US Pat. No. 9,130,773

ADDRESSING METHOD AND COMMUNICATION SYSTEM HAVING SUCH AN ADDRESSING METHOD

Beckhoff Automation GmbH,...

1. A method for retrieving subscriber identifications in a communication system having multiple subscribers which are connected
to a ring-shaped transmission path, the method comprising:
outputting a first telegram onto the ring-shaped transmission path by a control computer, which first telegram comprises a
sequence of telegram fields, wherein each subscriber is allocated a telegram field for entering its subscriber identification
and each subscriber checks during passing-through of the first telegram if the subscriber identification field allocated to
the subscriber is vacant;

upon detecting a vacant subscriber identification field, each subscriber entering that subscriber's subscriber identification;
and

outputting a second telegram onto the ring-shaped transmission path by the control computer, which second telegram contains
the subscriber identification fields of the first telegram after circulation of the first telegram on the ring-shaped transmission
path.

US Pat. No. 9,308,652

ROBOT MODULE AND ROBOT WITH SPACER RODS ARRANGED AT GRAVITY CENTERS

BECKHOFF AUTOMATION GMBH,...

1. A robot module comprising
a robot drive and a robot body, the robot body having a spacer rod, a robot head and at least one control arm,
wherein a drive platform of the robot drive and an attachment group of the robot head are connected to each other via the
spacer rod and the coral arm,

wherein the robot drive is configured to swivel the robot head by means of the spacer rod and the control arm,
wherein an attachment surface of the attachment group comprises a first gravity center and an attachment surface of the drive
platform comprises a second gravity center, wherein the spacer rod is arranged in the first and the second gravity center,
and

wherein the robot head comprises an actuator group and the attachment group, the actuator grouped being coupled to the attachment
group by a transmission gearing,

wherein the transmission gearing is configured as planetary gearing,
wherein a sun gear of the planetary gearing is connected to the actuator group,
wherein an annulus gear of the planetary gearing is connected to the attachment group, and
wherein at least one planet gear of the planetary gearing is connected to the spacer rod.

US Pat. No. 10,089,268

NETWORK SUBSCRIBER

BECKHOFF AUTOMATION GMBH,...

1. A network subscriber comprising:a plurality of individual functional units, each individual functional unit comprising an application interface,
at least a shared functional unit,
a first interface for establishing a physical connection, and
a second interface for establishing a further physical connection,
wherein the shared functional unit comprises a packet-processing unit,
the packet-processing unit being connected to the plurality of individual functional units to forward data packets received via any of the first and the second interface to the individual functional units and to send out data packets generated and/or modified by the individual functional units via the any of the first and the second interfaces,
the packet-processing unit at least partially processing or pre-processing the data packets to establish the physical connections.

US Pat. No. 9,188,421

METHOD AND POSITION DETECTION APPARATUS FOR DETECTING A POSITION OF A MOVABLE ELEMENT OF A DRIVE APPARATUS

BECKHOFF AUTOMATION GMBH,...

1. A method for detecting a position of a movable element of a drive apparatus by means of a position detection apparatus
comprising at least one excitation coil and a plurality of secondary coils assigned to the excitation coil,
the excitation coil comprising at least a winding,
the plurality of secondary coils being arranged within the winding of the excitation coil,
the plurality of secondary coils comprising a first secondary coil pair and a second secondary coil pair,
the first secondary coil pair being formed from a first cosinusoidal secondary winding and a first sinusoidal secondary winding,
the second secondary coil pair being formed from a second cosinusoidal secondary winding and a second sinusoidal secondary
winding,

the method comprising the steps of:
applying an electrical excitation pulse to the excitation coil in order to induce electrical voltages in the secondary coils,
measuring the electrical voltages of the secondary coils, and
determining the position of the movable element on the basis of the measured electrical voltages.

US Pat. No. 9,294,008

TWO-QUADRANT CHOPPER

BECKHOFF AUTOMATION GMBH,...

1. A two-quadrant chopper comprising:
a first node, a second node, a third node and a fourth node, wherein an input voltage may be applied between the first node
and the second node, a first output voltage may be picked off between the first node and the third node, and a second output
voltage may be picked off between the third node and the second node;

a first capacitor between the first node and the third node and a second capacitor between the third node and the second node;
a collector of a first transistor connected to the first node and an emitter of the first transistor connected to the fourth
node;

a cathode of a first diode connected to the first node and an anode of the first diode connected to the fourth node;
a collector of a second transistor connected to the fourth node and an emitter of the second transistor connected to the second
node;

a cathode of a second diode connected to the fourth node and an anode of the second diode connected to the second node; and
an inductor between the third node and the fourth node;
the two-quadrant chopper further comprising a device for measuring an electric current flowing in the inductor, and
a unit configured to mutually switch the first transistor and the second transistor between a conducting state and a non-conducting
state according to a modulation index,

wherein the modulation index is a sum of a value 0.5 and a ratio of a product of a current strength flowing in the inductor
and of a defined virtual resistance with regard to an amount of the input voltage.

US Pat. No. 10,081,500

XY TABLE FOR A LINEAR TRANSPORT SYSTEM

BECKHOFF AUTOMATION GMBH,...

1. An XY table for a linear transport system, having a carriage guide rail and a first and a second carriage, which are arranged in such a way that they can be moved independently of one another on the carriage guide rail, which has a curved portion, comprisinga carrying structure and
a first and a second linear guide, which are embodied with an angular offset relative to one another and each have a first and a second guide element, which can be moved relative to one another along a linear track,
wherein the first guide elements of the first and second linear guides are connected to the carrying structure, and
wherein the second guide element of the first linear guide can be connected to the first carriage and the second guide element of the second linear guide can be connected to the second carriage,
wherein, when the first and the second linear guide are oriented parallel to the track plane of the carriage guide rail, the first guide elements of the first and second linear guides are connected to the carrying structure, the first guide elements being allowed rotation in the track plane of the carriage guide rail, and/or the second guide element of the first linear guide is connected to the first carriage, and the second guide element of the second linear guide is connected to the second carriage, the second guide elements being allowed rotation in the track plane of the carriage guide rail, or
wherein, when the first and the second linear guide are oriented in a plane of orientation perpendicular to the track plane of the carriage guide rail, the first guide elements of the first and second linear guides are connected to the carrying structure, the first guide elements being allowed tilting in the plane of orientation, and/or the second guide element of the first linear guide is connected to the first carriage, and the second guide element of the second linear guide is connected to the second carriage, the second guide elements being allowed tilting in the plane of orientation.

US Pat. No. 10,069,641

METHOD FOR OPERATING A COMMUNICATION NETWORK AND COMMUNICATION NETWORK

BECKHOFF AUTOMATION GMBH,...

7. A communication network comprising a master and a number of subscribers,the master and the subscribers being connected to one another via a data line,
the master comprising a transmit interface to the data line by which the master sends a message to the subscribers and a receive interface to the data line by which the master receives the message from the subscribers after passing through the subscribers,
the message comprising a data field wherein a first of the subscribers, on receiving the message,
reads data out of the data field of the message so that the data field is empty after reading the data out, and
forwards the message with the data field empty, after reading the data out, to at least one other of the subscribers, and
wherein a second subscriber of the at least one other subscribers, on receiving the message with the empty data field, writes data into the empty data field of the message.

US Pat. No. 9,407,244

DEVICE FOR GENERATING A TIME SIGNAL, AND SYSTEM COMPRISING SUCH A DEVICE

BECKHOFF AUTOMATION GMBH,...

1. A device comprising:
a first time generator for generating an internal time signal,
a unit for receiving an external time signal at discrete synchronization times, and
a generator unit for producing a generated time signal, wherein the generator unit is designed to calculate on the basis of
an algorithm the generated time signal at a determination time between two synchronization times from a value of the external
time signal at a previous synchronization time and from a value of the internal time signal at the determination time,

wherein the algorithm includes an assumption of a proportionality between an advance in the internal time signal and an advance
in the external time signal;

wherein the algorithm includes the assumption that a ratio of advances in the external time signal and in the internal time
signal between the last synchronization time and the determination time equals a ratio of advances in the external time signal
and in the internal time signal between the next-to-last synchronization time and the last synchronization time; and

wherein the algorithm is designed to calculate the generated time signal at the determination time as the sum of a value of
the external time signal at the last synchronization time and of a product formed by multiplying the advance in the internal
time signal between the last synchronization time and the determination time with the ratio of the advance in the external
time signal between the next-to-last synchronization time and the last synchronization time to the advance in the internal
time signal between the next-to-last synchronization time and the last synchronization time.

US Pat. No. 9,467,309

NETWORK DISTRIBUTOR

BECKHOFF AUTOMATION GMBH,...

