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

Abstract

The invention relates to a method (200) for operating a linear transport system (100), comprising: receiving first sensor values (125-1) of a first position sensor element (123-1) and second sensor values (125-2) of a second position sensor element (123-2) among the plurality of position sensor elements (123) by means of the at least one safety module (119) in a receiving step (201); determining a first movement value (127-1) of the movable unit (101) relative to the stationary unit (103) on the basis of the first sensor values (125-1) and determining a second movement value (127-2) of the movable unit (101) relative to the stationary unit (103) on the basis of the second sensor values (125-2) by means of the at least one safety module (119) in a determination step (203); detecting a safety-endangering operating state of the linear transport system (100) if the first movement value (127-1) and / or the second movement value (127-2) reaches or exceeds a predefined first limit value, by means of the at least one safety module (119) in a detection step (205). 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 118 412.4, the disclosure content of which is hereby incorporated by reference.

[0006] Linear transport systems are known from the prior art, each comprising at least one 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, wherein the rotor is arranged on the moving unit and comprises several magnets.

[0007] For the safe operation of such linear transport systems, it must be ensured that personal injury, in particular from the movement of the moving units along the guide rails, is prevented.

[0008] From publication EP 4 144 675 A1, a transport system and a method for detecting defects in a guidance system of such a transport system are known.

[0009] From publication US 2024 / 0106364A1, a method for identifying a moving unit of a linear transport system is known.

[0010] A safety function for a transport system is known from publication EP 3 831 639 A1.

[0011] 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. This object is achieved by the method for operating a linear transport system and by the linear transport system of the independent claims. Advantageous embodiments are specified in the dependent claims.

[0012] According to one aspect, a method for operating a linear transport system with a moving unit, a stationary unit with a guide rail for guiding the moving unit, a linear motor for driving the moving unit along the guide rail, and a safety monitoring system is provided, wherein the linear motor comprises a stator and a rotor, wherein the stator is formed on the stationary unit and has several motor modules with drive coils arranged stationary along the guide rail, wherein the rotor is arranged on the moving unit and comprises several drive magnet elements, wherein the safety monitoring system comprises at least one safety module and a plurality of position sensor elements formed on the stationary unit, wherein at least two position sensor elements are formed in each of the motor modules, and wherein the method comprises:

[0013] Receiving first sensor values ​​of a first position sensor element and second sensor values ​​of a second position sensor element of the plurality of position sensor elements by the at least one safety module in a receive step;

[0014] Determining a first movement value of the moving unit relative to the stationary unit based on the first sensor values ​​and determining a second movement value of the moving unit relative to the stationary unit based on the second sensor values ​​by the at least safety module in one determination step, wherein in a first position of the moving unit relative to the stationary unit the first position sensor element providing the first sensor values ​​and the second position sensor element providing the second sensor values ​​are formed in a first motor module, wherein in a second position of the moving unit relative to the stationary unit the first position sensor element providing the first sensor values ​​is formed in the first motor module and the second position sensor element providing the second sensor values ​​is formed in a second motor module.wherein in the first position the first motor module is completely covered by the moving unit, and wherein in the second position the first motor module and the second motor module are each partially covered by the moving unit; detection of a safety-endangering operating condition of the linear transport system if the first movement value and / or the second movement value reaches or exceeds a predefined first limit value, by the at least one safety module in a detection step.

[0015] This allows for the technical advantage of providing an improved method for operating a linear transport system. For this purpose, the linear transport system to be operated includes a safety monitoring system by means of which the safe operation of the linear transport system, and in particular the movement of the individual moving units of the linear transport system, can be monitored and ensured.

[0016] The method according to the invention thus enables, using the safety monitoring system, the detection of operating conditions of the linear transport system that pose a safety risk and further enables the execution of corresponding safety functions to remedy the operating condition that poses a safety risk or to ensure personal safety in areas of the linear transport system.

[0017] For this purpose, sensor values ​​from position sensor elements of the safety monitoring system are first recorded. The position sensor elements are arranged along the stationary unit. By recording the sensor values ​​of the position sensor elements arranged along the stationary unit, the moving units that can travel along the guide rail of the stationary unit can be detected or mapped. A majority of the position sensor elements are integrated into the motor modules of the stationary unit, such that each motor module comprises at least two position sensor elements of the safety monitoring system.

[0018] After acquiring sensor values ​​from at least one first position sensor element and one second position sensor element of the plurality of position sensor elements of the safety monitoring system, at least one safety module of the safety monitoring system determines a first motion value based on the first sensor values ​​of the first position sensor element and a second motion value based on the second sensor values ​​of the second position sensor element for a moving unit represented by the sensor values. The first and second motion values ​​each individually describe a motion state of the moving unit of the linear transport system represented by the sensor values.

[0019] The first two position sensor elements are selected from the majority of position sensor elements formed along the stationary unit such that in a first position of the moving unit relative to the stationary unit, in which the moving unit completely covers a first motor module, the first position sensor element and the second position sensor element are each formed in the first motor module completely covered by the moving unit.

[0020] In a second position of the moving unit relative to the stationary unit, in which the moving unit only partially covers the first motor module and an adjacent second motor module, the first and second position sensor elements are selected such that the first position sensor element is formed in the first motor module and the second position sensor element is formed in the adjacent second motor module.

[0021] The first and second position sensor elements are selected for both the first and second positions of the moving unit relative to the stationary unit such that in both positions the moving unit is at least partially formed in an effective area of ​​the first position sensor element and in an effective area of ​​the second position sensor element, so that the moving unit can be at least partially represented by the first sensor values ​​of the first position sensor element and the second sensor values ​​of the second position sensor element.

[0022] When moving the movable unit along the guide rail relative to the stationary unit, the first and second position sensor elements used to provide the first and second sensor values ​​for determining the first and second motion values ​​are selected such that the respective selected first and second position sensor elements are moved along the stationary unit with the movement of the movable unit relative to the stationary unit.

[0023] This means that when the moving unit moves along the guide rail, the selected position sensor elements are always formed in an area on the stationary unit that is covered by the moving unit in a position assumed by the moving unit relative to the stationary unit.

[0024] Different position sensor elements can be selected for different positions of the moving unit. By repeatedly selecting the first and second position sensor elements that provide the first and second sensor values, it can be ensured that for every positioning of the moving unit relative to the stationary unit, first and second sensor values ​​are available that at least partially represent the moving unit as it moves along the stationary unit. This allows the corresponding first and second motion values ​​of the moving unit's state of motion to be determined from the provided first and second sensor values.

[0025] Based on the first and second sensor values ​​recorded in this way, at least one safety module of the safety monitoring system subsequently detects a safety-endangering operating condition of the linear transport system if the first movement value and / or the second movement value reach or exceed a predefined first limit value.

[0026] By considering the separately determined first and second motion values, a redundant calculation of the motion value of the moving unit is achieved. This ensures reliable safety monitoring of the motion states of the moving unit in the linear transport system.

[0027] In one embodiment, force sensors are provided on the motor modules in addition to the position sensors. The at least one safety module is configured to determine, based on measured values ​​from the force sensors, the magnetic forces exerted on the drive magnets and thus on the moving unit by the corresponding current applied to the drive coils. Furthermore, the force values ​​determined in this way can be integrated into the calculation of the motion values ​​and the assessment of the operating states. For example, based on the corresponding motion values, an operating state can be assessed as potentially hazardous to safety if the magnetic force provided by the drive coils exceeds or falls below a predetermined limit.According to one embodiment, the first motion value and the second motion value each define a position and / or a velocity and / or an acceleration of the moving unit.

[0028] This allows for the technical advantage that, by considering the position and / or speed and / or acceleration of the moving unit in the first and second motion values, a reliable and meaningful motion state of the moving units can be taken into account in order to carry out the corresponding safety check on this basis.

[0029] According to one embodiment, the method further comprises:

[0030] Performing a cross-comparison between the first movement value and the second movement value by at least one safety module in a cross-comparison step; and

[0031] Detection of the safety-endangering operating condition of the linear transport system if a difference between the first movement value and the second movement value reaches or exceeds a predefined second limit value, by at least one safety module in the detection step.

[0032] This allows for the technical advantage of further improving and refining the safety monitoring of the motion states of the linear transport system's moving unit. To achieve this, a cross-comparison is performed based on the first and second motion states. This enables the detection of a potentially hazardous operating condition even if the first and second motion values, considered individually, do not reach or exceed the first limit, but a difference between them does reach or exceed a predefined second limit. This cross-comparison thus allows for the detection of deviations between the first and second motion values ​​determined from the first and second sensor readings of the first and second position sensor elements.

[0033] If the difference is greater than the predefined second limit value, a measurement error or malfunction of the safety monitoring system can be assumed, and therefore, as a precaution, the operating state of the linear transport system can be classified as hazardous to safety. This further improves the reliability of the safety check. According to one embodiment, the method also includes:

[0034] Output of control signals to execute a safety function by a control unit of the linear transport system and / or by the at least one safety module in an output step.

[0035] This offers the technical advantage of further improving safety monitoring by executing the safety function. In addition to detecting potentially hazardous operating conditions, executing the safety function can also prevent personal injury resulting from these conditions.

[0036] According to one embodiment, the safety function includes:

[0037] Performing an emergency stop in which the movement of the moving unit is stopped; and / or

[0038] Performing an emergency stop in which the moving unit is held in a current position; and / or

[0039] Performing a speed reduction and / or acceleration reduction, in which the speed and / or acceleration of the moving unit is reduced below a predefined maximum speed and / or maximum acceleration; and / or issuing a warning signal.

[0040] This offers the technical advantage that, by executing the safety function, the linear transport system can be brought into a safe operating state. This can be achieved by initiating an emergency stop, in which the moving unit or units are completely stopped. Furthermore, an emergency halt can be performed, in which the stopped moving units are held in their stopped position. Additionally, the speed and / or acceleration of the moving units can be reduced below a maximum permissible speed and / or acceleration. Alternatively or additionally, a corresponding signal indicating the potentially hazardous condition can be output.According to one embodiment, the at least one safety module comprises a central safety module integrated into the control unit of the linear transport system and / or a plurality of peripheral safety modules integrated into the motor modules, wherein at least one peripheral safety module is formed in each of the motor modules.

[0041] This achieves the technical advantage of centralizing the safety monitoring system by integrating at least one safety module into the control unit of the linear transport system. For this purpose, the safety system can include at least one central safety module integrated into the control unit, which can utilize the control unit's computing capacity. This enables fast and precise safety monitoring based on the sensor readings from the position sensors arranged along the stationary unit.

