AT501935A1 - FLUIDICALLY OPERATED DRIVE AND METHOD FOR CONTROLLING THEREOF - Google Patents

Abstract

The invention relates to a fluid-operated drive (1) and a method for control thereof with components which may be adjusted relative to each other, of which one component may be displaced in a first and an opposing second movement direction by means of a switch element (10, 11). In a first displacement phase for the component, a first measured signal (S<SUB>1</SUB>) is recorded shortly before reaching the approached end position at a time (T<SUB>1</SUB>) by a switch flag arrangement and a second measured signal (S<SUB>2</SUB>) recorded at a later time (T<SUB>2</SUB>). A time span (t<SUB>1Ist</SUB>) is subsequently determined by the controller (13) from the time difference between the measured signals (S<SUB>1</SUB>, S<SUB>2</SUB>) and used by a regulator for a soft approach to the end position from a variance comparison between a fixed time span (t<SUB>1Soll</SUB>) and the determined time span (t<SUB>1Ist</SUB>) to determine a parameter for at least one of two different serial switch times for the switch element (10, 11). A switch time for the switch element (10, 11) in the further displacement phase subsequent to and in the same direction as the first displacement phase is set by means of the parameter.

Description

The invention relates to a fluidically actuated drive and a method for controlling the same, as described in the preambles of claims 1, 16, 22 and 30.

From DE 44 10 103 CI a fluidically actuated drive or a method for controlling the same with an electronic control device and actuated by this switching elements is known. The drive comprises relatively adjustable components, of which a component via the first switching element in a first direction of movement and the second switching element in one of the first direction of movement opposite, second direction of movement between end positions can be moved. In addition, the drive is provided in its end positions with shock absorbers, which absorb the impact energy of the accumulating on this component. In order to achieve a particularly smooth approach to an end position of the component, the controller is provided with a counter-pulse module which can be controlled via a Vorpositioniersensor which is associated with at least one direction of movement of the component. The counterpulse module causes a temporally adjustable reversal of the two switching elements, so that the component of the drive applied immediately before reaching its approaching end position in the direction opposite to the direction of the pressure medium over a fixed period of time and thereby a braking effect is generated. In a temporally subsequent to the reversal period both the first and the second Schaltelemeöt are energized simultaneously in the sense of a caster. As a result, the drive is acted upon on both sides with system pressure and the component due to its inertia further driven at low speed in the direction of the end position. Thereafter, the originally active switching element is energized again and moves the component reliably in the end position. The re-control of the switching elements, the setting of the duration of the counter-pulse and the specification of the follow-up time via manually operated actuators, such as potentiometers. The N2004 / 12200 fixed times over the potentiometer, however, lead to disturbances, which can even cause damage to the drive or to a machine installation under changed operating conditions, such as pressure fluctuations, changes of the load or the friction. In addition, in this known drive an increased circuit complexity, since a Vorpositioniersensor and a limit sensor is required for each direction of movement.

A method for controlling a fluidic drive and a device with a fluidically actuated drive is also known from DE 197 21 632 C2. The drive is formed by a lifting cylinder in which an actuating piston is guided with a piston rod. The piston rod is fixedly mounted via a fixed bearing, so that the lifting cylinder forms the moving component of the drive. The lifting cylinder is connected to a 5/3-way valve, which can be controlled by means of two electromagnetic control magnets and with which pressure chambers of the lifting cylinder are mutually acted upon by system pressure. The control magnets are connected to an electronic control device which in turn receives control signals from sensors that can be switched electronically via switching lugs and, depending on this, actuates the 5/3-way valve and thus the movement of the lifting cylinder. In the movement phase of the lifting cylinder, a second measuring signal S i is generated at a time To and a second measuring signal S i at a later time Ti present in the movement phase of the lifting cylinder, and a time difference t i calculated therefrom taking into account the actual movement parameters of the lifting cylinder. For smooth starting of at least one of the end positions of the lifting cylinder is calculated from this time difference ti a time t2 for the beginning of a braking phase at a time T2 and the duration of the braking phase t3 up to a time T3, wherein the control device for braking the lifting cylinder to the 5 / 3-way valve gives a brake signal for the beginning and for the end of the braking phase. According to this prior art, it is essential that the first measurement signal So are detected immediately at the beginning of the movement of the lifting cylinder from its end position and the second measurement signal Si in the movement phase sufficiently before the occurrence of a switching flag in the effective range of a sensor associated with the end position. This proves to be a disadvantage since the motion state is disregarded over the movement phase between the time T1 of the detection of the second measurement signal Si and the time at which the lift cylinder actually reaches its end position to be approached, whereby based on the time difference ti N2004 / 12200. ···································································································································································································· ..... between the first and second measurement signal So, Si calculated braking phase t3 regardless of the changing operating conditions, such as pressure fluctuations, changes in load or friction, is determined and despite the initiated braking phase, a controlled start or a damped positioning of the lift cylinder can not be ensured in the end positions.

