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EP3662345B1 - Dispositif de commande de machines industrielles - Google Patents

Dispositif de commande de machines industrielles Download PDF

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Publication number
EP3662345B1
EP3662345B1 EP18765351.4A EP18765351A EP3662345B1 EP 3662345 B1 EP3662345 B1 EP 3662345B1 EP 18765351 A EP18765351 A EP 18765351A EP 3662345 B1 EP3662345 B1 EP 3662345B1
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EP
European Patent Office
Prior art keywords
control device
torque
rotation
actuation member
operator
Prior art date
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Active
Application number
EP18765351.4A
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German (de)
English (en)
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EP3662345A2 (fr
Inventor
Benjamin HACKL
Wolfgang MAHR
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Keba Industrial Automation GmbH
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Keba Industrial Automation GmbH
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Publication date
Application filed by Keba Industrial Automation GmbH filed Critical Keba Industrial Automation GmbH
Publication of EP3662345A2 publication Critical patent/EP3662345A2/fr
Application granted granted Critical
Publication of EP3662345B1 publication Critical patent/EP3662345B1/fr
Active legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/04—Stops for limiting movement of members, e.g. adjustable stop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels

Definitions

  • the invention relates to a control device for industrial machines with controlled movement drives for machine components, in particular for controlled movable machine axes, as specified in the claims.
  • an electronic operating system which is provided as part of a driver information system in motor vehicles.
  • this operating system should be able to be used as a display and operating device in connection with the control of machines, for example in industrial production.
  • This operating system includes an electronic control unit, which has a computing unit, a display unit, which is suitable for visualizing graphic representations, and an operating unit with which manual interventions regarding the functionalities of the respective system can be made.
  • a display mark is moved in the manner of a cursor over the display area of the display unit and an available function is thereby selected. After selecting the desired function by moving the display mark like a cursor, another control element is activated in order to be able to change parameters.
  • This second control element makes it possible, for example, to change parameter values in connection with the function previously selected via a first control element.
  • the measures described in this publication are only partially suitable for controlling or influencing machines with motion drives. Rather, the measures described are suitable for use in conjunction with relatively uncritical functionalities, such as those found in driver information systems in motor vehicles. Operating industrial machines with motion drives would only be partially satisfactory with this previously known design.
  • the CN 104 908 046 B describes a manually operated input device with a rotary actuator control element for controlling the movement of robot arms.
  • the rotary actuator control element enables haptic feedback to the operator through a rotary motion coupling with an electric motor.
  • the object of the present invention was to overcome the disadvantages of the prior art and to provide a device by means of which a user is able to operate industrial machines with motion drives in the most practical way possible.
  • an object of the present invention is to improve the operability and programmability of machines with controlled movable components or actively adjustable machine axes.
  • a switching state of the rotary actuator control element is activated or is considered active as long as an operating torque of the operator acting against the braking or blocking torque is the blocking torque or corresponds to the blocking torque, or exceeds a comparatively lower deactivation threshold value.
  • the switching state of the rotary control control element is considered inactive or deactivated if the actuation torque exerted by the operator falls below the deactivation threshold or is zero.
  • variable rotational resistances can be generated in a controlled manner with relatively high dynamics.
  • torsional resistance to the actuating member can be built up and reduced or eliminated again in a relatively short time or with relatively high impulsiveness.
  • the program or software controllability based on the evaluation and control device opens up a high level of flexibility and a wide range of variants with regard to haptic feedback that can be generated for an operator in the course of operating the rotary actuator control element.
  • the measures according to claim 3 advantageously evaluate the torque curve or the curve of the operating force of the operator relative to the actuating element and use it to simulate a toggle switch functionality.
  • the controlled increase in braking torque haptically signals to the operator that the activation threshold has been reached and that the desired switching or movement function is thereby triggered. It is therefore not necessary for an operator to look at the actuating element and observe or take into account the angle of rotation covered.