[0042] By integrating the majority of peripheral safety modules into the motor modules, safety monitoring can be performed directly in the motor modules.

[0043] According to one embodiment, a first peripheral safety module of the plurality of peripheral safety modules is associated with the first position sensor element, wherein a second peripheral safety module of the plurality of peripheral safety modules is associated with the second position sensor element, wherein the first peripheral safety module is formed together with the first position sensor element and the second peripheral safety module is formed together with the second position sensor element in the first motor module and / or in the second motor module, wherein the first peripheral safety module determines the first movement value based on the first sensor values, and wherein the second peripheral safety module determines the second movement value based on the second sensor values.

[0044] This achieves the technical advantage that by integrating safety modules of the safety monitoring system into the motor modules of the stationary unit, safety monitoring and the detection of safety-hazardous conditions can be accelerated. By integrating the safety modules directly into the motor modules, the data transmission paths between the position sensor elements (also integrated into the motor modules), which provide the sensor values, and the safety modules responsible for determining the motion values ​​and detecting safety-hazardous conditions can be shortened, thus accelerating data transmission.

[0045] The safety modules can be directly connected to the position sensors via data transmission, thus minimizing the data paths between the position sensors providing the sensor values ​​and the safety modules. The position sensors and their associated peripheral safety modules are integrated into the same motor modules, ensuring that data communication between them takes place exclusively within the motor modules. Therefore, the data volume of communication between the control unit and the motor modules is not further burdened or increased by the data communication between the position sensors and their associated peripheral safety modules.

[0046] Furthermore, by integrating the peripheral safety modules directly into the motor modules and by ensuring that data transmission between the position sensor elements and the safety modules takes place exclusively within the motor modules, the robustness of the data transmission can be further improved and errors in the data transmission minimized.

[0047] According to one embodiment, the method further comprises:

[0048] Transferring the first motion value determined by the first peripheral safety module from the first peripheral safety module to the control unit and / or transferring the second motion value determined by the second peripheral safety module from the second peripheral safety module to the control unit in a motion value transfer step, wherein the detection step is performed by the central safety module integrated into the control unit.

[0049] This offers the technical advantage that safety monitoring can be performed both by the safety modules integrated into the motor modules and by the safety modules integrated into the control unit. The shared computing power minimizes the computing capacity or power required in the motor modules to execute the safety modules integrated into them.

[0050] According to one embodiment, the detection step is performed by the first peripheral safety module and / or by the second peripheral safety module.

[0051] This offers the technical advantage that complete safety monitoring can be performed exclusively by the safety modules integrated into the motor modules. This reduces data transmission between the various motor modules or position sensor modules and the safety modules. As a result, the speed and robustness of the safety monitoring can be further improved.

[0052] According to one embodiment, the method further comprises:

[0053] Transmission of a first security detection message by the first peripheral security module to the control unit and / or transmission of a second security detection message by the second peripheral security module to the control unit in a security message transmission step, wherein the detected safety-endangering operating condition is indicated in the first security detection message and / or in the second security detection message.

[0054] This achieves the technical advantage that, by transmitting safety detection messages from the safety modules integrated into the motor modules to the safety modules integrated into the control unit, the safety modules integrated into the control unit can then execute the safety function. This allows the actual execution of safety functions, such as shutting down the relevant motor modules, to be centralized by the safety modules integrated into the control unit. The execution of the safety function can thus be better integrated into the control of the linear transport system by the control unit.

[0055] In one embodiment, the output step is executed by the first peripheral safety module and / or by the second peripheral safety module. This offers the technical advantage that, by executing the safety function through the safety modules integrated into the motor modules, all steps of the safety monitoring system can be performed within the motor modules. This further improves both the timing and robustness of the safety monitoring by avoiding long data transmission paths.

[0056] According to one embodiment, the method further comprises:

[0057] Transmission of the first motion value by the first peripheral safety module to the second peripheral safety module and / or transmission of the second motion value by the second peripheral safety module to the first peripheral safety module in a motor module communication step, wherein the cross-comparison step is performed by the first peripheral safety module and / or by the second peripheral safety module.

[0058] This offers the technical advantage that the cross-comparison can also be performed by the safety modules integrated into the motor modules. This further improves the speed and robustness of the safety monitoring.

[0059] According to one embodiment, the method further comprises:

[0060] Transmitting a cross-comparison message by the first peripheral security module and / or by the second peripheral security module to the control unit in a cross-comparison message transmission step, wherein the cross-comparison message indicates a result of the cross-comparison, and wherein the recognition step is performed by the security module integrated into the control unit.

[0061] This offers the technical advantage that the execution of safety functions can continue to be carried out by the safety modules integrated into the control unit through the output of the corresponding control signals. This allows the control of the linear transport system to remain centrally controlled by the control unit.

[0062] According to one embodiment, the method further comprises:

[0063] Selection of the first position sensor and the second position sensor based on a position determination of a position of the moving unit relative to the stationary unit by the control unit and / or the at least one safety module in a selection step.

[0064] This allows the technical advantage to be achieved that, based on the determination of the position of the moving unit relative to the stationary unit, the position sensor elements formed along the stationary unit can be precisely selected to provide the first or second sensor values, in whose area of ​​influence the moving unit is at least partially arranged and which can accordingly map the moving unit through the provided sensor values.

[0065] According to one embodiment, the selection step includes:

[0066] Detect by the first peripheral safety module associated with the first position sensor element that the moving unit is partially located in the first or second position within the detection range of the first position sensor element, and detect by the second peripheral safety module associated with the second position sensor element that the moving unit is partially located in the first or second position within the detection range of the second position sensor element, and activate the acquisition of the first sensor values ​​by the first position sensor element and the acquisition of the second sensor values ​​by the second position sensor element, and / or activate the determination of the first motion value by the first peripheral safety module and the determination of the second motion value by the second peripheral safety module in one activation step; and / or

[0067] Detect, by means of a third peripheral safety module associated with a third position sensor element of the plurality of position sensor elements, that the moving unit in the first or second position is not located in an effective area of ​​the third position sensor element, and deactivate a recording of sensor values ​​by the third position sensor element and / or deactivate a determination of a third motion value by the third peripheral safety module in a deactivation step.

[0068] This offers the technical advantage of simplifying the selection of position sensor elements with respect to the position of the moving units. The position sensor elements integrated into the motor modules, or the peripheral safety modules associated with and integrated into the motor modules, automatically detect when the moving unit is at least partially positioned within the respective detection range of the respective position sensor element.

[0069] If the peripheral safety module integrated into the motor module detects that the moving unit is at least partially located within the effective range of the position sensor element associated with the safety module, the recording of sensor values ​​by the respective position sensor element or the determination of the respective movement values ​​by the corresponding peripheral safety module is activated.

[0070] If, however, a peripheral safety module integrated into a motor module detects that the respective moving unit is not at least partially located within the effective range of the position sensor element associated with the peripheral safety module, the recording of sensor values ​​by the position sensor element and / or the calculation of the corresponding movement value by the respective peripheral safety module is deactivated.

[0071] This ensures that the sensor values ​​and the motion values ​​calculated from them are only recorded by the position sensor elements or the corresponding associated peripheral safety modules within whose operating range the respective moving unit is at least partially located. Position sensor elements within whose operating range the moving unit is not at least partially located, and the corresponding associated peripheral safety modules, therefore do not contribute to the calculation of the motion values ​​and thus not to safety monitoring.

[0072] Since the position of the moving unit relative to the stationary unit can be constantly changed during the movement of the moving unit along the guide rail, the position sensor elements and the peripheral safety modules associated with them and integrated into the motor modules, which contribute to safety monitoring, can also change accordingly according to the movement of the moving unit along the guide rail of the stationary unit.

[0073] For different positions of the moving unit relative to the stationary unit, correspondingly different position sensor elements and associated safety modules integrated into the motor modules are selected, through which safety monitoring is carried out according to the steps described above.

[0074] By selecting and deactivating the uninvolved position sensors and / or peripheral safety modules as described above, it is possible to prevent position sensors and / or associated peripheral safety modules from being considered in safety monitoring, as they cannot contribute to this purpose because the respective moving unit in its respective position is not represented by the sensor values ​​of the position sensors. This prevents distortions in the assessment of the operating states of the linear transport system.

[0075] According to one embodiment, the activation step and / or the deactivation step comprise:

[0076] Executing a counter function based on position information and / or speed information of the moving unit and calculating whether, at a time when the moving unit will be positioned in the first position or second position, the moving unit will be at least partially within the effective range of the first position sensor element and / or within the effective range of the second position sensor element and / or within the effective range of the third position sensor element, by the first peripheral safety module and / or by the second peripheral safety module and / or by the third peripheral safety module in one calculation step.

[0077] This allows for the technical advantage that a technically simple design for determining the at least partial positioning of the moving unit in the respective effective areas of the position sensor elements can be achieved by the peripheral safety modules associated with them and integrated into the motor modules.

[0078] The corresponding peripheral safety modules feature a counter function which, based on position and / or speed information of the moving unit according to an incremental encoder system, allows the determination of the changing positions of the moving unit during its movement along the guide rail relative to the effective ranges of the position sensor elements of the motor modules at various times. This enables each safety module integrated into a motor module to precisely and technically easily determine whether a moving unit traveling along the guide rail is at least partially within the effective range of the position sensor element associated with that safety module. Therefore, a technically complex selection of the position sensor elements considered for safety monitoring, which would otherwise be performed by the control unit, can be avoided.

[0079] According to one embodiment, the safety monitoring system further comprises at least one trigger module, wherein the at least one trigger module is designed in a predefined safety area of ​​the linear transport system, wherein the stationary unit and the guide rail extend at least partially within the predefined safety area, and wherein at least the first motor module and the second motor module of the stationary unit are arranged within the predefined safety area, and wherein the method further comprises:

[0080] Receiving a trigger signal from the trigger module by the control unit in a trigger signal reception step, wherein the trigger signal indicates the presence of a safety-relevant condition; and

[0081] Triggering the safety monitoring system for at least the predefined safety area by the control unit in one triggering step.

[0082] This offers the technical advantage of further refining safety monitoring. At least one trigger module can initiate safety monitoring for at least one section of the linear transport system if the trigger module detects a safety-relevant condition within a predefined safety zone. The safety monitoring performed by the system can thus be limited to those safety zones of the linear transport system where such conditions are detected. In this way, safety monitoring can be initiated in an event-driven manner.

[0083] According to one embodiment, the safety-relevant state of the linear transport system describes the presence of a person within the predefined safety zone. This offers the technical advantage that, through the appropriately defined safety-relevant state, personal injury can be prevented by initiating safety monitoring by the safety monitoring system when the trigger module detects a person within the predefined safety zones.