21. A network distributor having a master interface, a first user interface and a second user interface, designed for transferring
data telegrams each with at least one payload field in a data network with network users and a network distributor that has
a first user interface and a second user interface,
wherein the master interface is connected to a master over a master data path, the first user interface is connected to at
least one first network user over a first user data path, and the second user interface is connected to at least one second
network user over a second user data path, and

wherein the network distributor comprises a memory area coupled to a data processor configured for:
receiving a first master data telegram sent by the master through the network distributor via the master interface connected
to the master data path,

compiling a first transmission data telegram and a second transmission data telegram through the network distributor,
transferring the first transmission data telegram to the first network user via the first user interface connected to the
first user data path and the second transmission data telegram to the second network user through the network distributor
via the second user interface connected to the second user data path,

receiving a first reception data telegram sent by the first network user over the first user data path via the first user
interface and a second reception data telegram sent by the second network user over the first user data path via the second
user interface through the network distributor,

compiling a second master data telegram through the network distributor, and
transferring the second master data telegram via the master interface to the master through the network distributor,
wherein the first master data telegram, the second master data telegram, the first and second transmission data telegrams
and the first and second reception data telegrams each have a counter field with an access indicator that indicates an access
to the payload field through one of the network users, and

wherein the access indicator of the second master data telegram is compiled in order to represent accesses to payload fields
of the first master data telegram, of the first transmission data telegram, of the second transmission data telegram, of the
first reception data telegram and of the second reception data telegram.

US Pat. No. 9,209,552

CONNECTION MODULE AND CONNECTION MODULE SYSTEM

BECKHOFF AUTOMATION GMBH,...

1. A connection module for supplying a drive module with electrical current, the connection module comprising a first connecting
contact and a second connecting contact,
wherein the first and the second connecting contacts each comprise a contact element,
wherein the first contact element of the first connecting contact is arranged in a movable manner and the second contact element
of the second connecting contact is arranged in a fixed manner,

wherein the second contact element of the second connecting contact is configured to provide a connection to a corresponding
first contact element of an adjacent module,

wherein the second connecting contact comprises a spring terminal configured to press the corresponding first contact element
of the adjacent module against the second contact element of the second connecting contact,

wherein the second connecting contact comprises an actuating device which is arranged at the spring terminal and provides
an actuating force for actuating the spring terminal, and

wherein the actuating device comprises a shaft, a connecting rod eccentrically-attached to the shaft, and a pressure frame
connected to the connecting rod, wherein the actuating force is provided by means of the shaft which is configured to transmit
the actuating force for actuating the spring terminal to the pressure frame and wherein the pressure frame is configured to
actuate the spring terminal.

US Pat. No. 10,136,528

COUPLING UNIT AND INDUSTRIAL CONTROL SYSTEM

BECKHOFF AUTOMATION GMBH,...

1. A coupling unit for an industrial control system, havinga first module connection for making electrical contact with a first control module,
a second module connection for making electrical contact with a second control module,
a first field connection for making electrical contact with a first industrial field device,
a second field connection for making electrical contact with a second industrial field device,
a data transmission medium for a transmission of communication data, and
a signal transmission medium for a transmission of field signals, the signal transmission medium comprising individual signal lines;
each of the first module connection and the second module connection comprising electrical contact elements which form a communication signal region and a field signal region,
contact elements of the communication signal region of the first module connection and contact elements of the communication signal region of the second module connection each being connected in an electrically conductive manner to the data transmission medium,
a contact element of the field signal region of the first module connection being connected to the first field connection via a first signal line of the signal transmission medium,
a further contact element of the field signal region of the first module connection being connected to the second field connection via a second signal line of the signal transmission medium,
a contact element of the field signal region of the second module connection being connected to the first field connection via a third signal line of the signal transmission medium, and
a further contact element of the field signal region of the second module connection being connected to the second field connection via a fourth signal line of the signal transmission medium.

US Pat. No. 9,128,475

PARALLELIZED PROGRAM CONTROL BASED ON SCHEDULED EXPIRY OF TIME SIGNAL GENERATORS ASSOCIATED WITH RESPECTIVE PROCESSING UNITS

Beckhoff Automation GmbH,...

1. A control method for executing programs on a plurality of processing units operating in parallel, each processing unit
being associated with a respective time signal generator upon expiry of which the control method is carried out on the processing
unit associated with the respective expired time signal generator, the control method comprising:
selecting a program from a plurality of programs available for execution on the processing unit associated with the respective
expired time signal generator;

determining a predefined duration of time being provided to the selected program before the control method is accessed again
on the associated processing unit;

setting the respective expired time signal generator to the predefined duration of time;
starting the selected program on the associated processing unit;
determining whether an end of the predefined duration of time collides with an end of a different duration of time of the
respective time signal generator assigned to a different processing unit;

modifying, if a result of the determining is positive, the predefined duration of time by taking into account a periodicity
of points in time at which each processing unit is interrupted; and

preventing further accesses of the control method to another of the processing units when executing the control method on
the processing unit associated with the respective expired time signal generator.

US Pat. No. 9,467,069

FEED-IN/FEEDBACK CONVERTER WITH PHASE CURRENT TRANSFORM

BECKHOFF AUTOMATION GMBH,...

1. A method for controlling a frequency converter, wherein the method comprises the following steps:
measuring phase currents flowing in phase conductors of a three-phase supply network;
generating a first modulation space vector that is in phase with the phase currents and that comprises an angle that is synchronous
to a supply voltage of the three-Phase supply network and that comprises a determined modulation index as an amplitude;

conducting a Clarke transformation to transform the measured phase currents into a second current space vector;
multiplying the second current space vector by a determined virtual resistance to obtain a second modulation space vector;
subtracting the second modulation space vector from the first modulation space vector to obtain a third modulation space vector;
and

modulating the frequency converter according to the third modulation space vector;
wherein generating the first modulation space vector comprises the following steps:
conducting a Park transformation using the angle in order to transform the measured phase currents into a first current space
vector;

controlling the angle in such a way that a reactive-current component of the first current space vector takes a determined
value; and

generating the first modulation space vector that comprises the angle and the determined modulation index as an amplitude,
by means of an inverse Park transformation.

US Pat. No. 10,128,733

POSITION-DETECTION SYSTEM

Beckhoff Automation GmbH,...

1. A position-detection system for monitoring an operating state of a drive having a rotor which can move along a path, comprisingan encoder unit, a signal-detection unit and a signal-processing device,
wherein the encoder unit or the signal-detection unit is arranged on the rotor, and the respective other unit is arranged along the path,
wherein the signal-processing device is designed to generate a first position signal and a second position signal on the basis of a relative position of the encoder unit and the signal-detection unit,
wherein the signal-processing device is designed to determine a longitudinal position of the rotor along the path on the basis of phase values of the first and second position signals, and
wherein the signal-processing device is designed to determine a distance, directed transversely with respect to the path, between the encoder unit and the signal-detection unit on the basis of amplitude values of the first and second position signals, and to detect on the basis of the distance a disruption in a movement of the rotor and/or an external force action acting on the encoder unit or the signal-detection unit.

US Pat. No. 10,033,373

HALF BRIDGE HAVING TWO SEMICONDUCTOR SWITCHES FOR OPERATING A LOAD

BECKHOFF AUTOMATION GMBH,...

1. A half bridge for operating a load comprising:a switching device comprising a high-side semiconductor switch and a low-side semiconductor switch, that are connected to one another in series in each case via one of their current terminals, wherein the load is connectable between the high-side and low-side semiconductor switches;
a load relief device connected to the switching device in order to collect energy during a switching process in the switching device;
an energy storage device comprising a first capacitance; and
an energy recovery circuit configured to feed the energy collected by the load relief device to the energy storage device before a further energy collection of the load relief device during a further switching process in the switching device, wherein the energy recovery circuit comprises a current channel that connects the load relief device to the first capacitance of the energy storage device,
wherein the load relief device comprises a second capacitance, that is connected to the current channel and is connected in parallel with the first capacitance.

US Pat. No. 10,106,339

XY TABLE FOR A LINEAR TRANSPORT SYSTEM

BECKHOFF AUTOMATION GMBH,...

1. An XY table for a linear transport system, having a carriage guide rail and a first and a second carriage, which are arranged in such a way that they can be moved independently of one another on the carriage guide rail, which has a curved portion, comprisinga carrying structure and
a first and a second linear guide, which are embodied with an angular offset relative to one another and each have a first and a second guide element, which can be moved relative to one another along a linear track,
wherein the first guide elements of the first and second linear guides are connected to the carrying structure, and
wherein the second guide element of the first linear guide can be connected to the first carriage and the second guide element of the second linear guide can be connected to the second carriage,
wherein, when the first and the second linear guide are oriented parallel to the track plane of the carriage guide rail, the first guide elements of the first and second linear guides are connected to the carrying structure, the first guide elements being allowed rotation in the track plane of the carriage guide rail, and/or the second guide element of the first linear guide is connected to the first carriage, and the second guide element of the second linear guide is connected to the second carriage, the second guide elements being allowed rotation in the track plane of the carriage guide rail, or
wherein, when the first and the second linear guide are oriented in a plane of orientation perpendicular to the track plane of the carriage guide rail, the first guide elements of the first and second linear guides are connected to the carrying structure, the first guide elements being allowed tilting in the plane of orientation, and/or the second guide element of the first linear guide is connected to the first carriage, and the second guide element of the second linear guide is connected to the second carriage, the second guide elements being allowed tilting in the plane of orientation.

US Pat. No. 9,184,740

POWER CIRCUIT WITH SHORT-CIRCUIT PROTECTION CIRCUIT

BECKHOFF AUTOMATION GMBH,...

