy transfer modules are configured to effect energy transfer between the stationary unit 103 and the at least one mobile unit 101. For this purpose, energy transfer modules and the at least one mobile unit 101 can be connected to the energy transfer modules.

[0197] The modules for adapting the track can be fictitious compensation modules, which may differ in shape and dimensions from the usual motor modules 117 and may be designed in such a way as to fill possible gaps in the track into which motor modules 117 with normal design may not fit.

[0198] The special modules, which may in particular be designed without drive coils 115 and thus do not function as motor modules 117, can nevertheless be taken into account in the automatic determination of the topology analogously to the motor modules 117 according to the method according to the invention. For this purpose, the special modules are taken into account in the method according to the invention like motor modules 117 and are included in the automatically determined motor module sequences like a typical motor module 117.

[0199] Fig. 8 shows a flowchart of a method 200 for operating a linear transport system 100 according to one embodiment.

[0200] To operate the linear transport system 100 and to automatically determine the topology of the motor modules 117 of the stationary unit 103, the motor modules 117 are first identified by the control unit 109 in a motor module identification step 201.

[0201] In a subsequent motor module sequence determination step 203, the control unit 109 determines a motor module sequence for the motor modules 117. In an assembly assignment step 205, the control unit 109 determines 145 assembly assignments based on assembly identification information provided by the motor modules 117, wherein in the assembly assignments each motor module 117 is assigned the assembly 121 in which the respective motor module 117 is formed.

[0202] In a component sequence determination step 207, the control unit 109 determines a component sequence of the components 121 based on the motor module sequence and the component assignment.

[0203] In a topology determination step 209, the control unit 109 subsequently determines a topology of the motor modules 117, at least based on the assembly sequence.

[0204] In one embodiment, the motor modules 117 also provide assembly type information 147, whereby the assemblies 121 are identified as straight assemblies 137 and / or curve assemblies 139 and / or switch assemblies 141 and / or ramp assemblies and / or lift assemblies and / or bridge assemblies and are taken into account accordingly in the topology information.

[0205] Fig. 9 shows another flowchart of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0206] The embodiment shown in Fig. 9 is based on the embodiment in Fig. 8 and includes all the process steps described therein.

[0207] In the embodiment shown, the control unit 109 first sends an identification query to the motor modules 117 in an identification query step 233, in which the motor modules 117 are driven for identification.

[0208] Subsequently, in an identification information reception step 235, the control unit 109 receives motor module identification information 151 provided by the motor modules 117. The motor module identification information 151 allows the motor modules to be uniquely identified.

[0209] In the embodiment shown, the assembly assignment step 205 further comprises an image generation step 215 in which the control unit 109 generates virtual images of the motor modules 117 and / or the assemblies 121, based at least on the assembly identification information 145 and / or assembly type information 147 and / or motor module position information 149. Furthermore, in a motor module spacing determination step 211, the control unit 109 determines module spacings 129 between the motor modules 117, based on the assembly type information 147 and / or the assembly implementation information 153.

[0210] In the embodiment shown, the assembly sequence determination step 207 further includes the installation direction determination step 213, in which the installation directions 155 of the assemblies 121 are determined by the control unit 109 based on the motor module position information 149.

[0211] In a component identification step 217, the control unit 109 also identifies component-external data connections 125, with which the components 121 are connected data-technically.

[0212] Furthermore, the topology determination step 209 includes a route definition step 227, in which the control unit 109 defines a route for the stationary unit 103 based on the topology of the motor modules 117.

[0213] In a representation generation step 229, the control unit 109 further generates graphical representations of the topology of the stationary unit 103 for display in a display unit of the linear transport system 100, based on the topology of the stationary unit 103.

[0214] In a driver generation step 231, the control unit 109 generates driver software and / or a configuration of the software / driver software for controlling the motor modules 117, based on the determined topology. The configuration can include basic and / or preset parameters of the driver software. Through the configuration, the driver software can be specified for a particular application.

[0215] Fig. 11 shows another flow diagram of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0216] The embodiment in Fig. 10 is based on the embodiment in Fig. 8 and includes all the process steps described therein.

[0217] In the embodiment shown, the motor modules 117 are grouped into at least two different motor module strings 135-1, 135-2. Module identification step 201 comprises a motor module string identification step 219, in which the motor modules 118 of the first motor module string 135-1 and the motor modules 120 of the second motor module string 135-2 are identified separately by the control unit 109.

[0218] The motor module sequence determination step 203 includes a motor module sub-sequence determination step 221, in which the control unit 109 determines a motor module sub-sequence of the motor modules 118 of the first motor module string 135-1 and a motor module sequence of the motor modules 120 of the second motor module string 135-2.