  • the further course of the actuation force or the corresponding actuation torque is evaluated and if the torque falls below a predefined threshold value, this is recognized or used as a clear switch-off or deactivation criterion.
  • a practical measure for determining the actuating force applied by the operator or for determining the actuating torque introduced into the actuating member and varying depending on time or angle of rotation is specified in claim 4.
  • each angular position of the actuator can function as a starting or zero position for the specified toggle switch function.
  • the measures according to claim 7 are also useful, as this enables efficient, time-saving and also comfortable operation of the rotary actuator control element. In particular, it is not necessary to manually turn the rotary actuator control element back into a predefined starting position or zero position after executing a control command, for example after issuing a movement control command.
  • the measures according to claim 9 make it possible to effectively implement or replicate a three-stage toggle switch.
  • the operator can be given clear haptic feedback about the achievement and presence of the activation switching state.
  • the slow drift with regard to the rotatability of the actuating element during the activation switching state of the actuating element also favors the measurement or determination of the actuating torque applied in each case or the determination of the required braking torque that counteracts this.
  • the measures according to claim 11 allow a relatively slow rotation speed while the activation switching state is present, which also means relatively long-lasting control or switching commands, it is not absolutely necessary for the operator to grip the actuator or to reach around.
  • a practical, time-dependent or angle-dependent course of the braking torque relative to the actuating element which course can be clearly defined and easily implemented by the rotational resistance generating means and by the evaluation and control device, is specified in claim 10.
  • the operator can be given particularly clear, haptic feedback regarding the achievement or presence of the activation switching state.
  • a locking behavior can be simulated, which clearly and unmistakably signals to the operator that the predefined angle of rotation of the actuator has been covered and thus an activation switching state has just occurred or is present.
  • the hardware or mechanical structure can be further simplified, whereby the manufacturing and implementation costs can be kept low. In addition, this minimizes the risk of incorrect operation and the resulting destruction of the turntable control element. In particular, by avoiding predefined mechanical end stops, it is not necessary to provide particularly massive pivot bearings or other mechanical components.
  • Embodiments of electrotechnical or electronic control systems 1 are shown, which can be used for the automation or control of industrial systems.
  • Such an industrial plant or its control system 1 comprises at least one electronic control device 2, 2' or a plurality of distributed electronic control devices 2, 2' can also be provided.
  • a corresponding system includes at least one machine 3 or a plurality of possibly interacting machines 3 or machine components.
  • the at least one electronic control device 2, 2' is preferably designed to be software-controlled and serves primarily to implement the respective control functions of the respective industrial machine 3 or to be able to monitor, influence and/or program the processes of the machine 3.
  • Such an industrial machine 3 is formed by at least one industrial robot 4.
  • Such an industrial robot 4 can be part of an assembly or manufacturing system. Through data networking of the respective control devices 2, 2' it can be provided that the industrial robots 4 can interact in terms of control technology.
  • Such a data or control network between several industrial robots 4 can also include a central master computer 5.
  • a central, decentralized, hierarchical or otherwise structured control architecture and networking a wide variety of embodiments are conceivable, which can be selected according to the respective requirements.
  • At least one human-machine interface 6 is assigned or can be assigned to at least one control device 2 'in at least one machine 3.
  • HMI human-machine interface 6
  • control-related human-machine interface 6 is formed by a mobile or portable hand-held control device 8.
  • human-machine interface 6 is defined by a stationary control panel 9.
  • the respective human-machine interfaces 6 can therefore also be referred to as operator interfaces.
  • a generic handheld control device 8 or control panel 9 has at least one input device 10, such as a touch-sensitive screen 11, input keys 12, switches, or other electrical or electromechanical input means. In addition, visually and/or acoustically detectable output means can be provided.
  • the previously mentioned touch-sensitive screen 11, as well as lighting elements or signaling lamps can be provided to display system-relevant data or states.
  • the scope of functions and the embodiment of the respective input device or the respective output device depend heavily on the respective application, in particular on the technical complexity of the machine 3 or system to be controlled. What is important here is that the operator 7 can control or monitor, influence and/or program the required control processes using the input device 10 and a suitable output device, in particular using the aforementioned touch-sensitive screen 11.