[0084] According to one embodiment, at least one force sensor element is further formed in each of the motor modules, wherein magnetic forces of the stator magnetic fields provided by the drive coils can be determined via sensor values ​​of the force sensor elements, and wherein the motion values ​​are determined by the at least one safety module taking into account the sensor values ​​of the force sensor elements.

[0085] This offers the technical advantage of improved safety monitoring. By considering the measured values ​​of the force sensor elements, the magnetic force provided by the drive coils can be taken into account when calculating the motion values ​​and thus when assessing the safety of the operating conditions of the linear transport system.

[0086] According to one aspect, a linear transport system is provided with a moving unit, a stationary unit with a guide rail for guiding the moving unit, a linear motor for driving the moving unit along the guide rail, a safety monitoring system, and a control unit, wherein the linear motor comprises a stator and a rotor, wherein the stator is formed on the stationary unit and has several motor modules with drive coils arranged stationary along the guide rail, wherein the rotor is arranged on the moving unit and comprises several drive magnet elements, wherein the safety monitoring system comprises at least one safety module and a plurality of position sensor elements formed on the stationary unit, wherein at least two position sensor elements are formed in each of the motor modules, and wherein the safety monitoring system is configuredto carry out the procedure according to one of the preceding embodiments.

[0087] This allows the technical advantage of providing an improved linear transport system configured to execute the inventive method for operating a linear transport system according to the embodiments described above and the associated technical advantages. According to one embodiment, the position sensor elements are designed as magnetic field sensors.

[0088] This achieves the technical advantage that, by designing the position sensor elements as magnetic field sensors, precise detection of the moving units is possible through the sensor values ​​of the position sensor elements. The sensor values ​​of the position sensor elements designed as magnetic field sensors thus reflect the rotor magnetic fields of the drive magnet elements of the moving units. Based on this, a precise determination of the motion states of the moving units can be achieved.

[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 schematic representation of a motor module of the linear transport system according to one 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 flowchart of a method for operating a linear transport system according to one embodiment;

[0095] Fig. 6 shows another flowchart of the method for operating a linear transport system according to a further embodiment;

[0096] Fig. 7 shows a further flowchart of the method for operating a linear transport system according to a further embodiment; Fig. 8 shows a further flowchart of the method for operating a linear transport system according to a further embodiment;

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

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

[0099] Fig. 11 shows another flowchart of the method for operating a linear transport system according to a further embodiment;

[0100] Fig. 12 shows another flowchart of the method for operating a linear transport system according to a further embodiment;

[0101] Fig. 13 shows another flowchart of the method for operating a linear transport system according to a further embodiment;

[0102] Fig. 14 shows a further flowchart of the method for operating a linear transport system according to a further embodiment; and

[0103] Fig. 15 shows another flowchart of the method for operating a linear transport system according to a further embodiment.

[0104] 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.

[0105] Fig. 1 shows a schematic top view of a linear transport system 100. The linear transport system 100 has at least one movable unit 101, a stationary unit 103 with a guide rail 105 for guiding the at least one movable unit 101, a linear motor 107 for driving the movable unit 101 along the guide rail 105 and a safety monitoring system 109.

[0106] 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 several drive coils 115 arranged stationary along the guide rail 105.

[0107] The at least one rotor 113 formed on the at least one movable unit 101 comprises a plurality of drive magnet elements 149. A rotor magnetic field can be generated via the drive magnet elements 149 of the rotor 113. Stator magnetic fields can be generated via the current-energizing drive coils 115, so that, via magnetic coupling between the rotor magnetic field of the rotor 113 of the movable unit 101 and the stator magnetic fields of the stator 111, which can be generated variably by energizing the drive coils 115, a movement of the movable unit 101 along the guide rail 105 can be effected.

[0108] In the embodiment shown, the majority of the drive coils 115 of the stator 111 are grouped into a plurality of motor modules 117. The stator 111 thus comprises several motor modules 117, each of which in turn comprises a plurality of energizable drive coils 115. The motor modules 117 are arranged along the guide rail 105 and are connected to each other and to the control unit 131 by a connecting line 147, at least for data transmission purposes.

[0109] Figure 1 shows, by way of example, three motor modules 117 of the stator 111 spaced apart from each other along the guide rail 105. Each motor module 117 comprises three drive coils 115. The number of motor modules 117 and drive coils 115 shown is merely exemplary and is not intended to limit the present invention. Any number of motor modules 117 can be arranged on the stationary unit 103, corresponding to the length of the stationary unit 103. The motor modules 117 can have a different size and a different number of drive coils 115 than shown in Figure 1. As an example of a linear transport system 100 according to the invention, Figure 1 shows a stationary unit with three motor modules 117 and two movable units 101, each with a rotor 113. One of the motor modules 117 is partially obscured by a movable unit 101 in Figure 1.

[0110] According to the embodiment in Fig. 1, the motor modules 117 can, in addition to the drive coils 115, also include components such as the components of the safety monitoring system 109.

[0111] In the illustrated embodiment, the multiple motor modules 117 of the stator 111 are arranged at intervals along a longitudinal axis LA of the stator 111 on the stationary unit 103. The multiple motor modules 117 are spaced apart from each other by gaps 155. In the illustrated embodiment, the motor modules 117 each have a coil length LM, with the adjacent drive coils 115 of a motor module 117 each forming a coil length LM. The rotor 113 has a rotor length LL.

[0112] The area between the drive coils 115 of two adjacent motor modules 117 has a gap length Ls, with the gap 155 being formed in this area. In the area forming the gap length LS, other elements of the motor modules 117 can be arranged in addition to the gap 155. The rotor length LL corresponds to n times the sum of the coil length LM and the gap length Ls. In particular, the rotor length LL can therefore be determined using the formula

[0113] LL >= n (LM + Ls) can be calculated, where n is a natural number. The concept of n-fold therefore also includes, in particular, that the rotor length corresponds to the sum of the coil length and the gap length.

[0114] The gap 155 between the motor modules 117 allows for the elimination of motor modules 117 and, in particular, drive coils 115 on the stationary unit 103 along the length of the guide rail 105. Thus, along the guide rail 105, there are areas, especially in the gaps 155 between the motor modules 117, where no drive coils 115 are located. This enables the provision of a more resource-efficient linear transport system 100.

[0115] The gap length Ls can vary in different regions of the stationary unit 103. For example, the gap 155 can be increased or decreased in regions of the stationary unit 103. If necessary, the gap 155 can also be omitted completely.

[0116] In areas along the guide rail 105, the ratio between rotor length LL to coil length LM and gap length Ls can vary, for example, from n = 1 to n = 3. This can occur when additional motor modules 117 are positioned in the gap 155. Crucially, for the reliable operation of the moving unit 101, a drive magnet element 149 of the rotor 113 must always be within the effective range of at least one drive coil 115 of a stator 111.

[0117] Alternatively, the motor modules 117 can also be arranged directly adjacent to each other on the stationary unit 103 without a gap 155.

[0118] According to the invention, the safety monitoring system 109 comprises a plurality of position sensor elements 123 and at least one safety module 119. The plurality of position sensor elements 123 are formed along the longitudinal axis LA on the stationary unit 103.

[0119] The position sensor elements 123 can be formed both in the motor modules 117 and in the gaps 155 between the motor modules 117. In the illustrated embodiment, the position sensor elements 123 of the safety monitoring system 109 are formed exclusively in the motor modules 117. Each motor module 117 has at least two position sensor elements 123. In the illustrated embodiment, the two position sensor elements 123 in the motor modules 117 are each formed at opposite ends of the motor modules 117 with respect to the longitudinal axis LA.

[0120] According to one embodiment, the position sensor elements 123 are designed as magnetic sensor elements, for example, 1D, 2D, or 3D Hall sensors. The position sensor elements 123 thus allow the rotor magnetic fields of the drive magnet elements 149 of the rotors 113 of the moving units 101 to be detected. By detecting the rotor magnetic fields via the position sensor elements 123, the movement states of the moving units 101 moving along the guide rail 105 can be determined via the at least one safety module 119 of the safety monitoring system 109.

[0121] According to the invention, the safety monitoring system 109 comprises at least one safety monitoring module 119, which is configured to determine the movement states of the moving units 101 based on the sensor values ​​of the position sensor elements 123 and to detect operating states of the linear transport system 100 that are hazardous to safety based on this.

[0122] According to the embodiment shown, the safety monitoring system 109 comprises a plurality of safety modules 119. In the embodiment shown, the plurality of safety modules 119 comprises at least one central safety module 120 integrated into the control unit 131.

[0123] Alternatively, the central safety module 120 can also be formed in another central component of the automation system 100, such as a fieldbus terminal or a bus coupler or similar.

[0124] Furthermore, in the embodiment shown, the safety monitoring system 109 comprises a plurality of peripheral safety modules 121 integrated into the motor modules 117.

[0125] In the embodiment shown, each motor module 117 incorporates two integrated peripheral safety modules 121. The peripheral safety modules 121 integrated into the motor modules 117 are associated in each motor module 117 with exactly one of the at least two position sensor elements 123.

[0126] The association between exactly one position sensor element 123 and exactly one peripheral safety module 121 integrated into a motor module 117 means that the respective peripheral safety module 121 integrated into the motor module 117 processes exclusively the sensor values ​​of the respective associated position sensor element 123 and, based on this, determines the motion states of the respective detected moving units 101. Alternatively, instead of the embodiment shown, each motor module 117 can also contain only one peripheral safety module 121.

[0127] According to the invention, to perform safety monitoring of the operating states of the linear transport system 100, the at least one safety module 119 first receives sensor values ​​125 from the position sensor elements 123 of the safety monitoring system 109. Based on the sensor values ​​125 of the position sensor elements 123, the at least one safety module 119 then determines motion values ​​of at least one motion state of at least one moving unit 101.

[0128] The state of motion or the motion values ​​can include a position or a speed of the movable unit 101 represented by the sensor values ​​125 of the position sensor elements 123.

[0129] Based on the correspondingly determined motion values ​​of the motion state of the moving unit 101, a safety-endangering state of the linear transport system 100 is subsequently detected by the at least one safety module 119 if the motion values ​​determined on the sensor values ​​125 of the position sensor elements 123 by the at least one safety module 119 reach or exceed a predefined first limit value.

[0130] For example, if a speed and / or acceleration of a moving unit 101 detected by the sensor values ​​125, determined by the safety module 119 based on the sensor values ​​125, reaches or exceeds a predefined maximum speed and / or maximum acceleration, the operating state of the linear transport system 100 is recognized or classified as hazardous to safety.