The object of the invention is to provide a fluidically actuated drive and a method for controlling the same, in which the adjustable means of pressure medium component of the drive even with changed operating and environmental conditions approach the end position particularly gently.

The object of the invention is achieved by the measures and features of claims 1 and 16. The two measuring signals are triggered only shortly before reaching the end position to be approached, and the switching elements are actuated by the control device as late as possible with respect to the movement phase of the component acted upon by the pressure medium. As a result, only a very short braking phase is required in relation to the movement phase of the component, which is sufficient for the component to be gently positioned against the end position of the stationary component of the drive and braked for the shortest possible path, so that on the one hand the movement times of the component significantly shortened between the end positions and on the other hand optionally additionally used shock absorbers designed with less power reserve or even eliminated, which has a favorable effect on the size and price of the drive. In addition, it is advantageous that changes in operating and ambient conditions, which are caused for example by pressure fluctuations in the pressure medium, changes in the load to be manipulated or friction conditions, hardly affect the braking behavior of the component against the end position, since the calculation of the switching times of Switching elements and correction of at least one common switching time of the switching elements underlying movement speed is determined only just before reaching the end position to be approached, ie at a time in which the changes of operating and environmental conditions have the greatest effect and therefore on the in the vicinity of the to be approached end position prevailing motion state optimally coordinated correction of at least one common switching time of the switching elements can be made. With their words, the component is always braked against the end position only to such an extent as the current operating state requires. In addition, it is advantageous that the pressure chambers alternately always with the system pressure (neglecting the friction losses) is applied, thus both the driving force on the component and the counterforce or braking force on the component corresponds to the maximum, which is beneficial to the movement times affects the component and a simple circuit construction of the fluid control of the drive allows, especially since additional throttle check valves can be omitted to adjust the braking behavior. Furthermore, it is advantageous that an adaptive system behavior is achieved by the use of the control, especially since an optimal mode of operation of the drive can be set independently and maintained over the entire service life.

Another advantage is the measure according to claim 2, since now from the control of her vorgebaren, actual Bewegungsparametem, for example, the mass to be moved, the operating conditions for the system pressure, the valve flow and the like., Taking into account the state of motion or the speed of movement Component, a counter control period is calculated, which defines the braking phase exactly and thus a particularly smooth approach to the end position is possible. In conjunction with the opposite and sudden pressurization of the pressure chambers in the switching times at the beginning and at the end of the braking phase, the demands made on the drive dynamics and ease of control can be optimally met, since the underlying the control drive method on the one hand, the movement time for the Adjustment movement of the component between the end positions can be drastically reduced and on the other hand a conservation of the mechanical design of the drive is achieved.

An advantageous measure is described in claim 3, whereby an optimal timing between the time Ti, in which the first measurement signal Si is triggered, and the switching times Tuzi, Tuz2 of the switching element is achieved in compliance with the derived from the period ti counter control period toö, so the positioning of the switching lugs having control strips on the movable member and the sensors to each other is not critical. N2004 / 12200

In accordance with claim 4, an advantageous measure for setting the counter-control period is too described too simple, which is precisely defined by the beginning and the end of the braking phase.