[0219] The assembly assignment step 205 includes an assembly sub-assignment step 223, in which the control unit 109 determines assembly assignments of the motor modules 118 and the assemblies 124 of the first motor module string 135-1 based on the assembly identification information 145 of the motor modules 118 and an assembly assignment of the motor modules 120 and the assemblies 126 of the second motor module string 135-2 based on the assembly identification information 145 provided by the motor modules 120.

[0220] The assembly sequence determination step 207 further includes an assembly sub-sequence determination step 225, in which a first sub-sequence of the assemblies 124 of the first motor module string 135-1 is determined based on the motor module sub-sequence and the assembly assignment of the motor modules 118 and the assemblies 124 of the first motor module string 135-1, and a second sub-sequence of the assemblies 126 of the second motor module string 135-2 is determined based on the motor module sequence and the assembly assignment of the motor modules 120 of the second motor module string 135-2.

[0221] The assembly sequence of the entirety of the assemblies 124 of the first motor module string 135-1 and the assemblies 126 of the second motor module string 135-2 is based on the first and second sub-assembly sequences and taking into account position information of the connecting assembly 143 in the first and second sub-assembly sequences.

[0222] A combination of the embodiments shown in Figures 8, 9, and 10 is also possible. Reference numeral list

[0223] 100 linear transport system

[0224] 101 movable units

[0225] 103 stationary units

[0226] 105 Guide rail

[0227] 107 Linear motor

[0228] 109 Control unit

[0229] 109-1 first control unit

[0230] 109-2 second control unit

[0231] 110 higher-level control unit

[0232] 111 Stator

[0233] 113 runners

[0234] 115 Drive coil

[0235] 117 Engine module

[0236] 117-1 first engine module

[0237] 117-2 second engine module

[0238] 117-3 third engine module

[0239] 117-4 fourth engine module

[0240] 117-5 fifth engine module

[0241] 117-6 sixth engine module

[0242] 118 Motor module of the first motor module string

[0243] 118-1 first motor module of the first motor module string 118-2 second motor module of the first motor module string 118-3 third motor module of the first motor module string 118-4 fourth motor module of the first motor module string 118-5 fifth motor module of the first motor module string 118-6 sixth motor module of the first motor module string

[0244] 118-7 seventh motor module of the first motor module string 118-8 eighth motor module of the first motor module string 118-9 ninth motor module of the first motor module string 118-10 tenth motor module of the first motor module string 118-11 eleventh motor module of the first motor module string 118-12 twelfth motor module of the first motor module string

[0245] 119 Drive magnet element

[0246] 120 Motor module of the second motor module string

[0247] 120-1 first motor module of the second motor module string -2 second motor module of the second motor module string -3 third motor module of the second motor module string -4 fourth motor module of the second motor module string -5 fifth motor module of the second motor module string -6 sixth motor module of the second motor module string -7 seventh motor module of the second motor module string -8 eighth motor module of the second motor module string -9 ninth motor module of the second motor module string -10 tenth motor module of the second motor module string Assembly -1 first assembly -2 second assembly -3 third assembly -1 first connecting motor module -2 second connecting motor module assembly internal data connection Assembly of the first motor module string -1 first assembly of the first motor module string -2 second assembly of the first motor module string -3 third assembly of the first motor module string -4 fourth assembly of the first motor module string -5 fifth assembly of the first motor module string -6 sixth assembly of the firstMotor module string, external data connection, first motor module string assembly -1, second motor module string assembly -2, second motor module string assembly -3, third motor module string assembly -4, fourth motor module string assembly -5, fifth motor module string assembly -6, sixth motor module string assembly, control data connection -1, first control data connection -2, second control data connection -3, third control data connection, motor module of the third motor module string, module spacing, single motor module, magnetic sensor element, motor module string -1, first motor module string assembly -2, second motor module string assembly -3, third motor module string, straight assembly, curved assembly, switch assembly, connecting assembly -1, first connecting assembly assembly -2, second connecting assembly assembly, assembly identification information, assembly type information, motor module position information, motor module identification informationMotor module type information Assembly implementation information Installation direction Predefined direction Data connection -1 First motor module part sequence -2 Second motor module part sequence -1 First assembly part sequence -2 Second assembly part sequence Storage unit Procedure Motor module identification step Motor module sequence determination step Assembly assignment step Assembly sequence determination step Topology determination step Motor module spacing determination step Installation direction determination step Image generation step Assembly identification step 219 Motor module string identification step