[0131] In one embodiment, determining the motion values ​​based on the sensor values ​​125 of the position sensor elements 123 and detecting the hazardous operating condition can be performed by at least one central safety module 120 integrated into the control unit 131. For this purpose, the sensor values ​​125 acquired by the position sensor elements 123 are transmitted to the control unit 131 via data communication. Alternatively, determining the motion values ​​127 and detecting the hazardous condition can also be performed exclusively by the peripheral safety modules 121 integrated into the motor modules 117. In this case, the sensor values ​​125 of the position sensor elements 123 are received by the peripheral safety modules 121 associated with the position sensor elements 123.Based on the sensor values ​​125, the respective peripheral safety modules 121 subsequently determine the motion values ​​127 of the motion states of the moving units 101 and, based on the motion values, detect a safety-endangering operating state of the linear transport system 100.

[0132] The detection of potentially hazardous operating conditions based on the movement values ​​can be achieved by taking into account appropriate reference values ​​with which the determined movement values ​​are compared.

[0133] Alternatively, the sensor values ​​125 can be processed jointly by the at least one central safety module 120 integrated into the control unit 131 and the peripheral safety modules 121 integrated into the corresponding motor modules 117. For example, the detection of the motion values ​​127 based on the sensor values ​​125 of the position sensor elements 123 can be performed by the peripheral safety modules 121 integrated into the motor modules 117, while the detection of the safety-endangering operating condition is performed by the at least one central safety module 120 integrated into the control unit 131.

[0134] For this purpose, the peripheral safety modules 121 transmit the correspondingly calculated motion values ​​127 via data communication to the at least one central safety module 120. Based on this, the at least one central safety module 120 then performs the detection of the operating status.

[0135] Alternatively, the calculation of the motion values ​​127 can be performed by the at least one central safety module 120, and the detection of the operating state of the linear transport system 100 can be performed by the peripheral safety modules 121 integrated into the motor modules 117. For this purpose, the sensor values ​​125 from the position sensor elements 123 are first transmitted from the motor modules 117 to the central safety module 120 integrated into the control unit 131. The motion values ​​127 determined by the central safety module 120 are then transmitted back to the peripheral safety modules 121 integrated into the motor modules 117 via data communication. Based on this, the peripheral safety modules 121 detect the safety-endangering operating states of the linear transport system 100.

[0136] According to one embodiment, after the detection of a safety-endangering operating state of the linear transport system 100, a safety function is executed by means of which the safety-endangering operating state can be eliminated and the operation of the linear transport system 100 can be secured. For this purpose, the control unit 131 and / or at least one of the safety modules 119 output control signals to the motor modules 117 upon detection of the safety-endangering operating state in order to execute the respective safety function by means of the corresponding control of the motor modules 117.

[0137] The safety function can include executing an emergency stop, in which the movement of the moving units 101 is stopped as quickly and safely as possible. To execute the emergency stop, for example, the power supply to the drive coils 115 of the affected motor modules 117 can be interrupted.

[0138] Furthermore, the safety function can include performing an emergency stop, in which the respective moving unit 101 is held in a position relative to the stationary unit 103. For this purpose, the drive coils 115 of the respective motor modules 117 are energized in such a way that the stator magnetic fields generated by the energized drive coils 115 hold the moving unit 101 in the desired position.

[0139] Furthermore, the safety function can include issuing an alarm signal to indicate a safety-endangering condition of the linear transport system 100. The alarm signal can be, for example, an acoustic, visual, or haptic signal.

[0140] The affected motor modules 117 are those motor modules 117 which, when the drive coils 115 of the respective motor modules 117 are controlled, can act on the movable unit 101 in a respective position relative to the stationary unit 103 by means of the stator magnetic fields generated by controlling the drive coils 115.

[0141] According to the invention, for safety monitoring, sensor values ​​125 from two different position sensor elements 123 are always used to calculate two movement values ​​127. The two movement values ​​are calculated separately from each other based on the different sensor values ​​125 of the two different position sensor elements 123.

[0142] The separate calculation of the two motion values ​​127 based on the sensor values ​​125 of the two different position sensor elements 123 enables a calculation redundancy of the motion values ​​127 and, based on this, the safety monitoring.

[0143] The potentially dangerous operating condition of the linear transport system 100 can therefore already be detected if one of the two separately calculated motion values ​​127 reaches or exceeds the predefined first limit value.

[0144] To further safeguard the safety monitoring, a cross-comparison of the two separate motion values ​​127 can also be performed. If, when executing the two motion values ​​127 determined separately from the different sensor values ​​125 of the two different position sensor elements 123, a difference is detected in the cross-comparison and the difference between the two motion values ​​127 reaches or exceeds a predefined second limit value, then the safety-endangering operating condition of the linear transport system 100 is also detected.

[0145] If the two separately calculated motion values ​​127 differ too greatly according to the predefined second limit value, a measurement error by the respective position sensor elements 123 and / or an error calculation of the motion values ​​127 by the safety modules 119 can be assumed. This means that reliable safety monitoring of the operating states of the linear transport system 100 can no longer be guaranteed, so the respective operating state is classified as a safety hazard and, if necessary, the safety function is executed. The cross-comparison can again be performed by the at least one central safety module 120 integrated into the control unit 131 and / or by the peripheral safety modules 121 integrated into the motor modules 117.

[0146] If the two motion values ​​127, on which the cross-comparison is to be performed, are calculated by at least two peripheral safety modules 121, and the cross-comparison is performed by at least one of the two peripheral safety modules 121, the two motion values ​​127 are exchanged accordingly between the two peripheral safety modules 121 via data communication not shown in Fig. 1. If the two peripheral safety modules 121 are formed in the same motor module 117, the corresponding data communication takes place within the motor module 117. If, however, the two peripheral safety modules 121 are formed in two different, adjacent motor modules 117, data communication takes place between the two motor modules 117.

[0147] This data communication can take place directly from one motor module 117 to the next. Alternatively, the data to be exchanged between the motor modules 117 can first be transmitted to the control unit 131. The control unit 131 can then send the data to the respective addressed motor module 117.

[0148] According to the invention, for the execution of the safety check, first sensor values ​​125-1 are provided by a first position sensor element 123-1 and second sensor values ​​125-2 are provided by a second position sensor element 123-2. Based on the first sensor values ​​125-1, a corresponding first movement value 127-1 is determined, and based on the second sensor values ​​125-2, a corresponding second movement value 127-2 is determined. The two movement values ​​127-1 and 127-2 are preferably calculated by two different safety modules 119, thus creating two redundant calculation paths.

[0149] Depending on the positioning of the movable units 101 moving along the guide rail 105, position sensor elements 123 are selected in pairs from the majority of position sensor elements 123 to provide the first sensor values ​​125-1 and second sensor values ​​125-2, respectively, as the first position sensor element 123-1 and second position sensor element 123-2. The correspondingly selected first and second position sensor elements 123-1 and 123-2 thus follow the movement of the respective movable unit 101 along the guide rail 105 relative to the stationary unit 103.The selection of the first and second position sensor elements 123-1, 123-2 is carried out in such a way that, for a positioning of the movable unit 101 in a first position P1, in which the movable unit 101 completely covers a motor module 117, the position sensor elements 123 selected to provide the first sensor values ​​125-1 and second sensor values ​​125-2 as first position sensor element 123-1 and second position sensor element 123-2 are formed in the motor module 117 covered by the movable unit 101.

[0150] If, on the other hand, the movable unit 101 is in a second position P2 in which the movable unit 101 does not completely cover any motor module 117, but in which the movable unit 101 partially covers two adjacent motor modules 117, then one position sensor element 123 is selected from the first partially covered motor module 117 and the other position sensor element 123 is selected from the other partially covered motor module 117.

[0151] For a detailed description of the selection of the position sensor elements 123 to provide the first and second sensor values ​​125-1 , 125-2, reference is made to the description for Fig. 3.

[0152] In the illustrated embodiment, each motor module 117 incorporates two peripheral safety modules 121, each associated with a position sensor element 123 of the same motor module 117. Alternatively, each motor module 117 can also contain only one peripheral safety module 121. In this case, the single peripheral safety module 121 is associated with the two position sensor elements 123 of the respective motor module 117.

[0153] If the moving unit 101 is in the first position P1, the first sensor values ​​125-1 of the first position sensor element 123-1 and the second sensor values ​​125-2 of the second position sensor element 123-2, which is also integrated into the same motor module 117, are evaluated by the peripheral safety module 121 of the respective motor module 117 in order to determine the corresponding first and second motion values ​​and / or, based on these, to determine the safety of the operating state. If the moving unit 101 is in the second position P2 relative to the stationary unit 103, the first sensor values ​​125-1 of the first position sensor element 123-1 are evaluated by the peripheral safety module 121 integrated into the same motor module 117.The second sensor values ​​125-2 of the second position sensor element 123-2 formed in the adjacent motor module 117 are evaluated by the peripheral safety module 121 formed in the same motor module 117 and associated with the second position sensor element 123-2.

[0154] In the embodiment in which only one peripheral safety module 121 is formed in each of the motor modules 117, the safety check is performed by only one peripheral safety module 121 in the first position P1. In the second position P2, however, two peripheral safety modules 121 arranged in different motor modules 117 are used for safety monitoring.

[0155] In the illustrated embodiment, an application 129 is arranged on each of the movable units 101. Various processes, such as loading and unloading objects to be transported onto and from the movable unit 101, can be carried out via the application 129. In addition to a loading / unloading application, other applications 129 are also possible.

[0156] In the illustrated embodiment, drive magnet sensor elements 133 are also formed in the motor modules 117. The drive magnet sensor elements 133 allow the rotor magnetic fields of the drive magnet elements 149 of the rotors 113 of the moving units 101 to be determined.

[0157] Based on the sensor values ​​of the drive magnet sensor elements 133, which map the rotor magnetic fields of the drive magnet elements 149, the position of the movable units 101, which can be moved along the guide rail, can be determined. For this purpose, the drive magnet sensor elements 133 are designed as magnetic field sensors, for example as 1D Hall sensors, 2D Hall sensors or 3D Hall sensors.

[0158] In the illustrated embodiment, the position sensor elements 123 and the drive magnet sensor elements 133 are formed by the same magnetic sensor elements. Thus, for the safety monitoring system 109, the drive magnet sensor elements 133 used for position determination are used as position sensor elements 123. However, according to one embodiment, the position sensor elements 123 and the drive magnet sensor elements 133 can also be designed as different sensor elements, each arranged in the motor modules 117.