An advantageous measure is also described in claim 5, with which by setting the first switching time Tuzi the counter control duration toD or the duration of the braking phase is specified. A calculation and adjustment of the end of the braking phase can be omitted, whereby the cycle time for the control process can be reduced. This control method is therefore ideal for drives with extremely low movement times.

The measure according to claim 6 is advantageous, since hereby the component arrives safely in its desired end position and the functionality of the drive is ensured. For this purpose, a renewed advance of the component in the direction of movement is exerted in the direction of its end position at the end of the braking phase for the second switching time at which the component already has an extremely low movement speed.

According to the measure according to claim 7, the movement time of the component can be optimized in the subsequent to the first movement phase with a first direction of movement, second movement phase with opposite direction of movement.

Also advantageous is the measure according to claim 8, which ensures that all calculations for the manipulated variables of the first and / or second switching time of the switching element within the time period t »are performed by the control device. This allows a highly reliable control of the drive, especially since the manipulated variables are already present in the same direction of movement clearly before the movement start of the next movement phase.

The measure according to claim 9 is advantageous since, in the time control of the switching element, the system-related inertia of the drive is taken into account and the starting time is advanced by the time period t $, so that the component is actually set in motion at the desired time. With this measure, the movement time of the component can be further optimized. N2004 / 12200

In accordance with the measure according to claim 10, the control device of the first drive is provided with the system inertia of the second drive taking into account time ts, so that, for example, a feedback signal before reaching the end position of the component triggered by the first drive and the start time of the second drive is presented. Due to the leading feedback independent of the system inertia of the second drive, the associated switching element early on, so that the second drive starts at the same time as reaching the end position of the first drive with its movement. However, the acknowledgment signal does not necessarily have to be leading, ie it must be output to the control device or to the higher-level control before the end of the movement phase of the first drive. There are also application cases conceivable in which the feedback signal is emitted simultaneously or after reaching the end position of the first drive. This is necessary, for example, if absolutely vibration-free positioning of the first drive in one of its end positions is necessary for a further operation on the second drive.

Another advantage is the monitoring of the signal waveform of the sensors and their evaluation, as described in claim 11.

By the measures according to claims 12 and 13, an impermissible state of movement of the component can be detected in a first movement phase and corrected in the subsequent movement phase by changing the counter-control period toD. According to claim 12, it is recognized by the control device that the movement speed of the component is too short shortly before reaching its end position and must be reduced taking into account the dynamic load of the drive, for which purpose the counter control duration toD is increased. This ensures reliable operation over the entire service life of the drive. On the other hand, according to claim 13 recognized by the controller that the speed of movement of the component is relatively low shortly before reaching its end position and higher, for which the Gegensteuerdauer reduced to death and the movement speed is increased so far that the movement time for the movement of the component between is optimized for the end positions. N2004 / 12200 *

• · · · · · · · · · · · *

An advantageous measure is also described in claim 14, whereby a malfunction on the drive immediately recognized, evaluated and made visible to an operator.

Another advantage is the measure according to claim 15, whereby, for example, the operation of a drive additionally used, mechanical shock absorber can be monitored and an impending failure of the shock absorber is given as an error message to an operator. As a result, a malfunction of the drive due to malfunction, for example during a working process, such as a joining operation and the like, can be avoided.

An advantageous embodiment of the invention is described in claim 17, which allows reliable operation of the drive.

According to claim 18, the different evaluations, for example, the waveform of the sensors or the counter-control duration tüD, an operator can be displayed and logged.

The development according to claim 19 is advantageous because on the short path from the first control edges to the second control edge a change in the state of motion, in particular a strong fluctuations in the speed of movement of the component, will hardly occur and therefore the determined time ti or the speed of movement represents reliable measurement variable for setting the counter control duration. The specified minimum width of the recess groove allows reliable detection of the control edges, by which the first and second measurement signal are triggered.