[0248] 221 Engine module part sequence determination step

[0249] 223 Assembly Part Assignment Step

[0250] 225 Component part sequence determination step 227 Route definition step

[0251] 229 Display generation step

[0252] 231 Driver generation step

[0253] 233 Identification query step

[0254] 235 Identification Information Receipt Step

Claims

1. Claims 1. Computer-implemented method (200) for operating a linear transport system (100) with a control unit (109) and a stationary unit (103), wherein the stationary unit (103) comprises a guide rail (105) for guiding a movable unit (101) and a plurality of motor modules (117) arranged along the guide rail (105), wherein the motor modules (117) each comprise drive coils (115) for providing a drive magnetic field for driving the movable unit (101) along the guide rail (105), wherein the motor modules (117) are grouped into a plurality of assemblies (121), wherein each assembly (121) comprises at least two immediately adjacent motor modules (117), wherein at least one motor module (117) of each assembly (121) is connected to another motor module (117) of another assembly (121) via at least one assembly-external data connection. (125) is connectedwherein the control unit (109) is connected via a control data connection (127) to at least one motor module (117) of at least one assembly (121), wherein the control unit (109) is connected via the control data connection (127), the assembly-internal data connections (123) within the assemblies (121) and the at least one assembly-external data connection (125) between the assembly (121) to the motor modules (117), and wherein the method (200) comprises: identifying the motor modules (117) in a motor module identification step (201) using the control unit (109); Determining an engine module sequence of the engine modules (117) in an engine module sequence determination step (203) using the control unit (109); Determining an assembly assignment based on assembly identification information (145) provided by the motor modules (117) in an assembly assignment step (205), wherein the assembly identification information (145) includes at least for each motor module (117) an assembly identifier of an assembly (121) comprising the respective motor module (117), and wherein in the assembly assignment each motor module (117) is assigned to an assembly (121) by means of the control unit (109); Determining an assembly sequence of the assemblies (121) based on the motor module sequence and the assembly assignment in an assembly sequence determination step (207) using the control unit (109); and Determining a topology of the motor modules (117) of the stationary unit (103) based on the assembly sequence in a topology determination step (209) using the control unit (109).

2. Method (200) according to claim 1, wherein the motor modules (117) further provide assembly type information (147) of the assemblies (121), wherein the assembly type information (147) defines each assembly (121) as a straight assembly (137) and / or a curved assembly (139) and / or a switch assembly (141) and / or a ramp assembly and / or a lift assembly and / or a bridge assembly and / or includes information regarding dimensions and / or shapes and / or orientations of the respective assembly (121), and wherein the assembly sequence in the assembly sequence determination step (207) and / or the topology in the topology determination step (209) are determined taking into account the assembly type information (147) of the assemblies (121).

3. Method (200) according to any of the preceding claims, further comprising: determining module distances (129) between the motor modules (117) based on the assembly type information (147) and / or based on assembly implementation information (153) stored in the control unit (109) by the control unit (109) in a motor module distance determination step (211), wherein the assembly implementation information (153) comprises technical information of the respective assemblies (121).

4. Method (200) according to one of the preceding claims, wherein the motor modules (117) further provide motor module position information (149) of the motor modules (117) within the respective assemblies (121), and wherein the assembly sequence determination step (207) further comprises: Determining an installation direction (155) of each assembly (121) based on the motor module sequence, the assembly assignment and the motor module position information (149) of the motor modules (117) by the control unit (109) in an installation direction determination step (213).

5. Method (200) according to any of the preceding claims, wherein the assembly assignment step (205) comprises: The control unit (109) generates virtual images of the motor modules (117) and / or the assemblies (121) based on the assembly identification information (145) and / or assembly type information (147) and / or motor module position information (149) provided by the motor modules (117) in an image generation step (215).

6. Method (200) according to any of the preceding claims, wherein the assembly sequence determination step (207) comprises: Identifying the assemblies (121) connected to each other via the external data connections (125) based on the motor module sequence and the assembly assignment of the motor modules (117) by the control unit (109) in an assembly identification step (217).