[0159] In the illustrated embodiment, each motor module 117 has two drive magnet sensor elements 133 at opposite ends of the motor module 117. Alternatively, the motor modules 117 can have more or fewer drive magnet sensor elements 133 at different locations.

[0160] Fig. 2 shows a schematic representation of a motor module 117 of a stator 111 of the linear transport system 100 according to one embodiment.

[0161] In the illustrated embodiment, the motor module 117 comprises a motor module housing 151. Drive coils 115 are positioned centrally within the motor module housing 151. Three drive coils 115 are shown in the illustrated embodiment. However, the number of positions and configurations of the drive coils 115 can also differ from those shown here.

[0162] Stator magnetic fields can be generated by controlling or energizing the drive coils 115. The moving units 101 can be moved along the guide rail 105 via a magnetic interaction between the stator magnetic fields generated in this way and the rotor magnetic fields of the drive magnet elements 149 of the rotors 113.

[0163] In the illustrated embodiment, the position sensor elements 123 and drive magnet sensor elements 133 are arranged at two opposite ends of the motor module 117 with respect to a longitudinal direction LA of the motor module 117 shown. As the moving unit 101 and the rotor 113 pass the motor modules 117 along the longitudinal direction LA shown, the drive magnet sensor elements 133 can determine the drive magnet fields of the drive magnet elements 149 of the rotor 113 and thereby determine the position of the rotor 113 relative to the stator 111. Similarly, the position sensor elements 123 can acquire sensor values ​​125 representing the rotor magnet fields of the drive magnet elements 149 of the rotor 113 for the various positions of the moving units 101 relative to the stationary unit 103.Based on this, the safety modules 119 can determine the motion values ​​127 of the moving units 101 according to the procedure described above.

[0164] In the embodiment shown, unlike the embodiment in Fig. 1, the position sensor elements 123 and the drive magnet sensor elements 133 are designed as separate sensor elements. The position sensor elements 123 and the drive magnet sensor elements 133 can, for example, be designed as independent magnetic sensor elements.

[0165] In the illustrated embodiment, the position sensor elements 123 and the drive magnet sensor elements 133 are arranged in pairs directly adjacent to each other. Alternatively, the position sensor elements 123 and the drive magnet sensor elements 133 can also be located at different positions in the motor module 117.

[0166] Two peripheral safety modules 121 are formed in the motor module 117. Each peripheral safety module 121 is associated with a position sensor element 123. In the embodiment shown, the peripheral safety modules 121 and the position sensor elements 123 are designed as independent components. For association, each of the two peripheral safety modules 121 is connected to one of the position sensor elements 123 via a data connection 157.

[0167] Alternatively, the peripheral safety modules 121 can also be integrated into the position sensor elements 123 and form a coherent unit with them.

[0168] The number and positioning of the position sensor elements 123 and / or peripheral safety modules 121 in the motor modules 117 may differ from the embodiment shown. According to the invention, however, at least two position sensor elements 123 are provided in each of the motor modules 117.

[0169] Alternatively, each motor module 117 can also contain only one position sensor element.

[0170] 123. The motor modules 117 are arranged on the stationary unit 103 at such a distance from each other that a distance between two position sensor elements 123 of two immediately adjacent motor modules 117 is less than or equal to half the length of the rotor 111 of the movable unit 101.

[0171] By spacing the position sensor elements 123 of adjacent motor modules 117 in this way, it can be achieved that in every positioning of the moving unit 101 relative to the stationary unit 103, the rotor 111 of the moving unit is at least partially arranged in the effective ranges of at least two position sensor elements 123.

[0172] The motor module 117 shown can further comprise a final protective plate, which is not shown in Fig. 2 and which protects the drive coils 115 and the other elements shown from contamination and damage.

[0173] In the embodiment shown, force sensor elements 159 are also provided on the motor modules 117. The safety modules 119 are configured to determine, based on the measured values ​​of the force sensor elements 159, the magnetic forces generated by energizing the drive coils 115 and acting on the drive magnet elements 149 of the moving units 101, and to include these in the calculation of the motion values.

[0174] Furthermore, the safety modules 119 can assess the operating states of the automation system 100 as potentially hazardous to safety if the determined magnetic forces exceed or fall below predefined limit values.

[0175] Fig. 3 shows a schematic representation of the linear transport system 100 according to a further embodiment.

[0176] The embodiment in Fig. 3 is based on the embodiment in Fig. 1 and the linear transport system 100 shown includes all the features shown there.

[0177] Figure 3 shows a highly simplified representation of the linear transport system. Only a movable unit 101 and the stationary unit 103 of the linear transport system 100 are schematically depicted in Figure 3. Three motor modules 117 of the stationary unit 103 are shown. The motor modules 117 are also shown in a highly simplified form and each comprises two position sensor elements 123 and two peripheral safety modules 121. The drive coils 115 of the motor modules 117, as well as the drive magnet sensor elements 133, are not shown in Figure 3. The movable unit 101 comprises the drive magnet elements 149. This highly simplified representation is not intended to limit the present invention in any way.

[0178] In diagrams a) and b), the movable unit 101 is shown in two different positions relative to the stationary unit 103. In diagram a), the movable unit 101 is shown in a first position P1 relative to the stationary unit 103. In the first position P1, the movable unit 101 completely covers a first motor module 117-1. A second motor module 117-2 and a third motor module 117-3 of the stationary unit 103 are not covered by the movable unit 101 in the first position P1.

[0179] In diagram b), the movable unit 101 is shown in a second position P2 relative to the stationary unit 103. In the second position P2, the first motor module 117-1 and the second motor module 117-2 are each partially covered by the movable unit 101. The third motor module 117-3, however, remains uncovered by the stationary unit 101.

[0180] In the context of the application, covering a motor module 117 with a movable unit 101 means that a projection of the movable unit 101 onto the stationary unit 103 is at least partially projected onto the motor module 117 arranged in the stationary unit 103, i.e., the movable unit 101 is at least partially arranged in the effective range of at least one position sensor element 123 of the respective motor module 117.

[0181] In the embodiment shown, each of the three motor modules 117-1 to 117-3 has two position sensor elements 123 and two peripheral safety modules 121. The peripheral safety modules 121 are associated with the respective position sensor elements 123 according to the embodiment shown in Fig. 2. The peripheral safety modules 121 and the position sensor elements 123 are arranged in pairs in the motor modules 117-1 to 117-3 and are positioned on opposite sides of the motor modules 117-1 to 117-3. The position sensor elements 123 are referred to below as left position sensor elements 145-L and right position sensor elements 145-R. Similarly, the peripheral safety modules 121 are referred to as left peripheral safety modules 146-L and right peripheral safety modules 146-R.The distinction between left and right position sensor elements 145-L, 145-R and left and right peripheral safety modules 146-L, 146-R is made solely by convention and does not serve to limit the present invention.

[0182] In the embodiment shown, the left position sensor element 145-L and the right position sensor element 145-R of a motor module 117 are formed at two opposite ends of the motor module 117 with respect to the longitudinal axis LA.

[0183] In graphic a), the movable unit 101 is positioned in the first position P1 relative to the stationary unit 103 and completely covers the first motor module 117-1.

[0184] Due to the complete coverage of the first motor module 117-1 by the movable unit 101, the movable unit 101 is located at least partially within the effective range of the left position sensor element 145-L and at least partially within the effective range of the right position sensor element 145-R of the first motor module 117-1. This enables the left position sensor element 145-L and the right position sensor element 145-R to receive sensor values ​​125 of the rotor magnetic field of the drive magnet elements 149 of the movable unit 101, wherein the correspondingly received sensor values ​​125 at least partially represent the rotor magnetic field of the drive magnet elements 149 and thus the movable unit 101.

[0185] To carry out the safety monitoring, according to the inventive method, in the positioning of the movable unit 101 relative to the stationary unit 103 in the first position P1 shown, the left position sensor element 145-L of the first motor module 117-1 is selected as the first position sensor element 123-1 and the right position sensor element 145-R of the first motor module 117-1 as the second position sensor element 123-2.

[0186] Similarly, the left and right peripheral safety modules 146-L and 146-R of the first motor module 117-1, associated with the left and right position sensor elements 145-L and 145-R of the first motor module 117-1, are selected as the first peripheral safety module 121-1 and the second peripheral safety module 121-2. The designation of the selected position sensor elements 123 as the first position sensor element 123-1 and the second position sensor element 123-2, and of the selected peripheral safety modules 121 as the first peripheral safety module 121-1 and the second peripheral safety module 121-2, is again a matter of convention and is not intended to limit the invention.

[0187] The first position sensor element 123-1, selected in this manner, then acquires or provides the first sensor values ​​125-1 according to the method described above, while the second position sensor element 123-2 acquires the second sensor values ​​125-2 accordingly. In the embodiment shown, the first peripheral safety module 121-1 then determines the first motion values ​​127-1 based on the first sensor values ​​125-1, while the second peripheral safety module 121-2 calculates the second motion values ​​127-2 based on the second sensor values ​​125-2.

[0188] As shown in Figure a), the first and second position sensor elements 123-1 , 123-2 and the correspondingly associated first and second peripheral safety modules 121-1 , 121-2 are arranged in the first position P1 of the moving unit 101 relative to the stationary unit 103 in the same first motor module 117-1.

[0189] If, according to the embodiment described above, the calculation of the motion values ​​127 is performed by the central safety module 120 (not shown in Fig. 3), the first and second sensor values ​​125-1 and 125-2 are transmitted to the central safety module 120. If, however, only the detection of the safety-endangering operating state is performed by the central safety module 120, the first and second motion values ​​127-1 and 127-2 are transmitted to the central safety module 120.

[0190] If, however, the detection of the safety-endangering operating state is carried out by the first and second peripheral safety modules 121-1 and 121-2, a first safety detection message 135-1 and / or a second safety detection message 135-2, each containing information about the detected safety-endangering operating state, can be transmitted by the first and / or second peripheral safety module 121-1 and 121-2 to the central safety module 120. Based on the first and / or second safety detection message 135-1 and 135-2, the execution of the safety function can then be initiated, if necessary, by the control unit 131 or by the central safety module 120 or the peripheral safety modules 121.

[0191] Since, as shown in graphic a), the left and right position sensor elements 145-L, 145-R of the second motor module 117-2 and the third motor module 117-3 are not covered by the moving unit 101 and is therefore not located in the effective ranges of the position sensor elements 123 of the second and third motor modules 117-2, 117-3, no sensor values ​​125 are recorded by the position sensor elements 123 of the second and third motor modules 117-2, 117-3 and / or no corresponding movement values ​​127 are calculated by the corresponding peripheral safety modules 121 of the second and third motor modules 117-2, 117-3.