Also advantageous is the embodiment according to claim 20, whereby the wiring and tubing between the control device and the switching element and the pressure loss in the pressure lines between the switching element and the pressure chambers can be reduced, which has a positive effect on the time ts. If the switching element is constructed on one of the components or integrated in one of the components, the pressure lines are formed by pressure medium channels, in particular inflow and outflow channels, which connect directly to the supply channels of the switching element and into the N2004 / 12200%. ·

Pressure chambers open, as disclosed in detail in WO 99/09462 Al and can also find applications in the drive according to the invention.

According to claim 21, any position can now be approached via the adjustment path of the movable component of the drive, for which only one or both hard stops and / or shock absorbers and / or a control bar and a sensor associated therewith must be adjusted. For example, a center position on the drive can now be approached smoothly.

However, the object of the invention is also achieved by the measures and features indicated in the characterizing part of claims 22 and 30. It is advantageous that, based on a predetermined movement time for the adjusting movement of the component between the end positions in both directions of movement an optimized as needed control of the drive made and the driving behavior of the component can be specified controlled. This allows the installer in the commissioning of the drive to specify the movement time so that the component is moved in crawl, whereby on the one hand a possible damage to the drive due to incorrect programming or assembly can be prevented and on the other hand, the drive meets the increasing safety requirements. Especially in the commissioning of the drive, the fitter is in the effective range of the same and therefore there is a high risk potential, which can be almost completely turned off by the inventive measures. In addition, the drive is always driven with such a movement speed, as required by the current operating situation. Thus, unnecessary wear is avoided by unnecessary, low movement times, extends the maintenance intervals and increases the life of the drive. Furthermore, it is advantageous that an adaptive system behavior is achieved by the use of the control, especially since an optimal operating mode of the drive can be set independently and maintained over the entire service life. The drive according to the invention represents a good compromise between sufficiently high speed of movement and gentle operation, since the end position of the component can be approached particularly gently. N2004 / 12200 • ··· • ♦ • ψ '- * 9 - * • ·· ♦ • · · • · ·

Also advantageous are the measures according to claims 23 and 24, as kept low by the pulsed operation of the energy requirement and a delay of the movement speed of the component is selectively adjusted until reaching its end position.

According to the measure according to claim 25, a simple control of the drive is made possible.

The measure according to claim 26 is advantageous, since now influencing variables resulting in operation can be taken into account in a simple manner and the braking behavior of the component can be optimized even better.

An advantageous measure is also described in claim 27, since the last switching pulse and the Nachschaltimpuls overlap each other and a repeated reversal of the switching element can be omitted to hold the component in the end position. The holding force acting on the component ensures reliable positioning of the component in the end position. If the drive is equipped with a tool that has to be moved out of the end position, a work process, for example a joining process, can be carried out absolutely reliably.

Of advantage are also the measures according to claims 28 and 29, as an excessive drop in speed is detected by the controller or the controller unit and after a predetermined period of time, the switching element again activated and the component is driven to move it to its end positions and Position against the end position. In particular, by the measure according to claim 29, the actual movement time of the component can be shortened.

An advantageous embodiment of the invention is described in claim 31, which allows reliable operation of the drive.

Finally, the embodiment according to claim 32 is also advantageous since at most necessary inputs of technical parameters can be carried out easily. Furthermore, error messages can be output in optical and / or acoustic representation. An error message can be triggered if, for example, even after the subsequent switching pulse, the component has not reached the end position and a time specified by the control device or the higher-level control has elapsed and a limit value is exceeded. N2004 / 12200 • · · · ··· · · · · . In this case, the error message may contain information about a technical defect on the drive or that a mounting part is clamped to the drive and thereby movement of the component is prevented.

The invention will be explained in more detail below with reference to the embodiments illustrated in the drawings.

Show it:

Fig. 1 is a Bio kschaltbild with a first embodiment of an inventive: n drive in its right starting position, in a schematic representation;

Fig. La is a detail of the drive according to the invention of Figure 1 with a control bar, in an enlarged and simplified representation.

FIG. 2 shows the drive from FIG. 1 in its left end position; FIG.