  • the control device 2 implemented in the human-machine interface 6, in particular in the hand-held control device 8 or in the control panel 9, and the control device 2 ' assigned to a machine 3 can interact in terms of data technology or control technology via wired and / or wireless communication interfaces.
  • controllable, in particular at least activable and deactivatable, movement drives 13 are provided, which are connected by cables to the respective control device 2 '.
  • Such movement drives 13 can often also be adjusted or changed as required with regard to their drive speed and/or drive power or driving force.
  • Such movement drives 13 can, as in Fig. 2 or. Fig. 4 illustrated, by motors 14, by hydraulic cylinders, by proportional solenoid valves 15, or by other elements for active or controllable movement of machine components.
  • the corresponding movement drives 13 also include actuators with which an adjustment movement of a machine component can be generated or initiated.
  • Such a movement drive 13 and the respective machine component can also be referred to as a machine axis.
  • a controllable machine component or machine axis can be understood, for example, as an articulated arm of an industrial robot 4, a feed unit, a processing unit of a machine tool, an actuator of a production machine, and the like.
  • a plurality of sensors, limit switches and/or transmitters can typically also be connected to such a machine control device 2 ', as is generally known and in Fig. 4 is shown as an example.
  • movement or functional sequences of the respective machine can be carried out fully automatically or at least partially automatically or monitored automatically.
  • At least one control element 16 is provided on the respective human-machine interface 6 for manually influencing or specifying adjustment movements of at least one of the machine components or machine axes.
  • This manual influencing or specification of adjustment movements by an operator 7 preferably includes the possibility of changing the speed and / or power of the movement drive 13 to be controlled or selectively controllable.
  • operating elements in particular touch or switching elements, can be designed, which are used to activate and deactivate a selected or controllable movement drive 13 are provided.
  • At least one of the control elements 16 on the human-machine interface 6 is designed as a rotary control control element 17 with an endlessly or stop-free rotatable actuator 18.
  • Endless rotation means that the rotary actuator control element 17 or its actuator 18 is designed in such a way that there are no mechanical end stops or no permanent limitation with regard to the rotational mobility of the actuator 18. This is in contrast to a typical potentiometer or adjustable ohmic resistor, which has a rotation or adjustment range of usually around 270°.
  • the rotary actuator control element 17 as claimed is rather comparable to a so-called override potentiometer or can be the rotary actuator control element 17 can be designed as an endlessly rotatable incremental encoder. It is advantageous if the rotary actuator control element 17 enables endless rotation of its, for example, disk or wheel-shaped actuating member 18 or an associated, unlimited delivery of sensor pulses or increments.
  • the actuating member 18 can include at least one marking 19, with which the respective rotation angle position of the actuating member 18 can be displayed to an operator 7.
  • a marking 19 on the actuating member 18, which can preferably be rotated endlessly or rotated without stopping, is not mandatory.
  • the turntable control element 17 is connected to an electronic evaluation and control device 20 or such an evaluation and control device 20 can be a component of the turntable control element 17.
  • signals or actuation states of the rotary actuator control element 17 can be detected and evaluated by the evaluation and control device 20.
  • the evaluation and control device 20 can be designed as an independent or separate unit, or can be implemented by the control device 2, 2 '.
  • the control device 2, 2 ' can take over at least partial tasks of the evaluation and control device 20. This is primarily because the functionalities of the evaluation and control device 20 can be implemented predominantly in software or program technology and can therefore represent a functional scope of the control device 2, 2 'in a simple manner. A combinatorial interaction is therefore also possible in order to implement the evaluation and control device 20.
  • the evaluation and control device 20 can also - as described above - be an integral part of the rotary actuator control element 17.
  • the rotary actuator control element 17 comprises at least one sensor-technical detection means 21 for determining the rotational operations carried out by an operator 7 relative to the actuating element 18.
  • the sensor-technical detection means 21 it is possible to use the sensor-technical detection means 21 to determine at least the angle of rotation traveled, i.e. the change in angle, and the direction of rotation of the actuating element 18 to detect.
  • a sensor technology detection means 21 Incremental encoders or absolute value encoders are preferably suitable, which are connected to the evaluation and control device 20 and thus provide the respective sensor signals or values for further processing or evaluation.