[0192] If the movable unit 101 is moved further along the guide rail 105 relative to the position shown in graphic a), then, depending on the positioning of the movable unit 101 relative to the stationary unit 103, different position sensor elements 123 of the motor modules 117 are selected as first and second position sensor elements 123-1 , 123-2 and corresponding associated first and second peripheral safety modules 121-1 , 121-2 to provide the first and second sensor values ​​125-1 , 125-2 respectively to calculate the first and second motion values ​​127-1 , 127-2.

[0193] In the second position P2 of the moving unit 101 relative to the stationary unit 103, as shown in Figure b), the first motor module 117-1 is only partially covered by the moving unit 101. Conversely, in the second position P2, the second motor module 117-2 is also now partially covered by the moving unit 101. In the second position P2 shown, the moving unit 101 is therefore partially within the effective range of the right position sensor element 145-R of the first motor module 117-1 and partially within the effective range of the left position sensor element 145-L of the second motor module 117-2.

[0194] According to the selection described in Figure a), the right position sensor element 145-R of the first motor module 117-1 is selected as the first position sensor element 123-1, and the left position sensor element 145-L of the second motor module 117-2 is selected as the second position sensor element 123-2. Similarly, the right peripheral safety module 146-R of the first motor module 117-1 is selected as the first peripheral safety module 121-1, and the left peripheral safety module 146-L of the second motor module 117-2 is selected as the second peripheral safety module 121-2.

[0195] Analogous to the procedure described in Figure a), the first and second position sensor elements 123-1 and 123-2 acquire and provide the first and second sensor values ​​125-1 and 125-2, respectively. The first and second peripheral safety modules 121-1 and 121-2 can then calculate the first and second motion values ​​127-1 and 127-2.

[0196] In the second position P2 shown in Figure b), the movable unit 101 is no longer within the effective range of the left position sensor element 145-L of the first motor module 117-1. To avoid measurement errors, the left position sensor element 145-L and the correspondingly associated left peripheral safety module 146-L of the first motor module 117-1 are therefore no longer considered for safety monitoring in the second position P2 shown.

[0197] The left position sensor element 145-L of the first motor module 117-1 can be defined as a corresponding third position sensor element 123-1 and the correspondingly associated left peripheral safety module 146-L of the first motor module 117-1 can be defined as a corresponding third peripheral safety module 121-3.

[0198] The third position sensor element 123-3 and / or the third peripheral safety module 121-3 are subsequently deactivated, so that no further sensor values ​​125 are recorded or provided by the third position sensor element 123-3 and / or no further motion values ​​127 are calculated by the third peripheral safety module 121-3.

[0199] The selection of the first and second position sensor elements 123-1, 123-2, or the correspondingly associated first and second peripheral safety modules 121-1, 121-2, as described in Figures a) and b) and the positions P1, P2 of the moving unit 101 relative to the stationary unit 103 shown, can be based on position information or velocity information of the moving unit 101 relative to the stationary unit 103. Knowing the position of the moving unit 101 relative to the stationary unit 103, the control unit 131 can determine the position sensor elements 123 of the respective motor modules 117 within whose operating ranges the correspondingly positioned moving unit 101 is at least partially located.

[0200] The position sensor elements 123 thus identified are subsequently selected as first and second position sensor elements 123-1 and 123-2, respectively, according to the steps described above. The correspondingly associated safety modules 121 are selected accordingly as first and second peripheral safety modules 121-1 and 121-2.

[0201] Alternatively, sensor values ​​125 can be acquired by a plurality of position sensor elements 123 of a plurality of motor modules 117, regardless of the position of the moving unit 101. Based on the sensor values ​​125 of the position sensor elements 123, the peripheral safety modules 121 and / or the central safety module 120 and / or the control unit 131 associated with the position sensor elements 123 can then determine which position sensor elements 123 have actually measured a signal from the rotor 113 of the moving unit 101. This determination can be made, for example, by using predefined limit values.

[0202] For example, if the signal strength of the sensor values ​​125 recorded by a position sensor element 123 reaches or exceeds a predefined limit value for the signal strength, this is interpreted as meaning that the respective sensor values ​​125 actually represent the rotor magnetic field of the rotor 113 of a moving unit 101.

[0203] To determine the motion values ​​127 and perform the safety check based thereon, the sensor values ​​125 of the position sensor elements 123 can then be selected, which actually represent the rotor magnetic field of the rotor 113 of the moving unit 101. The selection of the sensor values ​​125 can in turn be carried out by the respective peripheral safety modules 121 and / or the central safety module 120 and / or the control unit 131.

[0204] Depending on the selection of the position sensor elements 123, the peripheral safety modules 121 integrated into the motor modules 117 can also be selected for the corresponding calculation of the motion values ​​127 and / or the assessment of the safety of the operating states of the linear transport system 100. Similarly, the peripheral safety modules 121 associated with the position sensor elements 123 selected for safety verification can be selected for evaluating the sensor values ​​125 of the selected position sensor elements 123.

[0205] The selection of the peripheral safety modules 121 can in turn be made by the peripheral safety modules 121 and / or the central safety module 120 and / or the control unit 131.

[0206] Sensor values ​​125 from position sensor elements 123, whose signal strength does not reach or exceed the predefined limit value, can, however, be disregarded in safety monitoring, i.e., in the assessment of the operating conditions.

[0207] The position and / or speed information can be provided by the control unit 131. The position and / or speed determination is based on measurements of the rotor magnetic fields of the moving units 101 by the drive magnet sensor elements 133 of the individual motor modules 117.

[0208] Alternatively or additionally, a counter function of the peripheral safety modules 121 formed in the respective motor modules 117 can be taken into account when selecting the position sensor elements 123 and / or peripheral safety modules 121 to be considered for safety monitoring.

[0209] Using the counter functions implemented in the peripheral safety modules 121, each of the peripheral safety modules 121 can determine, taking into account position and / or speed information of the moving unit 101, for which position of the moving unit 101 relative to the stationary unit 103 the moving unit 101 is or will be located at least partially within the effective range of the position sensor element 123 associated with the respective peripheral safety module 121. The counter function operates in the form of an incremental encoder.

[0210] The peripheral safety modules 121 integrated into the motor modules 117 can thus independently determine, by executing the counter function, whether, for a given position P1, P2 of the moving unit 101 relative to the stationary unit 103, the moving unit 101 is at least partially positioned within the effective range of the correspondingly associated position sensor element 123, and therefore whether the respective position sensor element 123 is to be selected as the first or second position sensor element 123-1, 123-2, i.e., whether the respective position sensor element 123 is to be activated to receive the sensor values ​​125. When the respective peripheral safety module 121 is selected as the first or second position sensor element 123-1, 123-2, it is activated accordingly to calculate the motion values ​​127.

[0211] If, on the other hand, the counter function of the respective peripheral safety module 121 determines that in the respective position P1, P2 of the moving unit 101 relative to the stationary unit 103 the moving unit 101 is not at least partially positioned in the effective range of the correspondingly associated position sensor element 123, then the respective safety module 121 deactivates the recording of the sensor values ​​125 by the corresponding position sensor element 123 and / or the calculation of the movement values ​​127 by the corresponding peripheral safety module 121.

[0212] Figure b) further illustrates the case where the peripheral safety modules 121 integrated into the motor modules 117 perform a cross-comparison of the correspondingly calculated first and second motion values ​​127-1, 127-2. For this purpose, the first motion value 127-1, calculated by the first peripheral safety module 121-1 based on the first sensor values ​​125-1, is transferred to the second peripheral safety module 121-2, so that the cross-comparison of the first and second motion values ​​127-1, 127-2 can be performed by the second peripheral safety module 121-2.

[0213] Alternatively or additionally, the second peripheral safety module 121-2 transmits the second motion value 127-2, calculated from the second sensor values ​​125-2, to the first peripheral safety module 121-1 to enable the first peripheral safety module 121-1 to perform a cross-comparison calculation. The second motion value 127-2 can also first be transmitted to the control unit and then from there to the first peripheral safety module 121-1.

[0214] If the detection of the safety-endangering operating condition is carried out by the central safety module 120 integrated into the control unit 131, the cross-comparison message 137, in which the result of the cross-comparison is displayed, can also be transmitted to the central safety module 120 by the first peripheral safety module 121-1 and / or the second peripheral safety module 121-2. In the embodiment shown in Fig. 3, the force sensor elements 159 are not explicitly shown. However, analogous to the embodiment in Fig. 2, corresponding force sensor elements 159 can be formed on the motor modules 117 in the illustrated embodiment, which provide corresponding force sensor values ​​to the central safety module 120 and / or the peripheral safety modules 121.

[0215] The safety modules 120, 121 are subsequently configured to calculate the magnetic forces provided by the drive coils 115, taking into account the measured values ​​of the force sensor elements 159, and to include these in the calculation of the first and second motion values ​​127-1, 127-2 and the assessment of the operating states of the linear transport system 100.

[0216] Fig. 4 shows a schematic representation of the linear transport system 100 according to a further embodiment.

[0217] In the illustrated embodiment, the linear transport system 100 further comprises a trigger module 141 and a defined safety zone 143. At least a part of the stationary unit 103 is arranged within the defined safety zone 143. In the illustrated embodiment, a complete travel path of the stationary unit 103 with a plurality of motor modules 117 is arranged within the safety zone 143.

[0218] The motor modules 117 are designed according to the embodiments described above and include position sensor elements 123 and associated peripheral safety modules 121 of the safety monitoring system 109.

[0219] A trigger signal 144 can be sent to the control unit 131 via the trigger module 141 if the trigger module 141 detects a safety-hazardous operating condition of the linear transport system 100. The safety-hazardous operating condition could, for example, occur if a person is detected within the safety zone 143. The trigger module 141 can include, for example, motion sensors, light barriers, an emergency stop switch, or other sensors that can detect the presence of persons in the safety zone 143. The trigger signal 144, which indicates the safety-hazardous condition, allows the control unit 131 to activate the safety monitoring system 109 and the safety monitoring according to the procedure steps described above.

[0220] Fig. 5 shows a flowchart of a method 200 for operating a linear transport system 100 according to one embodiment.

[0221] To operate the linear transport system, in a receiving step 201, at least one safety module 119 of the safety monitoring system 109 receives first sensor values ​​125-1 from the first position sensor element 123-1 and second sensor values ​​125-2 from the second position sensor element 123-2. The at least one safety module 119 can comprise at least one central safety module 120 integrated into the control unit 131 and / or at least one peripheral safety module 121 integrated into at least one motor module 117.