3 is a block diagram of the drive in its right starting position with another embodiment for its fluidic control, in a simplified representation;

FIG. 4 shows the drive according to FIG. 3 in its left end position; FIG.

5 shows a block diagram with another embodiment of the drive according to the invention in its right starting position;

FIG. 6 shows the drive according to FIG. 5 in its left end position; FIG.

7 shows a handling system with two drives coupled to one another for movements lying at right angles to each other, in a schematic representation;

8 shows a time diagram of the signal profiles of the sensors and of the switching elements for different movement phases of the drive according to FIGS. 1, 2, 5 to 7;

Fig. 9 is a diagram for explaining the advantageous effect of prematurely venting the pressure chamber pressurized in the preceding movement phase at the end; N2004 / 12200 • # • ♦ · · · · · · ·

Fig. 10 Fig. 11 Fig. 11a Fig. 11b Fig. 12 Fig. 12a Fig. 12b Fig. 13 Fig. 14 Fig. 15 Fig. 16 Fig. 17 • • A time diagram of the signal characteristics of the sensors and of the switching element for different phases of motion the drive of Figures 3 and 4. the inventive method for controlling the fluidically actuated drive in the representation as a flowchart; a block diagram of the in Fig. 11 in dashed lines registered, first control loop; a block diagram of the in Fig. 11 in dashed lines registered, second control loop; the method according to the invention for controlling the fluidically actuated drive in a modified version, shown as a flowchart; 8 shows the timing diagram of the sensor arranged in the target end position, which detects a rebound movement of the component at the end position; the timing diagram of Figure 8 with the waveform of arranged in the Zielendlage sensor which detects a pendulum movement of the component before the end position. a block diagram of the drive in its right starting position with another embodiment for its control according to the invention, in a simplified representation; the drive of Figure 13 in its left end position. a timing diagram of the waveforms of the sensors and the switching element for different phases of movement of the drive of Figures 13 and 14; a block diagram of a control unit for the inventive control of the drive of FIG. 13;

Velocity curves for the component for different control cases of a start pulse, in a simplified representation; N2004 / 12200

• · t · ♦ ·) ···· ··· »• · · · · · · · · · · ·

18 is a time chart of the waveforms of the sensors and the switching elements for different phases of movement of the drive according to FIGS. 1 and 2.

It should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or identical component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to the new situation mutatis mutandis when a change in position. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.

1 and 2, a first embodiment of a drive 1 is shown in a schematic representation. The drive 1 is formed by a lifting cylinder 2, which consists of a cylinder tube whose ends are closed with end walls 3, 4. In this lifting cylinder 2, a control piston 5 is slidably guided by a pressure medium, which in turn is connected to a piston rod 6. The lifting cylinder 2 forms a guide device for the actuating piston 5. The fluidic pressure medium is compressed air or hydraulic oil. The piston rod 6 is fixedly mounted via a corresponding fixed bearing 7, so that the lifting cylinder 2 forms the moving component and the actuating piston 5 with the piston rod 6, the fixed component of the drive 1. The piston rod 6 extends through the right end wall 3 of the lifting cylinder 2 in the axial direction.

Between the left end wall 4 and the adjusting piston 5 is a first pressure chamber 8 and between the right end wall 3 and the adjusting piston 5, a second pressure chamber 9 is formed. As the illustrations show, the lifting cylinder 2 is a so-called double-acting fluid cylinder. The pressure chambers 8.9 are according to this embodiment via two separate switching elements 10,11, in particular two 3/2-way valves alternately acted upon. The switching elements 10, 11 each have an electromagnetic control magnet 12, which is connected via corresponding control lines 14, 15 to an electronic control device 13, which in turn generates the switching elements N2004 / 12200. · · · · ····· • ··· ············ ··· # ···· elements 10,11 switches between a rest position in the de-energized state of the control magnets 12 and the actuating position in the energized state of the control magnets 12. The electronic control device 13 is preferably connected via an address-based network, in particular a bus system, with a higher-level control or formed by the higher-level control. The control of the control magnets 12 takes place here via electrical control signals of the control device 13, through which the switching elements 10,11 are actuated, as can be seen in Fig. 8 from the waveform for the switching position Sschi, Sscm of the switching elements 10,11.