7. A power circuit connecting to an AC voltage source, the power circuit comprising:
two field-effect transistors arranged in series which are connected to each other via the source electrodes, wherein a diode
is applied parallel to the source electrode and the drain electrode of each of the two field-effect transistors in forward
bias; and

a control system to bias the two field-effect transistors into conduction and into cut-off, wherein the control system comprises
a microcontroller and two high-impedance resistors, the microcontroller comprising two interrupt inputs, one of the two high-impedance
resistors connected to a drain electrode of one of the two field-effect transistors and one of the two interrupt inputs of
the microcontroller to apply a first voltage drop which occurs between the source electrode and the drain electrode of the
associated field-effect transistor to the associated interrupt input of the microcontroller, the other of the two high-impedance
resistors connected to a drain electrode of the other of the two field-effect transistors and the other of the two interrupt
inputs of the microcontroller to apply a second voltage drop which occurs between the source electrode and the drain electrode
of the associated field-effect transistor to the associated interrupt input of the microcontroller, a level of either the
first voltage drop or the second voltage drop exceeding a predetermined voltage level recognized as a short-circuit by the
microcontroller, whereupon the microcontroller biases the two field-effect transistors into cut-off;

wherein the two field-effect transistors are operated at a maximal gate voltage which result in a current limitation below
the maximally allowed current load of the field-effect transistors, and

wherein the two field-effect transistors are dimensioned such that the two field-effect transistors endure current peaks corresponding
to at least the three-fold of the maximally allowed current load.

US Pat. No. 9,544,258

NETWORK, HEAD SUBSCRIBER AND DATA TRANSMISSION METHOD

BECKHOFF AUTOMATION GMBH,...

1. A network having a control node and a plurality of network subscribers that are connected to the control node via a closed
ring-shaped data path,
wherein the network subscribers form a chain, starting from the control node, with a head subscriber as a termination for
the chain, and the closed ring-shaped data path transits through the network subscribers on both an outbound route and an
inbound route,

wherein the control node is designed to output data messages with identifiers onto the closed ring-shaped data path,
wherein the network subscribers are designed to perform data interchange on the outbound route and on the inbound route with
data messages transiting through on the closed ring-shaped data path, and

wherein the head subscriber in the chain has a filter functionality, in order to use a prescribed identifier to block the
further transport of data messages with the corresponding identifier on the inbound route following transit of data messages
through the head subscriber on the outbound route, and a transmission functionality, in order to output data messages onto
the inbound route at prescribed instants.

US Pat. No. 10,116,465

METHOD FOR OPERATING A NETWORK

BECKHOFF AUTOMATION GMBH,...

1. A method for operating a network,wherein the network has a network subscriber that is connected to a superordinate bus and to a subordinate bus,
wherein the method comprises the following steps:
reception of a first superordinate data message by the network subscriber via the superordinate bus;
extraction of first data from the first superordinate data message by the network subscriber;
transmission of a first subordinate data message by the network subscriber via the subordinate bus, wherein the first subordinate data message comprises the first data;
reception of a second subordinate data message by the network subscriber via the subordinate bus;
extraction of second data from the second subordinate data message by the network subscriber; and
transmission of a second superordinate data message by the network subscriber via the superordinate bus, wherein the second superordinate data message comprises the second data;
wherein the second superordinate data message is formed from the first superordinate data message by replacing the first data by the second data; and
wherein the reception of the second subordinate data message takes place before the transmission of the first subordinate data message.

US Pat. No. 10,181,780

STATOR DEVICE FOR A LINEAR MOTOR AND LINEAR TRANSPORT SYSTEM

BECKHOFF AUTOMATION GMBH,...

1. A linear transport system comprisingan assembly of a plurality of adjacently arranged transport system modules, and
a vehicle,
each transport system module comprising a stator, the stator being connected to an adjacently arranged stator by means of an electrical component which can be displaced in or is displaceable,
each stator comprising a plurality of magnetic field generators,
each magnetic field generator having at least one coil,
each magnetic field generator being individually energized,
the magnetic field generators forming a travel path for the vehicle, along hich said vehicle can be displaced,
wherein a first linear transport system module has straight form and a second linear transport system module has arcuate form,
the vehicle comprising a support, the support comprising a reaction part which is designed to interact with the magnetic field formed by means of the magnetic field generators, such that a thrust force is formed that moves the support,
wherein the magnetic field generators of the stator of the second linear transport system module are arranged along a curve of a clothoid form, a curvature profile of the clothoid form increasing linearly.

US Pat. No. 9,997,985

STATOR DEVICE FOR A LINEAR MOTOR, AND LINEAR TRANSPORT SYSTEM

BECKHOFF AUTOMATION GMBH,...

1. A stator device for a linear motor, comprising:an electrically energizable magnetic field generator for forming a magnetic field; and
a first holding device for holding the magnetic field generator;
wherein the magnetic field generator is fastened to the first holding device, wherein the first holding device is formed at least partially from any of an electrically and magnetically non-conductive material;
wherein the magnetic field generator comprises a coil and a stator tooth as a core around which the coil is wound; and
wherein the first holding device is in the form of a printed circuit board for electrical contacting of the magnetic field generator, the printed circuit being subdivided into a first section and a second section by a profile element fastened to the printed circuit board,
wherein in the first section of the printed circuit board the stator tooth is fastened to the printed circuit board, and an end of the coil wound around the stator tooth is electrically connected to the printed circuit board, and
wherein in the second section of the printed circuit board power electronics are electrically connected to the printed circuit board, the power electronics electrically energizing the coil of the magnetic field generator via the printed circuit board.

US Pat. No. 9,991,981

METHOD FOR OPERATING A NODE OF A COMMUNICATIONS NETWORK, A NODE AND A COMMUNICATIONS NETWORK

BECKHOFF AUTOMATION GMBH,...

1. A method for operating a node in a communications network,wherein frames passing through the node, the node receiving the frames from a preceding node using receive clocks and forwarding the frames to a subsequent node using transmit clocks, each transmit clock being determined on the basis of a local clock of the node, each receive clock being equal to a transmit clock of the preceding node transmitting the frame,
the method comprising the following steps:
the node receiving a reference time via the communications network;
comparing a transmit clock of the node actually used for forwarding the frames to the subsequent node, the transmit clock being determined for an earlier clock cycle on the basis of the local clock of the node, with the reference time;
correcting the local clock of the node on the basis of the comparison result; and
determining on the basis of the corrected local clock a new transmit clock to be used by the node for the current clock cycle for forwarding the frames to the subsequent node.

US Pat. No. 9,806,647

CONTROL SYSTEM FOR AN ELECTRIC MOTOR

BECKHOFF AUTOMATION GMBH,...

1. A control system for a linear electric motor comprising
a stator having a plurality of stator coils and a rotor movable along the stator,
wherein the control system is designed to control current sources of an energization device of a drive comprising the linear
electric motor such that a current signal driving the rotor is only applied to said stator coils in an energization region
in a vicinity of the rotor and such that the energization region shifts concomitantly with the rotor moving along the stator,

wherein the control system comprises a position detection device and a coil monitoring device,
wherein the position detection device is designed to generate position data representing a position of the rotor along the
stator,

wherein the coil monitoring device is designed to generate coil data representing a status of one or a plurality of the stator
coils,

wherein the control system comprises a position determining module designed to determine a rotor position on the basis of
the position data,

wherein the control system comprises a safety device designed to carry out a coordination between the coil data and the position
data,

wherein the safety device comprises a position calculation module designed to determine an energization position of the rotor
within the energization region on the basis of the coil data,

wherein the safety device comprises a position comparison module designed to compare the rotor position with the energization
position in the context of the coordination, and

wherein the safety device is designed to cause the linear electric motor to be transferred to an emergency shutdown if an
error has been discovered during the comparison between the rotor position and the energization position.

US Pat. No. 9,689,712

POSITION DETECTION DEVICE FOR A MOVABLE ELEMENT IN A DRIVE DEVICE

BECKHOFF AUTOMATION GMBH,...

1. A position detection device for detecting a position of a movable element in a drive device, comprising:
a carrier having two detecting modules for detecting a position of the movable element, the detecting modules being arranged
side-by-side at a predetermined distance and without overlapping;

the detecting modules each comprising an energizing coil and a receiving coil assigned to the energizing coil and comprising
a geometry having one period, an excitation pulse of the energizing coil inducing an electrical voltage in the receiving coil;

the detecting modules being configured to detect a change in the electrical voltage induced in the receiving coil owing to
the moveable element and to output a position signal when detecting the movable element, so that during a shift of the movable
element along the two detecting modules over the predefined distance this distance may be measured as a reference distance
on the basis of the position signals.

US Pat. No. 9,665,072

METHOD FOR DETERMINING A SAFETY STEP AND SAFETY MANAGER

BECKHOFF AUTOMATION GMBH,...

1. A method for determining a safety-relevant capacity within a safety-relevant standard in an automation network with non-safety-relevant
subscribers and safety-relevant subscribers, the method comprising:
operating the automation network, wherein the subscribers comprise a control layer and a plurality of distributed devices
arranged in a sensor/actuator layer to carry out an automation task, the safety-relevant standard defining safety steps for
categorizing differing safety-relevant capacities of the safety-relevant subscribers and the safety steps representing differing
average probability values for a dangerous failure of one of the safety-relevant subscribers in the automation network per
hour while carrying out the automation task;

automatically determining data and process-specific links between the safety-relevant subscribers in the automation network
by a configuration-detecting module, the data and process-specific links being logic links of inputs and outputs of the safety-relevant
subscribers configured within a control logic for carrying out the automation task, detected by the configuration detecting
module while the automation task is executed;

determining subscriber-specific safety parameters to calculate the safety steps; and
calculating the safety-relevant capacity within the safety-relevant standard in the automation network by an algorithm which
connects the determined data and process-specific links of the subscribers in the automation network and the automatically
determined subscriber-specific safety parameters, wherein the safety steps are determined.