[0222] In a subsequent investigation step 203, a first motion value 127-1 is calculated based on the first sensor values ​​125-1, and a second motion value 127-2 is calculated based on the second sensor values ​​125-2. The first and second motion values ​​127-1 and 127-2 describe the motion state of the respective moving unit 101 and can include a position value and / or a velocity value and / or an acceleration value of the movement of the moving unit 101.

[0223] The first and second sensor values ​​125-1 , 125-2 are each recorded by the first and second position sensor elements 123-1 , 123-2.

[0224] In the first position P1 of the moving unit 101 relative to the stationary unit 103, the first and second position sensor elements 123-1, 123-2 are formed in the same motor module 117. In the second position P2 of the moving unit 101, the first and second position sensor elements 123-1, 123-2 are formed in two different, adjacent motor modules 117.

[0225] In a detection step 205, the at least one safety module 119 subsequently detects the safety-endangering operating state of the linear transport system 100 if the first movement value 127-1 and / or the second movement value 127-2 reaches or exceeds a predefined limit value. Fig. 6 shows a further flowchart of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0226] The embodiment in Fig. 6 is based on the embodiment in Fig. 5 and includes all the process steps described therein.

[0227] In the embodiment shown, a cross-comparison step 207 is further performed between the first movement value 127-1 and the second movement value 127-2.

[0228] In detection step 205, the safety-endangering operating condition of the linear transport system 100 is subsequently detected if a difference between the first movement value 127-1 and the second movement value 127-2 reaches or exceeds a predefined second limit value.

[0229] Fig. 7 shows another flowchart of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0230] The embodiment in Fig. 7 is based on the embodiment in Fig. 5 and includes all the process steps described therein.

[0231] In the illustrated embodiment, control signals for executing a safety function are output to the motor modules 117 by the control unit 131 of the linear transport system 100 and / or by the at least one safety module 119 in an output step 209. The safety function can include executing an emergency stop by immediately stopping the movement of the moving unit 101.

[0232] Alternatively or additionally, the safety function can include performing an emergency stop by holding the movable unit 101 in a given position; furthermore, the safety function can include performing a speed reduction and / or acceleration reduction below a predefined maximum permissible speed and / or a maximum permissible acceleration; furthermore, a warning signal can be issued or the control of the drive coils 115 can be interrupted. Fig. 8 shows another flowchart of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0233] The embodiment shown is based on the embodiment in Fig. 7 and includes all the process steps described therein.

[0234] In the embodiment shown, the safety monitoring system 109 comprises a plurality of peripheral safety modules 121 integrated into the motor modules 117. In a motion value transmission step 211, the first and second motion values ​​127-1, 127-2 calculated by the first and second peripheral safety modules 121-1 and 121-2 are transmitted to the control unit 131. The detection step 205 is subsequently executed by the central safety module 120 integrated into the control unit 131.

[0235] Fig. 9 shows another flowchart of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0236] The embodiment shown is based on the embodiment in Fig. 7 and includes all the process steps described therein.

[0237] In the embodiment shown, the safety monitoring system 109 comprises a plurality of peripheral safety modules 121 integrated into the motor modules 117. The first and / or second peripheral safety module 121-1, 121-2 further performs the detection of the safety-endangering condition based on the first and second motion values ​​127-1, 127-2.

[0238] Subsequently, in a security message transmission step 213, a first security detection message 135-1 is transmitted by the first peripheral security module 121-1 and / or a second security detection message 135-2 is transmitted by the second peripheral security module 121-2 to the control unit 131, wherein the detected safety-endangering operating condition is indicated in the first and second security detection messages 135-1, 135-2.

[0239] In the embodiment shown, output step 209 is performed by the control unit 131. Fig. 10 shows a further flowchart of the method 200 for operating a linear transport system 100 according to another embodiment.

[0240] The embodiment in Fig. 10 is based on the embodiment in Fig. 6 and includes all the process steps described therein.

[0241] In the illustrated embodiment, in a motor module communication step 215, the first and second motion values ​​127-1, 127-2, calculated by the first and second peripheral safety modules 121-1 and 121-2, which are arranged in a first motor module 117-1 and a second motor module 117-2, are exchanged with each other. In the illustrated embodiment, the cross-comparison is performed by the first peripheral safety module 121-1 and / or the second peripheral safety module 121-2.

[0242] Fig. 11 shows another flow diagram of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0243] The embodiment in Fig. 11 is based on the embodiment in Fig. 10 and includes all the process steps described therein.

[0244] In the illustrated embodiment, a cross-comparison message 137 is transmitted to the control unit 131 by the first peripheral safety module 121-1 and / or the second peripheral safety module 121-2 in a cross-comparison message transmission step 217. The cross-comparison message 137 includes a result of the cross-comparison. The recognition step 205, taking the cross-comparison message 137 into account, is performed in the illustrated embodiment by the central safety module 120 integrated into the control unit.

[0245] Fig. 12 shows another flowchart of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0246] The embodiment shown is based on the embodiment in Fig. 5 and includes all the process steps described therein. In the embodiment shown, in a selection step 219, the first position sensor element 123-1 and the second position sensor element 123-2 are implemented based on a position determination of the position of the movable unit 101 relative to the stationary unit 103.

[0247] Fig. 13 shows another flow diagram of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0248] The embodiment in Fig. 13 is based on the embodiment in Fig. 12 and includes all the process steps described therein.

[0249] In the embodiment shown, the selection step 219 includes an activation step 221. In the activation step 221, the first peripheral safety module 121-1, associated with the first position sensor element 123-1, detects that the movable unit 101 is arranged in the first or second position P1, P2, partially within an effective range of the first position sensor element 123-1.

[0250] Furthermore, the second peripheral safety module 121-2, associated with the second position sensor element 123-2, detects that the movable unit 101 is partially positioned in the first or second position P1, P2 within the effective range of the second position sensor element 123-2. Subsequently, the acquisition of the first and second sensor values ​​125-1, 125-2 by the first and second position sensor elements 123-1, 123-2 and / or the determination of the first and second motion values ​​127-1, 127-2 by the first and second peripheral safety modules 121-1, 121-2 are activated.

[0251] In a deactivation step 223, a third peripheral safety module 121-3 detects that the moving unit 101 is not at least partially positioned within the effective range of a third position sensor element 123-3 associated with the third safety module 121-3, and the acquisition of sensor values ​​125 by the third position sensor element 123-3 and / or the calculation of motion values ​​127 by the third peripheral safety module 121-3 are deactivated.

[0252] Fig. 14 shows another flowchart of the method 200 for operating a linear transport system 100 according to a further embodiment. The embodiment in Fig. 14 is based on the embodiment in Fig. 13 and includes all the process steps described therein.

[0253] In the embodiment shown, the activation step 221 and the deactivation step 223 each comprise a calculation step 225. In the calculation step 225, the first to third safety modules 121-1 ,... , 121-3 use a counter function of the first to third safety modules 121-1 ,... , 121-3, based on position information and / or speed information of the moving unit 101, to calculate whether, at a time when the moving unit 101 is positioned in the first or second position P1 , P2, the moving unit 101 is at least partially positioned within the effective range of the respective associated first to third position sensor elements 123-1 ,... , 123-3.

[0254] Fig. 15 shows another flow diagram of the method 200 for operating a linear transport system 100 according to a further embodiment.

[0255] The embodiment in Fig. 15 is based on the embodiment in Fig. 5 and includes all the process steps described therein.

[0256] In the illustrated embodiment, the control unit 131 receives a trigger signal 144 from the trigger module 141 in a trigger signal reception step 227. The trigger signal 144 indicates the presence of a safety-relevant condition. The safety-relevant condition can, for example, define the presence of a person in a predefined safety area 143.

[0257] In a triggering step 229, the safety monitoring system 109 is subsequently triggered by the control unit 131 when the safety-relevant operating condition is present.

[0258] The invention further comprises a combination of the embodiments of the inventive method 200 of Figs. 5 to 15. List of reference numerals

[0259] 100 linear transport system

[0260] 101 movable units

[0261] 103 stationary units

[0262] 105 Guide rail

[0263] 107 Linear motor

[0264] 109 Security monitoring system

[0265] 111 Stator

[0266] 113 runners

[0267] 115 Drive coil

[0268] 117 Engine module

[0269] 117-1 first engine module

[0270] 117-2 second engine module

[0271] 117-3 third engine module

[0272] 119 Safety module

[0273] 120 central security module

[0274] 121 peripheral safety module

[0275] 121-1 first peripheral safety module

[0276] 121-2 second peripheral security module

[0277] 121-3 third peripheral security module

[0278] 123 Position sensor element

[0279] 123-1 first position sensor element

[0280] 123-2 second position sensor element

[0281] 123-3 third position sensor element

[0282] 125 sensor value

[0283] 125-1 first sensor value

[0284] 125-2 second sensor value

[0285] 127 Movement value

[0286] 127-1 first movement value

[0287] 127-2 second movement value

[0288] 129 Application

[0289] 131 Control unit

[0290] 133 Drive magnet sensor element

[0291] 135-1 first security detection message

[0292] 135-2 second security detection message 137 cross-comparison message

[0293] 141 Trigger module

[0294] 143 Security area

[0295] 144 Trigger signal

[0296] 145-L left position sensor element

[0297] 145-R right position sensor element

[0298] 146-L left peripheral safety module

[0299] 146-R right peripheral security module

[0300] 147 Connecting line

[0301] 149 Drive magnet element

[0302] 151 Motor module housing

[0303] 155 gap

[0304] 157 Data connection

[0305] 159 Force sensor element 00 Procedure 01 Receive step 03 Determination step 05 Recognition step 07 Cross-comparison step 09 Output step 11 Motion value transmission step 13 Safety message transmission step