The left pressure chamber 8 is connected via a first pressure line 16 to the first switching element 10 and the right pressure chamber 9 via a second pressure line 17 to the second switching element 11. The switching elements 10, 11 are in turn connected via a corresponding pressure supply connection to a pressure supply unit 18, for example a pneumatic or hydraulic pressure source, through which the pressure chambers 8, 9 are alternately pressurized with system pressure, for example 6 bar.

As further indicated in FIGS. 1 and 2, the control device 13 is connected via signal lines 19, 20 to sensors 21, 22, so that the electrical control signals output by the sensors 21, 22 can be fed to the control device 13. The sensors 21, 22 are formed for example by inductively acting sensors.

The sensors 21, 22 are arranged in the end positions to be approached by the lifting cylinder 2 above the movement path defined by the drive 1 or the lifting cylinder 2. The end positions are defined by, the hard stops forming end walls 3.4. Of course, there is also the possibility that the first sensor 21 above the movement path of the drive 1 and the second sensor 22 are arranged below the movement path of the drive. The arrangement of the sensors 21, 22 shown is merely of a basic nature. In the arrangement of the sensors 21, 22, depending on the wiring, it is only necessary that they do not influence one another. At the left end of the lifting cylinder 2, which forms the movable component of the drive, a first control bar 25 is attached, which is in the position shown in Fig. 2 of the lifting cylinder 2 in the effective range of the first sensor 21. The second sensor 22 is at the right end of the lifting cylinder 2, a second control N2004 / 12200 • ····················································································· Associated with the strip 26 which, in the position of the lifting cylinder 2 shown in FIG. 1, lies in the effective range of the second sensor 22. The control strips 25, 26 are thus fastened to the movable component of the drive 1 at its opposite ends, for example via a screw arrangement.

The control bar 25,26, as shown enlarged in Fig. La, is formed by a prismatic block and has on its the sensor 21,22 facing top a switching lug 27a, b and one of her via a recess groove 28a, b separated Endlagenabschnitt 29a, b on. The width (B) of the recessed groove 28a, b is at least between 1 mm and 5 mm, in particular between 2 mm and 4 mm. The longitudinal distance (A) between control edges 32a, b, 33a, b is a maximum of between 4 mm and 15 mm, in particular between 5 mm and 9 mm. In a subsequent to the end position portion 29 a, b section of the control bar 25,26 a bore 30 a, b arranged to receive a fastening screw, not shown. The switching lug 27a, b, the recess groove 28a, b and the end-position portion 29a, b are arranged one behind the other in the direction of movement of the lifting cylinder 2, as indicated by arrow 31 in FIG. The length of the switching lug 27a, b is considered by the in the direction of movement - as shown in arrow 31 - front side surface and by the towering, front groove side surface and the width of the transverse to the direction of movement - as indicated by arrow 31, opposite side surfaces of the control bar 25,26 limited. The end-layer section 29a, b extends as a surface between the rear groove side surface and the rear side surface of the control strip 25,26, as viewed in arrow 31, and between the lateral side surfaces of the control strip 25,26, which are transverse to the direction of movement , In the design of the control bars 25,26, it is important that two control edges 32a, b, 33a, b are provided in the direction of movement of the lifting cylinder 2 - according to arrow 31 - successively offset in which a respective measurement signal Si, S2 is triggered when the control edge 32a, b, 33a, b enters the effective range of the relevant sensor 21, 22, as will be described in more detail. Moreover, the control bar 25,26 on a third control edge 34a, b, which lies between the first and second control edge 32a, b, 33a, b. A start signal Sstart is triggered via the second control edge 33a, b when the control edge 33a, b leaves the effective range of the relevant sensor 21, 22, as will be described in more detail. N2004 / 12200

3 and 4, the drive 1 according to the above-described embodiment is shown with a different embodiment of the control in a schematic representation. As the illustrations show, the lifting cylinder 2 is a so-called double-acting fluid cylinder.