US Pat. No. 10,196,073

LINEAR TRANSPORT SYSTEM AND METHOD FOR OPERATING THE LINEAR TRANSPORT SYSTEM

BECKHOFF AUTOMATION GMBH,...

1. A linear transport system, comprising:at least one carriage which has at least one permanent magnet and at least one roller,
an energizable stator device which has multiple coils, and
a guide rail which is arranged on the stator device and which serves for guiding the carriage,
wherein the guide rail comprises a running surface for the rolling of the roller of the carriage, such that the roller can roll on the running surface during a displacement, guided by way of the guide rail, of the carriage, wherein at least one electrical contacting device is provided which is formed separately from the roller and which is designed to form an electrical connection between the carriage and the guide rail during the displacement, guided by way of the guide rail, of the carriage,
wherein an electrically conductive contact surface is provided which is electrically connected to the guide rail, wherein the electrical contacting device comprises at least one electrically conductive component which is arranged on the carriage and which is electrically connected to the carriage and which is designed to make electrical contact with the contact surface during the guided displacement, and
wherein, between the component and the carriage, there is provided a spring for exerting a spring force on the component, such that the component is pressed against the contact surface by way of the spring force during the guidance.

US Pat. No. 10,333,640

RANGE EXTENSION FOR COMBINED DATA AND POWER LINE

Beckhoff Automation GmbH,...

1. An apparatus for range extension for a combined data and power line, comprising:a first port for connecting a first combined data and power line, wherein the first port has a first and a second electrical contact,
a first charge pump for refreshing a DC voltage, wherein the first charge pump is connected via a first inductive assembly to the first and the second contact of the first port, so that the first charge pump can refresh a first DC supply voltage applied to the first and to the second contact of the first port,
a second port for connecting a second combined data and power line, wherein the second port has a first and a second electrical contact,
wherein the first charge pump is connected via a second inductive assembly to the first and the second contact of the second port in order to apply the refreshed first DC supply voltage to the first and to the second contact of the second port,
a first physical interface for receiving a first differential data signal, wherein the first physical interface is connected via a first transformer and a first capacitive assembly to the first and the second contact of the first port in order to receive a first differential data signal applied to the first contact and the second contact of the first port, and
a second physical interface connected to the first physical interface for providing the first differential data signal,
wherein the second physical interface is connected via a second transformer and a second capacitive assembly to the first and the second contact of the second port in order to apply the first differential data signal to the first contact and to the second contact of the second port.

US Pat. No. 10,177,640

STATOR DEVICE FOR A LINEAR MOTOR AND LINEAR TRANSPORT SYSTEM

BECKHOFF AUTOMATION GMBH,...

1. A stator device for a linear motor, comprising:an electrically energizable magnetic field generator for forming a magnetic field, the magnetic field generator comprising a stator tooth and a coil is wound around the stator tooth, and
a holding module for holding the magnetic field generator, the holding module having a first and a second holding device,
wherein the magnetic field generator is arranged between the two holding devices in that a first end of the stator tooth is fixed to the first holding device and a second end of the stator tooth is fixed to the second holding device, wherein the first and the second holding device each is a printed circuit board,
wherein a power electronics is arranged at the first holding device and configured to electrically energize the magnetic field generator, and
wherein a position detection system electronics is arranged at the second holding device and configured to detect the presence of a position detecting element.

US Pat. No. 9,828,179

CONVEYING DEVICE AND CARRIAGE FOR CONVEYING DEVICE

BECKHOFF AUTOMATION GMBH,...

1. A conveying device, comprising:
at least one movable carriage, on which at least one first group and at least one second group of track rollers are disposed;
and

a track rail disposed so as to be locationally fixed, for guiding the carriage;
wherein the track rail has at least one track face;
wherein the track rail has at least one straight portion and at least one curved portion; and
wherein the track rollers of the first group and of the second group are configured such that during movement of the carriage
along the straight portion of the track rail, exclusively track rollers of the first group roll on a track face assigned to
the straight portion; and

during movement of the carriage along the curved portion of the track rail, exclusively track rollers of the second group
roll on a track face assigned to the curved portion.

US Pat. No. 9,817,783

MODULE FOR A DATA BUS

BECKHOFF AUTOMATION GMBH,...

1. A module system for a data bus, comprising
a dongle module, the dongle module having a terminal,
the terminal comprising two opposite outer faces, each comprising at least one contact,
wherein the two contacts are connected by an internal data-bus line for forwarding data through the terminal via said internal
data-bus line, and

a software-protection unit integrated into the terminal and connected to said internal data-bus line; and
at least one input/output (I/O) module for the data bus, the I/O module comprising a further terminal comprising two opposite
outer faces each comprising at least one contact, wherein the contacts are connected by a further internal data-bus line for
forwarding data through the further terminal via the further internal data: bus line, wherein the further terminal furthermore
comprises a connecting unit for connecting a bus subscriber and a control for controlling the bus subscriber, said control
being connected to said internal data-bus line,

wherein the dongle module and the I/O module are arranged side-by-side so that the respective outer faces of the modules are
arranged opposite in such a way that the respective contacts of the opposite outer faces contact each other for forwarding
data through the terminals via the respective internal data: bus line.

US Pat. No. 10,333,449

METHOD AND APPARATUS FOR OPERATING AN ELECTRIC MACHINE, ELECTRIC MACHINE

BECKHOFF AUTOMATION GMBH,...

7. An apparatus for operating an electric machine, comprising:an ascertainment device for ascertaining an electric stator current of the electric machine,
a processor for calculating a magnetic flux which is generated based on the ascertained electric stator current,
the processor being configured to calculate the coefficients of a polynomial which approximates the magnetic flux which is generated based on the ascertained electric stator current, based on inductances measured at different stator currents, and
a control device for controlling a torque generated by means of electric machine, as a function of the calculated magnetic flux.

US Pat. No. 10,291,085

MAGNETIC ASSEMBLY FOR AN ELECTRIC MOTOR

Beckhoff Automation GmbH,...

1. A magnet arrangement for interacting with drive coils of an electric motor,wherein the magnet arrangement comprises at least a first drive magnet, a second drive magnet and a compensation magnet which are arranged between a coil-facing side of the magnet arrangement and a coil-averted side of the magnet arrangement,
wherein the compensation magnet is arranged between the first drive magnet and the second drive magnet,
wherein the first drive magnet has a magnetization which is oriented from the coil-averted side of the magnet arrangement in the direction of the coil-facing side of the magnet arrangement,
wherein the second drive magnet has a magnetization which is oriented from the coil-facing side of the magnet arrangement in the direction of the coil-averted side of the magnet arrangement,
wherein the compensation magnet has a magnetization which is oriented from the second drive magnet in the direction of the first drive magnet,
wherein the first drive magnet has a first cross-sectional area, the second drive magnet has a second cross-sectional area and the compensation magnet has a third cross-sectional area,
wherein the first cross-sectional area, the second cross-sectional area and the third cross-sectional area lie in a common section plane through the magnet arrangement, which section plane is oriented parallel to coil axes of the drive coils,
wherein the first cross-sectional area, the second cross-sectional area and the third cross-sectional area extend in the section plane in each case between the coil-facing side of the magnet arrangement and the coil-averted side of the magnet arrangement,
wherein a coil-averted width of the third cross-sectional area corresponds to a coil-facing width of the first cross-sectional area and to a coil-facing width of the second cross-sectional area,
wherein a coil-facing width of the third cross-sectional area corresponds to a coil-averted width of the first cross-sectional area and to a coil-averted width of the second cross-sectional area,
wherein the coil-averted width of the first cross-sectional area is smaller than the coil-facing width of the first cross-sectional area, and the coil-averted width of the second cross-sectional area is smaller than the coil-facing width of the second cross-sectional area,
wherein the first drive magnet, the second drive magnet and the third drive magnet are arranged so as to adjoin one another,
wherein the third cross-sectional area undercuts the first cross-sectional area and the second cross-sectional area on the coil-averted side,
wherein the first cross-sectional area, the second cross-sectional area and the third cross-sectional area are each configured as an isosceles trapezoid, and
wherein the surface area of the first cross-sectional area, the surface area of the second cross-sectional area and the surface area of the third cross-sectional area are of equal size.

US Pat. No. 10,193,705

METHOD, COMMUNICATION NETWORK, AND CONTROL UNIT FOR THE CYCLICAL TRANSMISSION OF DATA

BECKHOFF AUTOMATION GMBH,...

1. A method for transmitting data on a ring-shaped transmission path to which a control unit and several nodes are connected, permission to output discrete telegrams to the communication path being given to the control unit and not the nodes, the control unit cyclically outputting data in the form of telegrams to the transmission path, and controlling the transmission process in order to continuously output telegrams during an entire transmission cycle time taking a transmission standard into account, the method comprising the steps of:the nodes exchanging data using the telegrams when passing therethrough, wherein
the control unit subdivides a transmission cycle into a number of subcycles having the same length, the control unit transmitting at least one communication telegram in each subcycle into which a first node writes in data for a second node located downstream in the transmission path into the communication telegram when passing through, the second node reading out the data written into the at least one communication telegram when passing through, the control unit transmitting at least one further telegram, the further telegram being any of a data telegram for the nodes and a placeholder telegram for filling up the subcycle.