7. Method (200) according to one of the preceding claims, wherein the plurality of motor modules (117) are grouped into at least a first motor module string (135-1) and a second motor module string (135-2), wherein the motor modules (118) in the first motor module string (135-1) and the motor modules (120) in the second motor module string (135-2) are each interconnected via the assembly-internal data connections (123) and the assembly-external data connections (125), wherein the control unit (109) is connected to the first motor module string (135-1) via at least a first control data connection (127-1) and to the second motor module string (135-2) via a second control data connection (127-2), wherein at least a first connecting motor module (122-1) of the first motor module string (135-1) and a second connecting motor module (122-2) of the second Motor module strings (135-2) are arranged in a common connecting assembly (143),where the module identification step (201) comprises: Identifying the motor modules (118) of the first motor module string (135-1) and identifying the motor modules (120) of the second motor module string (135-2) in a motor module string identification step (219); wherein the motor module sequence determination step (203) comprises: Determining an engine module part sequence of the engine modules (118) of the first engine module string (135-1) and an engine module part sequence of the engine modules (120) of the second engine module string (135-2) by the control unit (109) in an engine module part sequence determination step (221); wherein the assembly assignment step (205) comprises: Determining an assembly assignment of the motor modules (118) of the first motor module string (135-1) based on assembly identification information (145) of the assemblies (124) of the first motor module string (135-1) provided by the motor modules (118) of the first motor module string (135-1) and an assembly assignment of the motor modules (120) of the second motor module string (135-2) based on assembly identification information (145) of the assemblies (126) of the second motor module string (135-2) provided by the motor modules (120) of the second motor module string (135-2) by the control unit (109) in an assembly sub-assignment step (223); wherein the assembly sequence determination step (207) comprises: Determining a first assembly part sequence of the assemblies (124) of the first motor module string (135-1) based on the motor module part sequence and the assembly assignment of the motor modules (118) and the assemblies (124) of the first motor module string (135-1) and determining a second assembly part sequence of the assemblies (126) of the second motor module string (135-2) based on the motor module part sequence and the assembly assignment of the motor modules (120) of the second motor module string (135-2) by the control unit (109) in an assembly part sequence determination step (225); and Determining the assembly sequence based on the first assembly part sequence, the second assembly part sequence and position information of the connecting assembly (143) in the first assembly sequence and the second assembly sequence by the control unit (109).

8. Method (200) according to any one of the preceding claims, wherein the topology determination step (209) comprises: Defining a travel path of the stationary unit (103) based on the topology of the motor modules (117) by the control unit (109) in a travel path definition step (227), wherein the travel path defines a path of the plurality of motor modules (117) and assemblies (121) at the stationary unit (103).

9. Method (200) according to any one of the preceding claims, wherein the topology determination step (209) comprises: Generating a graphical representation of the topology of the stationary unit (103) and providing the graphical representation to a display unit for display by the control unit (109) in a representation generation step (229).

10. Method (200) according to any one of the preceding claims, wherein the method (200) further comprises: Generating driver software and / or configuring the software by the control unit (109) in a driver generation step (231), wherein the driver software is adapted to the determined topology of the motor modules (117) of the stationary unit (103) and is set up to enable control of the motor modules (117).

11. Method (200) according to one of the preceding claims, wherein data communication between the control unit (109) and the motor modules (117) is based on a fieldbus protocol, and wherein the motor modules (177) are defined as participants in the fieldbus.

12. Method (200) according to one of the preceding claims, further comprising: sending an identification query by the control unit (109) to the motor modules (117) in an identification query step (233); and Receiving motor module identification information (151) provided by the motor modules (117) by the control unit (109) in an identification in- information reception step (235), wherein the motor module identification information (151) includes at least the assembly identification information (145) and / or the assembly type information (147) and / or the motor module position information (149).

13. Method (200) according to claim 12, wherein the motor module identification information (151) further comprises a motor module identifier and / or technical information of the respective motor module (117).

14. Method (200) according to one of the preceding claims, wherein the method is carried out for at least a part of the plurality of motor modules (117) of the stationary unit (103) during a start-up of the linear transport system (100) and / or during at least partial operation of the linear transport system (100), wherein in at least partial operation the method is carried out on a part of the plurality of motor modules (117) not included in the operation of the linear transport system (100).

15. Linear transport system (100) with a control unit (109) and a stationary unit (103) with a guide rail (105) for guiding a movable unit (101) and a plurality of motor modules (117) arranged along the guide rail (105), wherein the motor modules (117) each comprise drive coils (115) for providing a drive magnetic field for driving the movable unit (101) along the guide rail (105), wherein the motor modules (117) are grouped into a plurality of assemblies (121), wherein each assembly (121) comprises at least two motor modules (117), wherein the at least two motor modules (117) in each assembly (121) are connected to each other via at least one internal data connection (123), wherein in each assembly (121) at least one motor module (117) is connected to another motor module (117) of a further assembly (121). The assembly (121) is connected via at least one external data connection (125),wherein the control unit (109) is connected via a control data connection (127) to at least one motor module (117) of at least one assembly (121), wherein the control unit (109) is connected via the control data connection (127), the assembly-internal data connections (123) within the assemblies (121) and the at least one assembly-external data connection (125) between the assembly (121) and the motor modules (117), and wherein the control unit (109) is configured to execute the method for operating a linear transport system (100) according to any one of the preceding claims 1 to 14.

16. Linear transport system (100) according to claim 15, wherein the assemblies (121) are designed as mechanical units, and wherein the at least two motor modules (117) are fixedly integrated into each assembly (121).

17. Linear transport system (100) according to claim 15 or 16, wherein the assembly identification information (145) and / or the assembly type information (147) and / or motor module position information (149) are stored in memory units (169) in the motor modules (117) and / or the assemblies (121).

Images