The pressure chambers 8, 9 are alternately acted upon by this embodiment via only one switching element 36, in particular a 5/2-way valve. The switching element 36 has, for example, an electromagnetic control magnet 37 which is connected via a corresponding control line 14 with an electronic control device 13, which in turn switches the switching element 36 between a rest position in the de-energized state of the control magnet 37 and actuation position in energized state of the control magnet 37. The control of the control magnet 37 takes place here via electrical control signals of the control device 13, through which the switching element 36 is actuated, as shown in FIG. 10 from the waveform for the switching position Ssch of the switching element 36 can be seen.

As further indicated in FIGS. 3 and 4, the left pressure chamber 8 is connected to the switching element 36 via a first pressure line 16 and the right pressure chamber 9 via a second pressure line 17. The switching element 36 is connected to the pressure supply unit 18, through which the pressure chambers 8, 9 alternately with system pressure, for example 6 bar acted upon.

FIGS. 5 and 6 show a further embodiment variant of a fluidically actuated drive 1 ', which comprises components which are adjustable relative to one another, of which the movable component can be moved via an actuator 40' along a guide device 41 'between a right end position, as in FIG illustrated, and a left end position, as shown in Fig. 6, is adjustable. The movable component is formed by a guide carriage 42 'and the guide device 41' by a fixed to the fixed component linear guide, wherein the guide carriage 42 'is mounted on the linear guide. The fixed component is formed by a frame 43 'on which in the direction of movement - as shown by arrow 31 - of the adjustable component opposite each other fixed stops 44' are arranged by the end positions are fixed. The fixed stops 44 'are located at- N2004 / 12200 • ·· ·· · · · «· · · · · ················································································· ··· ·············································································································································································

As can be seen in FIGS. 5 and 6, shock absorbers 45 'are arranged on the frame 43' in the end positions opposite one another. These mechanical shock absorbers 45 'fulfill primarily the task of reducing the impact load on the frame 43' in the commissioning of the drive 1 'or to prevent damage to the drive 1' during operation due to unforeseen faults.

The actuator 40 'is formed by a fluid cylinder, as has been described in FIGS. 1 to 4, and attached via a fastening device 46 with the cylinder housing on the frame 43'. The piston rod 6 'of the actuator 40' is connected via a further fastening device 47 'with the guide carriage 42', so that the actuating piston 5 'and the guide carriage 42' are coupled in terms of movement and the Einoder extension movement of the piston rod 6 'on the guide carriage 42' is transmitted , The pressure chambers 8 ', 9' of the actuator 40 'are connected via the pressure lines 16,17 with the switching elements 10,11. The switching elements 10, 11 are connected to the pressure supply unit 18. The control magnets 12 of the switching elements 10,11 are connected via the control lines 14,15 with the electronic control device 13, which in turn controls the switching elements 10,11. The sensors 21, 22 registered in the FIGS. Are fastened to the frame 43 'of the drive 1' and are connected to the electronic control device 13 via signal lines 19, 20.

The guide carriage 42 'is equipped on its side facing the sensors 21,22 in the direction of movement - according to arrow 31 - opposite ends with the control bars 25,26 equipped, as they are described in detail in Fig. La.

Fig. 7 shows a handling system 48, which is composed of a plurality of fluidly actuated drives Γ, 1 ", the construction of which corresponds for example to that of the embodiment shown in FIGS. 5 and 6. The first drive 1 'is formed by a horizontal axis and the second drive 1 "by a vertical axis, wherein the second drive 1" with its frame 43 "on the guide carriage 42' of the first drive 1 'is fixed. The movable component of the second drive 1 "is formed by a guide slide 42" which can be moved vertically on the guide device 41 "via the actuator 40" to N2004 / 12200. · · · · · ···· · ···· «• ••• ································ ···· · «·· the linear guide is mounted. The fixed component is formed by the frame 43 "on which in the direction of movement - according to arrow 31 - of the movable member opposite each other fixed stops 44" are arranged, by which the end positions are fixed. In addition, on the frame 43 "in the end positions opposite each other shock absorbers 45" are arranged. On the guide carriage 42 "of the second drive 1" are the control bars 25,26 and, for example, a pneumatically or hydraulically actuated gripping system attached, the control bars 25,26 cooperating with the stationary sensors in the end positions. The pressure chambers of the actuator 40 "are also connected via pressure lines to one or two switching elements, as is not shown for reasons of clarity.