  • the operating behavior exercised by the operator 7 relative to the actuating member 18 can be determined via the evaluation and control device 20.
  • the operating behavior includes parameters such as direction of rotation, angle of rotation, speed of rotation, course of actuation or rotation, angular acceleration and the like. It follows that the rotational movements exerted by an operator 7 on the actuating element 18 or relative to its axis of rotation 22 are evaluated by the electronic evaluation and control device 20 and corresponding control commands for the controlled machine 3 or machine component are derived therefrom.
  • the actuating element 18 or its axis of rotation 22 is in mechanical interaction with a controlled variable rotational resistance generating means 23 or the rotational resistance generating means 23 is motion-coupled with the axis of rotation 22 of the actuating element 18.
  • the evaluation and control device 20 is connected to the rotational resistance generation means 23 and is designed for the controlled, variable setting of rotational resistances of the rotational resistance generation means 23.
  • the rotational resistance generating means 23 can comprise an electrorheological or magnetorheological fluid whose viscosity can be influenced by the action of electrical energy in the form of electric or electromagnetic fields.
  • FIG. 8 A schematic representation of an exemplary rotary control control element 17, which can provide at least one toggle switch operating mode, is shown in Fig. 8 shown.
  • a rotary control control element 17 on the handheld control device 8 ( Fig. 1 ) or on the control panel 9 ( Fig. 3 ) can have a switching function and/or a key function relative to a motion drive 13 to be controlled in the toggle switch operating mode described in detail below.
  • the quasi three-stage toggle switch operating mode with virtual zero or inactive position provided by the rotary control control element 17 has or can implement both a push-button switching function and a latching switching function.
  • a push-button switching function can be triggered and when the actuating member 18 is rotated to the left, a tactile switching function can be implemented - or vice versa.
  • the rotation angle position last assumed defines a new starting position or a virtual zero position for a subsequent toggle switch operating mode or for a next toggle switch operating action by the operator after the actuation torque Mu exerted by the operator has ceased relative to the control element 18.
  • the specified rotary control control element 17 there is no physical reset of the actuator 18 to a predefined rest or zero position.
  • neither a spring reset nor a motor or other reset of the actuating member 18 is provided after manual rotation. Rather, the actuating member 18 always remains in those rotation angle positions that were actively produced or effected by the operator through a rotary actuation.
  • the rotary actuator control element 17 does not have a fixed predefined starting position or zero position, but rather a large number of virtual or control-related starting positions or zero positions, which are defined by different or variable rotation angle positions of the actuating member 18.
  • Examples of a plurality of virtual zero positions or variable initial positions and examples of switching or active positions that can be activated via a twist angle + ⁇ 1 or - ⁇ 1 or for switching or active positions that are remote from this are given in Fig. 8 shown schematically by directional arrows.
  • the temporarily acting active or switching position of the rotary actuator control element 18 following one be a new starting position or a virtual zero position for a next operating action or for a subsequent actuation or for further activation of the rotary actuator control element 17 by the operator.
  • the rotational resistance generation means 23 can be controlled by the evaluation and control device 20 in such a way that the rotational resistance generation means 23 applies a brake after or shortly before covering a predefined twist angle + ⁇ 1 or - ⁇ 1 of the actuating member 18 - and/or blocking torque M BR , M BL builds up or generates, as described in the Fig. 5 to 7 was exemplified. This depends on the rotation distance or angle of rotation + ⁇ 1 or - ⁇ 1 . dependent braking and/or blocking torque M BR , M BL causes a certain inhibition, an increased or increasing inhibition, or a blocking in relation to the rotatability or further rotatability of the actuating member 18.
  • the twist angle + ⁇ 1 or - ⁇ 1 is preferably predefined and can have a value within a value range between 10° and 90°. According to a practical embodiment, the predefined twist angle - ⁇ 1 or - ⁇ 1 is in a range between approximately 30° and approximately 60°, for example approximately 45°, in order to enable the rotary actuator control element 17 to be operated as conveniently and intuitively as possible.
  • the control-technically predefined twist angle + ⁇ 1 or - ⁇ 1 can, for example, be stored in the evaluation and control device 20 and detected or controlled by the evaluation and control device 20 by means of the sensor technology detection means 21, for example via a corresponding incremental encoder.
  • the rotary actuator control element 17 goes into operation the active switching state or then signals the rotary control control element 17 of the control device 2, 2 '( Fig. 1 to 4 ) an active or actively operated switching state.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Numerical Control (AREA)