US Pat. No. 10,424,879

HYBRID PLUG CONNECTOR

BECKHOFF AUTOMATION GMBH,...

1. A hybrid plug connector for connecting conductor cables of different electronic modules to insulator bodies arranged in an outer casing for receiving a power conductor transmitting a power supply and a shielded data conductor for data transmission for transmitting signals/data of an industrial bus, wherein the power conductor has at least two power lines and the data conductor has at least one data line, wherein the power lines and the data lines are guided in contact parts designed as plugs or sockets and can be coupled via these contacts parts, and wherein the outer casings of the hybrid plug connectors designed as socket or as plug can be joined inside one another for interlocking coupling, and wherein an insulator body designed as a contact carrier receiving means is arranged in each of the plug connectors designed as sockets and plugs, having a contact carrier in a shield housing, the shield housing accommodating a contact carrier which carries forward the data line(s) designed as plug sockets or plug pins in a shielded manner in the plug connector designed as socket or plug, and wherein the couplable contacts form a shape-encoded interlocking connection in the plugged-in state of the connection, wherein the plug sockets or plug pins of the data lines can be inserted with an interlocking fit into recesses of a contact carrier, which is disposed in a trapezium-shaped contact carrier receiving means, and the contact carrier receiving means is equipped with a shield housing which surrounds the contact carrier receiving means in an interlocking fit and carries forward the shielding of the data lines, the free end of which shield housing is either designed as a shoulder or as an overlapping collar for coupling the plug connectors designed as sockets and as plugs.

US Pat. No. 10,325,100

METHOD AND DEVICE FOR VERIFYING A DATA DISPLAY IN A SECURITY-CRITICAL SYSTEM

BECKHOFF AUTOMATION GMBH,...

1. A method for operating a computer system comprising a computer and a display unit,the computer comprising a graphic editor generating a computer program executable upon compilation, the graphic editor using graphic elements of a computer language, the graphic elements representing commands,
wherein an input value comprising a graphic element representing a command in the computer language is entered into the computer,
wherein a reference pattern is formed by the computer based on the input value comprising the command,
wherein image signals for the display unit are generated by the computer based on the input value, the image signals depicting the input value comprising the command on the display unit,
wherein the image signals forwarded from the computer to the display unit are detected and fed into a pattern recognition unit, wherein the detected image signals are subjected to pattern recognition to provide a recognized pattern,
wherein the recognized pattern is compared with the reference pattern to determine whether the input value depicted on the display unit corresponds to the input value fed into the computer,
wherein if the reference pattern does not correspond to at least one such recognized pattern, a warning is issued or a security-relevant action is carried out, and
wherein the entered input value is allocated a characteristic and the image signals and the reference pattern are generated on the basis of the entered input value having the assigned characteristic.

US Pat. No. 10,271,249

METHOD FOR OPERATING A NETWORK AND NETWORK PARTICIPANTS

BECKHOFF AUTOMATION GMBH,...

1. A method for operating a network,wherein a first network participant of the network is connected via a first connection to a further network participant of the network, and
wherein the first network participant carries out the following steps:
receiving a data message containing the information that a parameter must be set to a first value in connections, via the first connection, and
checking whether the first network participant is connected via a second connection to a still further network participant of the network and checking whether the parameter is not set to the first value in the second connection;
wherein the first network participant in this case carries out the following further steps:
forwarding the data message via the second connection,
clearing down the second connection,
re-establishing the second connection, wherein the parameter for the second connection is set to the first value; and
wherein the first network participant transmits the data message via all its connections in which the parameter is not set to the first value, except via the first connection.

US Pat. No. 10,496,075

CONTROL OF AN AUTOMATION PROCESS VIA A DATA NETWORK

Beckhoff Automation GmbH,...

1. A method for controlling an automation process via a data network of a control system,wherein the control system comprises a control device, a network module connected to the control device via a superordinate data path and signal units connected to the network module via subordinate data paths,
wherein the sum of the transmission rates on the subordinate data paths corresponds to no more than the transmission rate on the superordinate data path,
wherein the subordinate data paths comprise at least a first subordinate data path and a second subordinate data path,
wherein the method comprises successive control cycles that each comprise a computation cycle and a communication cycle,
wherein the computation cycle comprises the following steps:
providing in the control device a sum total of first output data transmitted in the communication cycle from the control device to the signal units connected to the first subordinate data path,
providing in the control device a sum total of second output data transmitted in the communication cycle from the control device to the signal units connected to the second subordinate data path,
wherein the communication cycle comprises the following steps:
splitting the first output data into at least a first portion and a second portion in the control device,
splitting the second output data into at least a first portion and a second portion in the control device,
transmitting the first portion of the first output data from the control device to the network module via the superordinate data path,
transmitting the first portion of the second output data from the control device to the network module via the superordinate data path after the transmission of the first portion of the first output data,
transmitting the second portion of the first output data from the control device to the network module via the superordinate data path after the transmission of the first portion of the second output data,
transmitting the second portion of the second output data from the control device to the network module via the superordinate data path after the transmission of the second portion of the first output data,
the network module sending the first portion of the first output data via the first subordinate data path,
the network module sending the first portion of the second output data via the second subordinate data path,
the network module sending the second portion of the first output data via the first subordinate data path,
the network module sending the second portion of the second output data via the second subordinate data path.

US Pat. No. 10,567,191

FIELDBUS MODULE AND METHOD FOR OPERATING A FIELDBUS SYSTEM

Beckhoff Automation GmbH,...

1. A fieldbus system comprising:a switching device,
a control device,
a fieldbus module connected to a first electrical supply voltage,
wherein a value of the first electrical supply voltage is ascertained and transmitted to the control device by the fieldbus module, wherein the ascertained value of the first electrical supply voltage is compared with a predetermined value of the first electrical supply voltage by the control device, and
wherein, if the value of the first electrical supply voltage that is transmitted to the control device is not concordant with the predetermined value of the first electrical supply voltage, shutdown of a second electrical supply voltage by the switching device is initiated by the control device.

US Pat. No. 10,438,002

FIELD-BUS DATA TRANSMISSION

Beckhoff Automation GmbH,...

1. A method for transmitting data in a field-bus system in which field devices are connected to a control computer via a shared transmission path,the field devices and the control computer each representing a communication subscriber,
the data being transmitted between at least two such communication subscribers including a transmitting communication subscriber and a receiving communication subscriber,
each subscriber comprising a safety layer with an error-safety layer protecting the data against random data transmission errors and an information-security layer protecting against manipulation of data and/or against unauthorized reading of data, the method comprising:
the data of each transmitted data package in the transmitting communication subscriber first passing through the error-safety layer and then through the information-security layer, and in the receiving communication subscriber first passing through the information-security layer and then through the error-safety layer;
wherein the information-security layer has a bipartite configuration comprising two successive steps of processing the data;
wherein, in the information-security layer of the transmitting communication subscriber, the data processed in the error-safety layer are at first encrypted in a first step and then an authentication check value of the encrypted data is calculated in a second step, the authentication check value being transmitted together with the encrypted data from the transmitting communication subscriber to the receiving communication subscriber; and
wherein, in the information-security layer of the receiving communication subscriber, a further authentication check value of the received encrypted data is at first calculated in a first step in order to obtain information on data integrity by evaluating the further authentication check value and the transmitted authentication check value, and then the received encrypted data are decrypted in a second step.

US Pat. No. 10,484,520

METHOD FOR OPERATING A COMMUNICATION NETWORK, COMMUNICATION NETWORK AND CONTROLLER

Beckhoff Automation GmbH,...

1. A method for operating a communication network, comprising:transmitting a clocked data sequence from a first participant to a second participant of the communication network, wherein one data unit of the data sequence is transmitted per clock cycle by the first participant and wherein the data sequence contains a datagram as a write datagram which contains a header, an intermediate field following the header and a data field following the intermediate header, wherein the header, the intermediate field and the data field in each case have one or more data units;
reading of the header by the second participant;
defining of input data by the second participant depending on the content of the header within a response time of the second participant; and
recording of the input data in the datagram by the second participant while the data sequence passes through the second participant,
wherein a length of the intermediate field is matched to a clock frequency of the data sequence and the response time of the second participant.

US Pat. No. 10,484,138

METHOD FOR TRANSMITTING DATA PACKETS ON A DATA TRANSMISSION PATH BETWEEN TWO COMMUNICATION SUBSCRIBERS, AUTOMATION SYSTEM AND COMPUTER PROGRAM

Beckhoff Automation GmbH,...

1. A method for transmitting data packets on a data transmission path between a first communication subscriber and a second communication subscriber, comprising the following steps of:transmitting a first data packet to the second communication subscriber by means of the first communication subscriber, the first data packet comprising at least data and an identification character,
determining at least one first acknowledgement character on the basis of the identification character by means of the first communication subscriber,
determining at least one second acknowledgement character on the basis of the identification character by means of the second communication subscriber if the second communication subscriber has received the first data packet,
transmitting a second data packet comprising the second acknowledgement character to the first communication subscriber by means of the second communication subscriber,
receiving the second data packet transmitted by the second communication subscriber by means of the first communication subscriber,
checking, by means of the first communication subscriber, whether the received second acknowledgement character is correlated with the determined at least one first acknowledgement character in such a manner that it confirms the reception of the first data packet, and
retransmitting the first data packet with the identification character to the second communication subscriber by means of the first communication subscriber if the received second acknowledgement character is not correlated with the determined at least one first acknowledgement character or the second acknowledgement character was not received by the first communication subscriber.