[0306] 215 Engine module communication step

[0307] 217 Cross-comparison message transmission step

[0308] 219 Selection step

[0309] 221 Activation step

[0310] 223 Deactivation step

[0311] 225 Calculation step

[0312] 227 Trigger signal reception step

[0313] 229 Trigger step

[0314] P1 first position

[0315] P2 second position

[0316] LL runner length

[0317] LM coil length Ls gap length

Claims

1. Claims 1. Method (200) for operating a linear transport system (100) with a moving unit (101), a stationary unit (103) with a guide rail (105) for guiding the moving unit (101), a linear motor (107) for driving the moving unit (101) along the guide rail (105), and a safety monitoring system (109), wherein the linear motor (107) comprises a stator (111) and a rotor (113), wherein the stator (111) is formed on the stationary unit (103) and has several motor modules (117) with drive coils (115) arranged stationary along the guide rail (105), wherein the rotor (113) is arranged on the moving unit (101) and comprises several drive magnet elements (149), wherein the safety monitoring system (109) comprises at least one safety module (119) and a plurality of elements attached to the stationary unit (103) formed position sensor elements (123) includes,wherein at least two position sensor elements (123) are formed in each of the motor modules (117), and wherein the method (200) comprises: Receiving first sensor values ​​(125-1) of a first position sensor element (123-1) and second sensor values ​​(125-2) of a second position sensor element (123-2) of the plurality of position sensor elements (123) by the at least one safety module (119) in a receive step (201); Determining a first motion value (127-1) of the moving unit (101) relative to the stationary unit (103) based on the first sensor values ​​(125-1) and determining a second motion value (127-2) of the moving unit (101) relative to the stationary unit (103) based on the second sensor values ​​(125-2) by the at least one safety module (119) in a determination step (203), wherein in a first position (P1) of the moving unit (101) relative to the stationary unit (103) the first position sensor element (123-1) providing the first sensor values ​​(125-1) and the second position sensor element (123-2) providing the second sensor values ​​(125-2) are formed in a first motor module (117-1),wherein in a second position (P2) of the moving unit (101) relative to the stationary unit (103) the first position sensor element (123-1) providing the first sensor values ​​(125-1) is formed in the first motor module (117-1) and the second position sensor element (123-2) providing the second sensor values ​​(125-2) is formed in a second motor module (117-2), wherein in the first position (P1) the first motor module (117-1) is completely covered by the moving unit (101), and wherein in the second position (P2) the first motor module (117-1), and the second motor module (117-2) are each partially covered by the moving unit (101); Detecting a safety-endangering operating condition of the linear transport system (100) if the first movement value (127-1) and / or the second movement value (127-2) reaches or exceeds a predefined first limit value, by means of at least one safety module (119) in a detection step (205).

2. Method (200) according to claim 1, wherein the first motion value (127-1) and the second motion value (127-2) each define a position and / or a velocity and / or an acceleration of the moving unit (101).

3. Method (200) according to claim 1 or 2, further comprising: Performing a cross-comparison between the first movement value (127-1) and the second movement value (127-2) by the at least one safety module (119) in a cross-comparison step (207); and Detecting the safety-endangering operating state of the linear transport system (100) if a difference between the first movement value (127-1) and the second movement value (127-2) reaches or exceeds a predefined second limit value, by means of at least one safety module (119) in the detection step (205).

4. Method (200) according to one of the preceding claims, further comprising: outputting control signals for executing a safety function by a control unit (131) of the linear transport system (100) and / or by the at least one safety module (119) in an output step (209).

5. Method (200) according to claim 4, wherein the safety function comprises: performing an emergency stop in which the movement of the movable unit (101) is stopped; and / or Performing an emergency stop in which the movable unit (101) is held in a current position; and / or Performing a speed reduction and / or acceleration reduction, in which the speed and / or acceleration of the moving unit (101) is reduced below a predefined maximum speed; and / or Issuing a warning signal.

6. Method (200) according to one of the preceding claims, wherein the at least one safety module (119) comprises a central safety module (120) integrated into the control unit (131) of the linear transport system (100) and / or a plurality of peripheral safety modules (121) integrated into the motor modules (117), wherein at least one peripheral safety module (121) is formed in each of the motor modules (117).

7. Method (200) according to claim 6, wherein a first peripheral safety module (121-1) of the plurality of peripheral safety modules (121) is associated with the first position sensor element (123-1), wherein a second peripheral safety module (121-2) of the plurality of peripheral safety modules (121-1) is associated with the second position sensor element (123-2), wherein the first peripheral safety module (121-1) together with the first position sensor element (123-1) and the second peripheral safety module (121-2) together with the second position sensor element (123-2) are formed in the first motor module (117-1) and / or in the second motor module (117-2), wherein the first peripheral safety module (121-1) determines the first motion value (127-1) based on the first sensor values ​​(125-1), and wherein the second The peripheral safety module (121-2) determines the second motion value (127-2) based on the second sensor values ​​(125-2).

8. Method (200) according to claim 7, further comprising: Transferring the first motion value (127-1) determined by the first peripheral safety module (121-1) from the first peripheral safety module (121-1) to the control unit (131) and / or transferring the second motion value (127-2) determined by the second peripheral safety module (121-2) from the second peripheral safety module (121-2) to the control unit (131) in a motion value transfer step (211), wherein the detection step (205) is performed by the central safety module (120) integrated into the control unit (131).

9. Method (200) according to claim 7, wherein the detection step (205) is performed by the first peripheral safety module (121-1) and / or by the second peripheral safety module (121-2).

10. Method (200) according to claim 9, wherein the method (200) further comprises: transmitting a first security detection message (135-1) through the first peripheral security module (121-1) to the control unit (131) and / or transmitting a second security detection message (135-2) through the second peripheral security module (121-2) to the control unit (131) in a security message transmission step (213), wherein the detected security-endangering operating condition is indicated in the first security detection message (135-1) and / or in the second security detection message (135-2).

11. Method (200) according to claim 9, wherein the output step (209) is performed by the first peripheral safety module (121-1) and / or by the second peripheral safety module (121-2).

12. Method (200) according to claims 3 and 7, further comprising: Transmission of the first motion value (127-1) by the first peripheral safety module (121-1) to the second peripheral safety module (121-2) and / or transmission of the second motion value (127-2) by the second peripheral safety module (121-2) to the first peripheral safety module (121-1) in a motor module communication step (215), wherein the cross-comparison step (207) is performed by the first peripheral safety module (121-1) and / or by the second peripheral safety module (121-2).

13. Method (200) according to claim 12, wherein the method (200) further comprises: transmitting a cross-comparison message (137) through the first peripheral security module (121-1) and / or through the second peripheral security module (121-2) to the control unit (131) in a cross-comparison message transmission step (217), wherein the cross-comparison message (137) displays a result of the cross-comparison, and wherein the recognition step (205) is performed by the central security module (120) integrated into the control unit (131).

14. Method (200) according to one of the preceding claims, further comprising: selections of the first position sensor element (123-1) and the second position sensor element (123-2) based on a position determination of a position of the moving unit (101) relative to the stationary unit (103) by the control unit (131) and / or the at least one safety module (119) in a selection step (219).

15. Method (200) according to claim 14, wherein the selection step (219) comprises: detecting by the first peripheral safety module (121-1) associated with the first position sensor element (123-1) that the movable unit (101) is arranged in the first or second position (P1, P2) partially within an effective range of the first position sensor element (123-1), and detecting by the second peripheral safety module (121-2) associated with the second position sensor element (123-2) that the movable unit (101) is arranged in the first or second position (P1, P2) partially within an effective range of the second position sensor element (123-2),and activating the acquisition of the first sensor values ​​(125-1) by the first position sensor element (123-1) and the acquisition of the second sensor values ​​(125-2) by the second position sensor element (123-2) and / or activating the determination of the first motion value (127-1) by the first peripheral safety module (121-1) and the determination of the second motion value (127-2) by the second peripheral safety module (121-2) in one activation step (221); and / or, Detect, by means of a third peripheral safety module (121-3) of the plurality of safety modules (119) associated with a third position sensor element (123-3) of the plurality of position sensor elements (123), that the moving unit (101) in the first or second position (P1 , P2) is not in an effective area of ​​the third position sensor element (123-3), and deactivate a recording of sensor values ​​(125) by the third position sensor element (123-3) and / or deactivate a determination of a third motion value by the third peripheral safety module (121-3) in a deactivation step (223).

16. Method (200) according to claim 15, wherein the activation step (221) and / or the deactivation step (223) comprises: Executing a counter function based on position information and / or speed information of the moving unit (101) and calculating whether, at a time when the moving unit (101) will be positioned in the first position (P1) or second position (P2), the moving unit (101) will be at least partially within the effective range of the first position sensor element (123-1) and / or within the effective range of the second position sensor element (123-2) and / or within the effective range of the third position sensor element (123-3), through the first peripheral safety module (121-1) and / or through the second peripheral safety module (121-2) and / or through the third peripheral safety module (121-3) in one calculation step (225).

17. Method (200) according to one of the preceding claims, wherein the safety monitoring system (109) further comprises at least one release module (141), wherein the at least one release module (141) is formed in a predefined safety area (143) of the linear transport system (100), wherein the stationary unit (103) and the guide rail (105) extend at least partially in the predefined safety area (143) and at least the first motor module (117-1) and the second motor module (117-2) of the stationary unit (103) are arranged in the predefined safety area (143), and wherein the method (200) further comprises: Receiving a trigger signal (144) from the trigger module (141) by the control unit (131) in a trigger signal reception step (227), wherein the trigger signal (144) indicates the presence of a safety-relevant condition; and triggering the safety monitoring system (109) for at least the predefined safety area (143) by the control unit (131) in a trigger step (229).

18. Method (200) according to claim 17, wherein the safety-relevant state of the linear transport system (100) describes the presence of a person within the predefined safety area (143).

19. Method (200) according to one of the preceding claims, wherein at least one force sensor element (159) is further formed in each of the motor modules (117), wherein magnetic forces of the stator magnetic fields provided by the drive coils (115) can be determined via sensor values ​​of the force sensor elements (159), and wherein the motion values ​​(127) are determined by the at least one safety module (119) taking into account the sensor values ​​of the force sensor elements (159).

20. Linear transport system (100) comprising a moving unit (101), a stationary unit (103) with a guide rail (105) for guiding the moving unit (101), a linear motor (107) for driving the moving unit (101) along the guide rail (105), and a safety monitoring system (109) and a control unit (131), wherein the linear motor (107) comprises a stator (111) and a rotor (113), wherein the stator (111) is formed on the stationary unit (103) and has several stationary motor modules (117) with drive coils (115) arranged along the guide rail (105), wherein the rotor (113) is arranged on the movable unit (101) and comprises several drive magnet elements (149), wherein the safety monitoring system (109) comprises at least one safety module (119) and a plurality of position sensor elements (123) formed on the stationary unit (103), wherein at least two position sensor elements (123) are formed in each of the motor modules (117), and wherein the safety monitoring system (109) is configured to carry out the method (200) according to any one of the preceding claims 1 to 19.

21. Linear transport system (100) according to claim 20, wherein the position sensor elements (123) are designed as magnetic field sensors.

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