Claims (13)

  1. Dispositif de commande (2, 2') pour des machines industrielles avec des dispositifs d'entraînement (13) pour des composants de machines, comprenant une interface homme-machine (6) avec au moins un élément de commande (16) pour le contrôle ou la pré-configuration manuelle de mouvements de réglage d'au moins un des composants de machines, dans lequel au moins un élément de commande (16) est conçu comme un élément de commande à plateau rotatif (17) avec un organe d'actionnement (18) logé de manière rotative autour d'un axe de rotation (22), cet organe d'actionnement (18) pouvant être mis en rotation grâce à l'application d'un couple d'actionnement (MB) d'un opérateur, dans lequel l'organe d'actionnement (18) ou son axe de rotation (22) est en interaction mécanique ou est couplé en mouvement avec un moyen de génération de résistance à la rotation (23), variable de manière contrôlée, dans lequel un dispositif d'analyse et de commande (20) est conçu pour le réglage variable de résistances à la rotation du moyen de génération de résistance à la rotation (23), caractérisé en ce que le dispositif d'analyse et de commande (20) est conçu pour la mise à disposition d'au moins un mode de fonctionnement d'un commutateur à bascule, dans lequel le moyen de génération de résistance à la rotation (23) peut être contrôlé par le dispositif d'analyse et de commande (20) de sorte que le moyen de génération de résistance à la rotation (23) établit ou génère, après avoir parcouru un angle de rotation (α1) prédéfini de l'organe d'actionnement (18), un couple de freinage ou de blocage (MBR, MBL), qui inhibe, inhibe de manière renforcée ou interdit une rotation supplémentaire de l'organe d'actionnement (18), dans lequel un état de commutation de l'élément de commande à plateau rotatif (17) est activé ou est considéré comme activé tant qu'un couple d'actionnement (Mu), agissant contre le couple de freinage ou de blocage (MBR, MBL) de l'opérateur, est égal au couple de blocage (MB) ou correspond au couple de blocage (MB) ou dépasse une valeur seuil de désactivation (MD) relativement plus faible et en ce que l'état de commutation de l'élément de commande à plateau rotatif (17) est inactif ou considéré comme désactivé lorsque le couple d'actionnement (Mu) appliqué par l'opérateur passe en dessous de la valeur seuil de désactivation (MD) ou est égale à zéro.
  2. Dispositif de commande selon la revendication 1, caractérisé en ce que le moyen de génération de résistance à la rotation (23) comprend un liquide électro-rhéologique ou magnéto-rhéologique dont la viscosité peut être influencée par l'action d'une énergie électrique sous la forme de champs électriques ou électromagnétiques.
  3. Dispositif de commande selon la revendication 1 ou 2, caractérisé en ce que, lorsque l'angle de rotation (α1) prédéfini de l'élément de commande (18) est atteint par le moyen de génération de résistance à la rotation (23), un couple de freinage (MBR) est généré au moins à hauteur d'une valeur seuil d'activation (MA) prédéfinie, ce couple de freinage (MBR) étant inférieure à son couple de blocage maximal (MBL), dans lequel l'état de commutation de l'élément de commande à plateau rotatif (17) étant activé ou considéré comme active pendant et tant que le couple d'actionnement (Mu) appliqué par l'opérateur dépasse la valeur seuil d'activation (MA) prédéfinie ou la valeur seuil de désactivation (MD) prédéfinie.
  4. Dispositif de commande selon l'une des revendications précédentes, caractérisé en ce que le couple d'actionnement (Mu) appliqué par l'opérateur par rapport à l'organe d'actionnement (18) est détecté ou déterminé par mesure ou calcul de la quantité d'énergie électrique ou de la puissance, qui doit être employée ou appliquée afin de générer le couple de freinage (MBR) nécessaire ou à appliquer en corrélation avec l'angle de rotation (α1) parcouru par l'organe d'actionnement (18), qui est nécessaire selon l'évolution du couple de freinage ou de blocage de l'organe d'actionnement (18), prédéfinie par le dispositif d'analyse et de commande (20), respectivement qui doit être mis à disposition par le moyen de génération de résistance à la rotation (23).
  5. Dispositif de commande selon l'une des revendications précédentes, caractérisé en ce que l'angle de rotation (α1) prédéfini est un angle de rotation absolu qui est indépendant d'une position angulaire initiale de l'organe d'actionnement (18).
  6. Dispositif de commande selon l'une des revendications précédentes, caractérisé en ce que l'organe d'actionnement (18), dans le cas de la disparition du couple d'actionnement (Mu) appliqué par l'opérateur, conserve la position angulaire de rotation adoptée à ce moment.