US Pat. No. 10,566,782

SAFEGUARD OF A SUPPLY VOLTAGE

Beckhoff Automation GmbH,...

1. A feed module for a bus system, comprising:a first DC voltage source,
a terminal for a data cable,
wherein the terminal comprises a first and a second contact,
wherein the first DC voltage source is connected to the first and second contacts via a first inductive assembly, such that a first electrical DC voltage can be applied to the first and second contacts by the first DC voltage source,
a physical interface for providing a first differential data signal,
wherein the physical interface is connected to the first and second contacts via a first transformer and a first capacitive assembly, in order to apply a first differential data signal to the first contact and to the second contact,
wherein a fuse is respectively connected between the first DC voltage source and at least the first contact and/or the second contact, and
wherein a bridging capacitor is provided in parallel with the fuse to bridge the fuse when the fuse having been triggered.

US Pat. No. 10,498,200

DRIVE DEVICE

Beckhoff Automation GmbH,...

1. A drive device, comprising:an electric motor, and
a first receiving area and a second receiving area formed on a B-side of the electric motor, the first and second receiving areas being thermally two receiving areas decoupled from one another by a thermal isolation, such that during the operation of the electric motor a first temperature zone can be formed in the first receiving area and a second temperature zone can be formed in the second receiving area,
wherein a heat shield having a section projecting into the first receiving area is formed, the heat shield being thermally coupled to the second receiving area, such that the second temperature zone can be lengthened into the first receiving area.

US Pat. No. 10,469,285

BUS SYSTEM COMPRISING A FEED MODULE AND A LOAD MODULE

Beckhoff Automation GmbH,...

1. A bus system comprisinga feed module which is connected to a first DC voltage source and to a second DC voltage source and has a physical interface, a first transformer, a second transformer, a first inductive assembly, a second inductive assembly, a first capacitive assembly and a second capacitive assembly, a consumer module which has a first DC voltage consumer, a second DC voltage consumer, a physical interface, a first transformer, a second transformer, a first inductive assembly, a second inductive assembly, a first capacitive assembly and a second capacitive assembly,
a data line which has a first channel with a first pair of wires and a second channel with a second pair of wires,
wherein the first channel of the data line connects the physical feed module interface to the physical consumer module interface via the first feed module transformer, the first capacitive feed module assembly, the first capacitive consumer module assembly and the first consumer module transformer, and connects the first DC voltage source to the first consumer module DC voltage consumer via the first inductive feed module assembly and the first inductive consumer module assembly, in order to transmit a first differential data signal between the physical feed module interface and the physical consumer module interface and to transmit a first direct current from the first DC voltage source to the first consumer module DC voltage consumer, and
wherein the second channel of the data line connects the physical feed module interface to the physical consumer module interface via the second feed module transformer, the second capacitive feed module assembly, the second capacitive consumer module assembly and the second consumer module transformer, and connects the second DC voltage source to the second consumer module DC voltage consumer via the second inductive feed module assembly and the second inductive consumer module assembly, in order to transmit a second differential data signal between the physical feed module interface and the physical consumer module interface and to transmit a second direct current from the second DC voltage source to the second consumer module DC voltage consumer.

US Pat. No. 10,483,664

ELECTRONIC TERMINAL BLOCK FOR A DATA BUS

Beckhoff Automation GmbH,...

1. An electronic terminal block for a data bus having:control electronics comprising a first and a second data-bus-contacting unit connected via an internal data-bus line and a connecting unit for connecting bus subscribers;
a metal housing in which the control electronics are arranged and which comprises a first housing face having a receptacle in a carrier rail, a second housing face having a recess for the connecting unit of the control electronics, a first housing side face, a first opening for the first data-bus-contacting unit, and a second housing side face opposite to the first housing side face, which comprises a first opening for the second data-bus-contacting unit of the control electronics;
a first coupling plate for mounting onto the first housing side face, which comprises a first recess having an engagement feature in the region of the first opening of the first housing side face; and
a second coupling plate for mounting onto the second housing side face, which comprises a first recess having an engagement feature in the region of the first opening of the second housing side face;
wherein the first and second coupling plates are made of a non-metallic material; and
wherein the engagement features comprise protruding enclosures.

US Pat. No. 10,572,428

BUS SYSTEM

Beckhoff Automation GmbH,...

1. A bus system, comprising:a data cable having two wire pairs,
wherein the data cable comprises a first portion of an electrical plug connection, the first portion comprising four first electrical contact elements,
wherein the four first electrical contact elements are each electrically connected to one of the wires of the two wire pairs,
wherein the data cable has a communication subscriber,
an input/output module,
wherein the input/output module has a first DC voltage supply, a second DC voltage supply, a physical interface, a first transformer, a second transformer, a first inductive assembly, a second inductive assembly, a first capacitive assembly, a second capacitive assembly and a second portion that is complementary to the first portion of the electrical plug connection, the second portion comprising four second electrical contact elements,
wherein the four-second electrical contact elements each comprise an electrical contact,
wherein the first DC voltage supply is connected to a respective electrical contact of two of the four-second electrical contact elements via the first inductive assembly,
wherein the second DC voltage supply is connected to a respective electrical contact of two others of the four-second electrical contact elements via the second inductive assembly,
wherein the physical interface is connected to the respective electrical contacts of the two of the four second electrical contact elements via the first transformer and via the first capacitive assembly in order to apply a first differential data signal to the two electrical contacts of the two of the four second electrical contact elements,
wherein the physical interface is connected to the respective electrical contacts of the two others of the four second electrical contact elements via the second transformer and via the second capacitive assembly in order to apply a second differential data signal to the two electrical contacts of the two others of the four second electrical contact elements,
wherein the input/output module comprises a microcontroller unit,
wherein the microcontroller unit is configured to communicate with the communication subscriber of the data cable,
wherein the microcontroller unit is configured to actuate the first and second DC voltage supplies such that they apply a respective DC voltage to the applicable electrical contacts of the four second electrical contact elements only if the microcontroller unit has been able to communicate with the communication subscriber of the data cable, so that a respective DC voltage is not applied in the absence of the communication and/or in the absence of a communication subscriber in the data cable.

US Pat. No. 10,614,013

INPUT/OUTPUT MODULE FOR A BUS SYSTEM

Beckhoff Automation GmbH,...

1. An input/output module for a bus system, having a socket, five contact cups of which each comprise an electrical contact, with:a first DC voltage applied to respective electrical contacts of two of the five contact cups by a first switching device,
a second DC voltage applied to respective electrical contacts of two others of the five contact cups by a second switching device,
a first differential data signal applied to the respective electrical contacts of the two of the five contact cups,
a second differential data signal applied to the respective electrical contacts of the two others of the five contact cups; and
a measuring device for detecting a connector of a four-wire data cable, which measuring device is configured to detect, when the connector is inserted into the socket, whether the connector comprises four or five electrical contact pins which are each plugged into one of the contact cups and are electrically connected to the respective electrical contacts of the contact cups,
the measuring device being configured to close the two first and second switching devices only when five electrical contact pins are detected in order to apply the first and second DC voltage to the corresponding contact pins of the connector plugged into the socket via the respective electrical contacts of the contact cups,
wherein the two differential data signals and the two DC voltages are isolated from one another.

US Pat. No. 10,594,247

OUTPUT MODULE OF A DRIVE CONTROL SYSTEM

Beckhoff Automation GmbH,...

1. An output module for connection to a DC voltage intermediate circuit of a drive control system for an electrical drive,having a frequency converter which is connected between the DC voltage intermediate circuit and an output of the output module, the frequency converter being configured to convert a DC voltage of the DC voltage intermediate circuit into an AC voltage at the output of the output module, and
having a module controller for controlling the frequency converter, the module controller comprising a current regulating module, a rotational speed regulating module and a feedback regulating module, the current regulating module being connected to the rotational speed regulating module and to the feedback regulating module,
the rotational speed regulating module being configured to set an electrical drive current from the DC voltage intermediate circuit to an electrical motor,
the feedback regulating module being configured to set an electrical feedback current from the DC voltage intermediate circuit to an electrical supply network,
the module controller being configured to control the frequency converter in a first operating mode of the output module based on a value set by the rotational speed regulating module, in the first operating mode the electrical motor being connected to the output module, in such a manner that the electrical motor is driven with the electrical drive current from the DC voltage intermediate circuit via the output, and
the module controller being configured to control the frequency converter in a second operating mode of the output module based on a value set by the feedback regulating module, in the second operating mode the electrical supply network being connected to the output module, in such a manner that the electrical feedback current from the DC voltage intermediate circuit is fed back into the electrical supply network via the output.

US Pat. No. 10,640,300

SYSTEM AND METHOD FOR ALIGNING AN OBJECT

Beckhoff Automation GmbH,...

1. A system for a defined aligning of at least one object, wherein the system comprises:a control device, a detector, an aligning device, a guide and an aligning zone,
wherein the aligning device and the guide are arranged at the aligning zone,
wherein the control device is connected to the detector and the aligning device,
wherein the guide has a predefined speed,
wherein the aligning device comprises a linear motor with a first rotor,
wherein a first object with a first alignment can be fed to the aligning zone,
wherein the detector is configured to detect the first alignment of the first object and to transmit the first alignment to the control device,
wherein the control device is configured to determine a first rotation angle on the basis of the first alignment of the first object and a predefined first alignment,
wherein the control device is configured to determine a speed profile of a first translational movement of the first rotor with a first differential speed between the first rotor and the guide on the basis of the determined first rotation angle and the predefined speed,
wherein the control device is configured to control the first rotor in the first translational movement on the basis of the determined speed profile, and
wherein the first rotor in interaction with the guide turns the first object in a first rotation about the first rotation angle to the first predefined alignment on the basis of the first differential speed.

US Pat. No. 10,734,912

STATOR DEVICE FOR A LINEAR MOTOR, LINEAR DRIVE SYSTEM, AND METHOD FOR OPERATING A STATOR DEVICE

Beckhoff Automation GmbH,...

1. A stator device for a linear motor, comprising:multiple drive coils, each drive coil being configured to be independently impressed by a direct current so as to generate a magnetic field which is suitable to interact with a magnetic field of a magnetic rotor thereby to drive or to brake the magnetic rotor;
multiple DC voltage converters, each connected to a respective drive coil;
an intermediate circuit electrically conductively connected to each drive coil via the respective DC voltage converter, the intermediate circuit being configured to exchange energy with each drive coil via the respective DC voltage converter;
a voltage measuring device being configured to measure an intermediate circuit voltage; and
a control device connected to the voltage measuring device and to the multiple DC voltage converters, the control device being configured to independently control an active current of each DC voltage converter in such a way that electrical energy is fed from the intermediate circuit into the drive coil corresponding to the controlled DC voltage converter, if the measured intermediate circuit voltage is greater than, or greater than or equal to, a predetermined intermediate circuit voltage threshold value, wherein the control device is configured to control only those DC voltage converters, of which the corresponding drive coil meets at least one predetermined criterion;
wherein the intermediate circuit voltage is monitored by the control device and the at least one predetermined criterion is responsive to each of:
a determination that a respective ascertained thermal load of the drive coil is smaller than a predetermined thermal load threshold value, the thermal load being ascertained based on a thermal model, the thermal model including past measured drive coil values as input variables, the control device being configured to monitor the drive coils thermally and to ascertain the respective thermal load of the multiple drive coils,
a determination that the drive coil does not instantaneously participate in controlling to drive or brake of the magnetic rotor, and
a determination that a detected position of the magnetic rotor is not opposite the drive coil; and
wherein only the drive coils which fulfill the at least one predetermined criterion are used as the drive coils in which the electrical energy is to be fed in from the intermediate circuit.

US Pat. No. 10,732,608

TRANSLATION MODULE, PROCESSING MODULE AND CONTROL SYSTEM

Beckhoff Automation GmbH,...

1. A method for operating a translation module for a machine control,wherein the translation module processes an input program code of a control program and produces therefrom a uniform intermediate representation having work instructions for execution by the machine control,
wherein the input program code comprises a first program code component and a second program code component,
wherein the first program code component is written in a first programming language and the second program code component is written in a second programming language,
wherein the work instructions of the intermediate representation comprise a first work instruction and a second work instruction,
wherein the first work instruction is produced on the basis of the first program code component and the second work instruction is produced on the basis of the second program code component, and
wherein the first and second program code components are combined in the uniform intermediate representation as work instructions to be executed sequentially.

US Pat. No. 10,924,371

METHOD FOR MONITORING A FIRST NODE IN A COMMUNICATIONS NETWORK AND MONITORING SYSTEM

Beckhoff Automation GmbH,...

1. A method for monitoring a first node in a fieldbus communications network by a second node,wherein the second node of the fieldbus communications network determines at two consecutive time points first and second time values, which are based on an internal timer of the second node, and sends the first and second time values to the first node via the fieldbus communications network, the first and second time values equaling first and second counter values, respectively, which are incremented or decremented on the basis of the internal timer of the second node, each counter value being inserted into a respective message, the messages being sent successively to the first node in accordance with a transfer cycle, the second node having a dual-channel design comprising two processors which monitor each other for malfunctions, both processors determining the first and second time values,
wherein the first node, in response to receipt of the first and second time values, determines third and fourth time values, which are based on a further internal timer of the first node, the third and fourth time values equaling third and fourth counter values, respectively, which are incremented or decremented on the basis of the further internal timer of the first node,
wherein the first node compares a difference between the first and second time values from the second node with a difference between the third and fourth time values from the first node, and
wherein the first node executes a safety-oriented application on the basis of a clock provided by the further internal timer and goes into an error state if the respective differences differ by a defined threshold value, wherein the threshold value depends on the safety-oriented application and one or more respective parameters selected from transfer rate, transmission path, and jitter, and wherein the error state indicates or signifies that execution of the safety-oriented application in the first node is stopped.

US Pat. No. 10,781,854

LINEAR TRANSPORT SYSTEM

Beckhoff Automation GmbH,...

1. A linear transport system for conveying an object,wherein the linear transport system comprises at least one stationary guide rail and at least one movable conveying device;
wherein the conveying device comprises a first guide unit having a first track roller, a second track roller and a first turntable;
wherein the first track roller and the second track roller are mounted at the first turntable in a rotatable manner and lie against the guide rail;
wherein the guide rail comprises a longitudinal rail axis extending in the longitudinal direction;
wherein the first turntable is mounted on a turntable axis in a rotatable manner;
wherein the turntable axis is arranged in an inclined manner to the longitudinal rail axis;
wherein the first guide unit comprises a second turntable, a third track roller and a fourth track roller;
wherein the third track roller and a fourth track roller are mounted at the second turntable in a rotatable manner and lie against the guide rail;
wherein the guide rail is arranged between the first turntable and the second turntable;
wherein the second turntable is arranged opposite to the first turntable and mounted on a further turntable axis in a rotatable manner;
wherein the track rollers rest against both side of the guide rail; and
wherein the further turntable axis is arranged in an inclined manner, preferably perpendicular, to the longitudinal rail axis.

US Pat. No. 10,730,704

ROBOTIC TRANSPORT DEVICE FOR TRANSPORTING SMALL COMPONENTS AND METHOD CARRIED OUT BY THE ROBOTIC DEVICE

Beckhoff Automation GmbH,...

1. A robotic transport device for small components, comprising:a transport mechanism configured for transporting the small components from a first region provided for receiving to a second region provided for storing;
a component-receiving unit configured for receiving individual small components in the first region for temporarily holding said individual small components and for storing the small components in the second region;
wherein the component-receiving unit is arranged at the transport mechanism and is transported therewith;
wherein the transport mechanism is suspended at two suspension elements;
wherein the two suspension elements are distanced from each other in a direction of transport; and
wherein each of the two suspension elements are configured to be shifted independently from each other in a direction perpendicular to the direction of transport.

US Pat. No. 10,873,519

SYSTEM AND METHOD FOR TRANSMITTING TIME-SYNCHRONIZED DATA FROM A CONTROLLER OF AN AUTOMATION SYSTEM COMPRISING A LOCAL TIME TO AT LEAST ONE SUBSCRIBER OF THE AUTOMATION SYSTEM

Beckhoff Automation GmbH,...

20. An automation system comprising one or a plurality of spatially distributed facilities for generating regenerative energy that are each controlled by an associated controller, wherein time-synchronized data from the controller having a local time are transmitted to at least one subscriber of the automation system, wherein the automation system further comprises a server having a reference time,wherein the controller sends a reference time request to the server,
wherein the controller receives a response from the server, wherein the response comprises a first receiving time of the request which indicates when the request was received by means of the server according to the reference time,
wherein the controller determines a time difference between the reference time of the server and the local time of the controller based on a sending time that indicates when the request according to the local time was sent by means of the controller based on the first receiving time and based on a second receiving time which indicates when the response according to the local time was received by means of the controller,
wherein the controller adds a time stamp to the data, wherein the time stamp is determined based on the local time and the time difference in order to receive time-synchronized data, wherein the data comprise measurement data and/or are based on measurement data,
wherein the controller transmits the time-synchronized data to the at least one subscriber of the automation system; and
wherein each of the facilities comprises one or a plurality of sensors, respectively, wherein a time stamp is added to each of the respective measurement data or, respectively, to respective processed measurement data of the sensors of each individual facility in order to obtain time-synchronized data, wherein the time-synchronized data are provided from a controller of one of the facilities to other controllers of other such facilities so that the other controllers each control their associated facility based on the time-synchronized data.

US Pat. No. 10,873,536

DISTRIBUTION NODE, AUTOMATION NETWORK, AND METHOD FOR TRANSMITTING REAL-TIME-RELEVANT AND NON-REAL-TIME-RELEVANT DATA PACKETS

Beckhoff Automation GmbH,...