  7. Dispositif de commande selon l'une des revendications précédentes, caractérisé en ce que la position angulaire de rotation dernièrement adoptée après une disparition du couple d'actionnement (Mu) appliqué par l'opérateur définit une position initiale ou une position zéro virtuelle pour une utilisation ultérieure en tant que commutateur à bascule simulé.
  8. Dispositif de commande selon l'une des revendications précédentes, caractérisé en ce que le dispositif d'analyse et de commande (20) est conçu pour la mise à disposition d'un premier mode de fonctionnement de commutateur à bascule, dans lequel un actionnement rotatif de l'organe d'actionnement (18) est libéré dans un seul sens de rotation.
  9. Dispositif de commande selon l'une des revendications précédentes, caractérisé en ce que le dispositif d'analyse et de commande (20) est conçu pour la mise à disposition d'un deuxième mode de fonctionnement de commutateur à bascule, dans lequel un actionnement rotatif de l'organe d'actionnement (18) est autorisé dans les deux sens de rotation.
  10. Dispositif de commande selon l'une des revendications précédentes, caractérisé en ce que le dispositif d'analyse et de commande (20) est conçu pour contrôler le moyen de génération de résistance à la rotation (23) de sorte que, lorsque l'angle de rotation (α1) prédéfini de l'organe d'actionnement (18) a été parcouru et, par conséquent, lors de l'existence d'une position angulaire de rotation, dans laquelle l'élément de commande à plateau rotatif (17) signale ou adopte un état de commutation actif, le couple de freinage (MBR) du moyen de génération de résistance à la rotation (23) est maintenu dans une plage de valeurs de dérive (24) ou à une valeur seuil de dérive qui autorise ou permet une rotation supplémentaire plus lente ou plus difficile de l'organe d'actionnement (18) à l'encontre du couple de freinage (MBR) du moyen de génération de résistance à la rotation (23).
  11. Dispositif de commande selon la revendication 10, caractérisé en ce que la plage de valeurs de dérive (24) ou la valeur seuil de dérive est choisie de sorte qu'une rotation supplémentaire de l'organe d'actionnement (18) est autorisée avec une vitesse de rotation inférieure à 5°/s (degré d'angle par seconde), de préférence inférieure à 1°/s.
  12. Dispositif de commande selon l'une des revendications précédentes, caractérisé en ce que le dispositif d'analyse et de commande (20) est conçu pour contrôler le moyen de génération de résistance à la rotation (23) de sorte que, avant que l'angle de rotation (α1) prédéfini de l'organe d'actionnement (18) est atteint ou sur le point d'être atteint et lors de la présence, par conséquent, d'une position angulaire de rotation, dans laquelle l'élément de commande à plateau rotatif (17) signale ou adopte un état de commutation actif, le couple de freinage (MBR) du moyen de génération de résistance à la rotation (23) est abaissé, par rapport à une plage d'angles de rotation, de jusqu'à 10° (degrés d'angle) ou est désactivé puis est augmenté jusqu'à une valeur qui permet un blocage ou une rotation plus lente de l'organe d'actionnement (18).
  13. Dispositif de commande selon l'une des revendications précédentes, caractérisé en ce que l'organe d'actionnement (18) est logé mécaniquement sans butée et de manière rotative sans fin lorsque ou tant qu'aucun couple de blocage (MBL) n'est généré par le moyen de génération de résistance à la rotation (23).
EP18765351.4A 2017-08-01 2018-07-27 Dispositif de commande de machines industrielles Active EP3662345B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT506412017 2017-08-01
PCT/AT2018/060167 WO2019023727A2 (fr) 2017-08-01 2018-07-27 Dispositif de commande de machines industrielles

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EP3662345A2 EP3662345A2 (fr) 2020-06-10
EP3662345B1 true EP3662345B1 (fr) 2023-12-13

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US11786956B2 (en) 2021-05-14 2023-10-17 Stolle Machinery Company, Llc System and method for automated low-speed positioning of a can necking machine
EP4137898B1 (fr) * 2021-08-20 2024-04-17 Siemens Aktiengesellschaft Dispositif de commande pour une commande cnc

Citations (1)

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EP1403619B1 (fr) * 2002-09-27 2007-12-19 Robert Bosch Gmbh Dispositif de saisie

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WO2019023727A2 (fr) 2019-02-07
EP3662345A2 (fr) 2020-06-10

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