1. A distribution node for an automation network comprising:at least two input/output interfaces adapted for transmitting and receiving a plurality of real-time-relevant and non-real-time-relevant data packets within a data transfer cycle, and
a switching device connected to the input/output interfaces, wherein the switching device forwards data packets received via a first input/output interface via a second input/output interface using a switching table listing the plurality of real-time-relevant data packets within the data transfer cycle, each listing entry containing a discrete data packet identifier and a discrete transmission time within the data transfer cycle for the corresponding real-time-relevant data packet,
wherein the switching device detects a data packet identifier on reception of one of the real-time-relevant data packets and outputs said real-time-relevant data packet at the transmission time allocated to the detected data packet identifier in the switching table via the second input/output interface as a transmission interface,
wherein the switching device, on reception of one of the non-real-time-relevant data packets, detects a length of said non-real-time-relevant data packet in order to determine a transmission duration resulting therefrom for the non-real-time-relevant data packet, and
wherein the switching device continuously checks whether the second input/output interface is in a transmission-free state, and if the second input/output interface is in the transmission-free state, utilizes the switching table to determine a transmission pause duration, the transmission pause duration being a time period remaining within the data transfer cycle until the discrete transmission time of a next real-time-relevant data packet listed in the switching table, and checks whether one of the non-real-time-relevant data packets is present with a transmission duration which corresponds at most to the transmission pause duration for the second input/output interface within the data transfer cycle as the transmission interface in order to forward the non-real-time-relevant data packet via the second input/output interface in the event of a positive check result so that a mixed sequence of real-time relevant data packets and of non-real-time relevant data packets within the data transfer cycle can be forwarded, wherein said non-real-time-relevant data packet can be present between two of the real-time-relevant data packets within the same data transfer cycle.

US Pat. No. 10,858,192

CONVEYING DEVICE AND LINEAR TRANSPORT SYSTEM

Beckhoff Automation GmbH,...

1. A linear transport system comprising:at least one drive module,
a running rail, and
a conveying device,
wherein the conveying device comprises at least one rolling unit, a magnet arrangement, a bearing arrangement and a carrier unit,
wherein the bearing arrangement supports the rolling unit on the carrier unit so as to be rotatable about an axis of rotation,
wherein the bearing arrangement is arranged in the bearing space,
wherein the rolling unit has a rolling body comprising a running surface, a closure element and a bearing space,
wherein the closure element is connected on the end side to the rolling body and seals the bearing space on the end side in relation to an environment,
wherein the running rail has at least one rail running surface,
wherein the running surface of the rolling body rests on the rail running surface of the running rail so that the running rail guides the conveying device in a movement,
wherein the carrier unit engages around the running rail and the drive module at least in sections,
wherein the drive module has a control unit and a stator having a multiplicity of windings,
wherein the control unit is connected to the windings and is configured to activate the windings in such a manner that the stator switchably provides a moving magnetic field, and
wherein the moving field is operatively connected to the magnet arrangement and the moving field moves the conveying device along the running rail.

US Pat. No. 10,782,667

REAL-TIME ENVIRONMENT AND PROGRAMMABLE LOGIC CONTROLLER

Beckhoff Automation GmbH,...

1. A method of operating a real-time environment comprising:executing at least one task on a programmable logic controller (PLC) with a pre-defined task run-time, the task comprising processing data of a system including sensors and actuators controlled by the programmable logic controller, wherein at least one auxiliary function controlled by the programmable logic controller (PLC) with indeterminate function run-time is to be processed within the pre-defined task run-time by a time monitoring function, the auxiliary function comprising processing data of an auxiliary system, wherein the auxiliary function and the time monitoring function form a program code executed within the real-time environment;
starting the time monitoring function, which defines a termination time for the auxiliary function within the pre-defined task run-time, the termination time having a pre-defined abort time point;
executing the auxiliary function, wherein the time monitoring function monitors a run-time of the auxiliary function and a function abort is initiated if the pre-defined abort time point is exceeded; and
terminating the time monitoring function.

US Pat. No. 10,741,962

CONTACT DEVICE

Beckhoff Automation GmbH,...

1. A contact device, comprising:a contact housing, a base and a locking device,
the base delimiting a base interior,
the contact housing engaging with the base interior at least in sections,
the locking device comprising a locking structure at an outer circumferential housing face of the contact housing and at least a locking pin,
the locking structure having a face spline and an unlocking section abutting on the face spline in an axial direction,
the unlocking section is embodied in the shape of a groove and extending around the contact housing in the circumferential direction at least in sections,
the locking pin being connected to the base and protruding into the base interior, the contact housing being shiftable relative to the base between a first axial position and a second axial position in an axial direction,
the locking pin engaging with the face spline in the first axial position and securing a position of the contact housing relative to the base in the circumferential direction, and
wherein in the second axial position, the locking pin engages with the unlocking section and the contact housing is rotatable around a rotational axis relative to the base in the circumferential direction.

US Pat. No. 10,732,594

METHOD FOR OPERATING SAFETY CONTROL IN AN AUTOMATION NETWORK, AND AUTOMATION NETWORK HAVING SUCH SAFETY CONTROL ALLOWING MIXED SAFETY INTEGRITY LEVELS

Beckhoff Automation GmbH,...

1. A method for operating safety control in an automation network having a master subscriber which carries out the safety control, at least one first slave subscriber which is assigned a first safety integrity level, and at least one second slave subscriber which is assigned a second safety integrity level,wherein the master subscriber, the first slave subscriber and the second slave subscriber are connected to one another via a data transmission path and have encapsulated safety and data link layers,
the first safety integrity level and the second safety integrity level differing,
a first safety code determination method being assigned to the first slave subscriber and a second safety code determination method being assigned to the second slave subscriber, and
the first safety code determination method and the second safety code determination method differing,
wherein the master subscriber and the first slave subscriber use the first safety code determination method for interchanging a first safety data block, the first safety data block containing a first item of address information, the first item of address information including an address allocation for the first slave subscriber,
wherein the master subscriber and the second slave subscriber use the second safety code determination method for interchanging a second safety data block, the second safety data block containing a second item of address information, the second item of address information including an address allocation for the second slave subscriber,
wherein the interchanging of the first safety data block comprises:
determining a first safety code for the first safety data block by the first safety code determination method, the first safety code being appended to the first safety data block,
embedding the first safety data block and the first safety code being appended to the first safety data block in a first standard data block,
determining a first standard code for the first standard data block by a standard code determination method, the first standard code being appended to the first standard data block to form a first data packet,
transmitting the first data packet,
verifying the first standard code for the first standard data block by the standard code determination method,
extracting the first safety data block and the first safety code being appended to the first safety data block from the first standard data block, and
verifying the first safety code for the safety data block by the first safety code determination method, and
wherein the interchanging of the second safety data block comprises:
determining a second safety code for the second safety data block by the second safety code determination method, the second safety code being appended to the second safety data block,
embedding the second safety data block and the second safety code appended to the second safety data block in a second standard data block,
determining a second standard code for the second standard data block by a standard code determination method, the second standard code being appended to the second standard data block to form a second data packet,
transmitting the second data packet,
verifying the second standard code for the second standard data block by the standard code determination method,
extracting the second safety data block and the second safety code being appended to the second safety data block from the second standard data block, and
verifying the second safety code for the second safety data block by the second safety code determination method.

US Pat. No. 10,735,219

SYSTEM AND METHOD FOR PACKET TRANSMISSION IN A COMMUNICATIONS NETWORK

Beckhoff Automation GmbH,...

11. A communications network having a first participant and a second participant, wherein:the first participant is set up to transmit a message repeating sequence consisting of N messages, where N?2, wherein a respective action which can be performed by the second participant is assigned to each message in the message repeating sequence,
wherein the first participant respectively begins to transmit one of the N messages at N successive transmission times T_I (I=0, . . . , N?1), wherein each of the N messages contains a field which defines a waiting time assigned to a respective message of the N messages:
W_I=T_(N?1)?T_I+?W_I(I=0, . . . ,N?1),
where ?W_I is a non-negative tolerance time, and wherein the second participant is set up to select one message from among the N messages in the message repeating sequence which are successfully received by the second participant as a useful message and
to measure a time elapsed since the reception of the useful message and to perform the action assigned to the useful message when the elapsed time has reached the waiting time assigned to the useful message.

US Pat. No. 10,926,406

ROBOT, XY TABLE FOR A ROBOT AND LINEAR TRANSPORT SYSTEM

Beckhoff Automation GmbH,...

1. A robot for a linear transport system comprising a carriage guide rail which has an arc section, having:a first and a second XY table, each having a first and a second carriage, which are each arranged in such a way as to be movable independently of one another on the carriage guide rail, and
a first and a second linear guide, which each have a first and a second guide element, which can be moved relative to one another along a path;
wherein the first and the second linear guide are configured with an angular offset with respect to one another,
wherein the first guide elements of the first and the second linear guide are connected to one another via a support structure,
wherein the second guide element of the first linear guide is connected to the first carriage, and the second guide element of the second linear guide is connected to the second carriage; a first and a second arm system, which are connected to one another via an articulated system, and
wherein the first arm system is connected to the support structure of the first XY table via a first joint, and the second arm system is connected to the support structure of the second XY table via a second joint; and a work tool, which is connected to the articulated system,
wherein a three-axis motion of the work tool is performed by moving the first and the second carriage of the first XY table and the first and the second carriage of the second XY table, each carriage being controlled separately, wherein at least one of the first and second linear guides is connected rotatably to the associated carriage or the support structure.

US Pat. No. 10,922,510

METHOD, AUTOMATION SYSTEM AND COMPUTER SYSTEM FOR DETECTING OPTICAL CODES

Beckhoff Automation GmbH,...

1. A method for detecting optical codes, the method comprising the following: providing an input image; detecting one or more optical codes in the input image by generating an output image on the basis of the input image; wherein within a framework of generating the output image, pixels of an area of the input image comprising a part of an optical code are assigned a first intensity in the output image; wherein within the framework of generating the output image, pixels of an area of the input image comprising no part of the optical code are assigned a second intensity in the output image; and providing regions of the output image with the first intensity for determining properties of the detected optical codes.