The control method of each drive 1 ', 1 "will be described later. As not shown in detail, in a preferred embodiment, both drives 1 ', 1 "are driven by only one control device 13, which is connected to the higher-level controller. But it would equally well be conceivable for each drive Γ, 1 "to be connected to its own control device 13, which in each case comprises a control unit and a memory. The control device (s) are preferably connected to or formed by an address-based network, in particular a bus system, for data or signal exchange with the higher-level control. If two control devices 13 are used, they are connected to one another via a further, address-based network, in particular a bus system. Between the control devices 13 and / or the (n) control device (s) 13 and the higher-level control, the Ethernet can be used. Since the described drives Γ, 1 "are usually integrated in a high number in a machine system, it is also advantageous if the sensors 21,22 and the control magnet 12 of the switching elements 10,11 for data or signal exchange with the Control device 13 and / or the higher-level control to an address-based network, in particular a bus system, such as a fieldbus, are connected to which the control device (s) 13 and optionally the higher-level control can be connected.

Although the drive Γ, 1 "in Figs. 5 to 7 is driven by two 3/2-way valves, this could also be done only with a 5/2-way valve. N2004 / 12200 • t · · · · ································································································· · ££ ···· t «·«

Fig. 8 shows the principle timing diagram for the drive 1; Γ; 1 "according to the embodiments shown in FIGS., 1,2; 5.6; 7. The signal curve Sr for the feedback, the signal sequences Sei and Se2 of the two sensors 21,22 and the switching positions Sschi and Sscm of the switching elements 10,11 are shown over the time of three movement phases of the movable between the end positions component. According to the embodiment of the drive 1 according to FIGS. 1 and 2, the first and third movement phase corresponds to an extension movement - according to arrow 31 - of the lifting cylinder 2 and the second movement phase of a retraction movement - according to arrow 3 Γ - of the lifting cylinder. 2

At the start time Tstart, a start signal is transmitted to the electronic control device 13 via a higher-level control, as indicated in the figures by the arrow 50, whereby the first switching element 10 is activated via the control device 13 by energizing the control magnet 12 and the movable component the lifting cylinder 2 according to FIG. 1 and the guide carriage 42 ', 42 "according to FIG. 5; 7 - is adjusted from its initial position in the direction of arrow 31 from right to left or up to down. By activating the switching element 10 in the in Figs. 1; 5 shown, actuated switch position and thus opens the pressure line 16, so that the pressure chamber 8; 9 'of the drive 1,1' is connected to the pressure supply unit 18 and pressurized with system pressure. The second switching element 11 remains unactuated and is the pressure chamber 9; 8 'connected via the pressure line 17 with a vent line 51, so that in the pressure chamber 9; 8 'located pressure medium or working fluid can escape unhindered into the atmosphere. Therefore, in the right end position of the movable member, the pressure chamber 9; 8 'separated from the pressure supply unit 18.

Appropriately, with the activation of the first switching element 10 from the control device 13 to the higher-level controller, a confirmation signal is transmitted, as indicated by the arrow 52. This procedure confirms proper operation. By the pressurization of the pressure chamber 8; 9 ', the component moves from its initial position, which corresponds to the right end position, in the direction of the left end position.

By activating the first switching element 10, the first movement phase is initiated, as will be described in more detail below. N2004 / 12200 ····································································

With the beginning of the movement of the component from its initial position or right end position to the start time Tstart the control bar 26 is moved past the stationary sensor 22 and triggered in this the waveform shown in Fig. 8. If, at the start time Tstart, the end position section 29b of the control bar 26 faces the effective range of the sensor 22, the sensor 22 sends to the control device 13 an acknowledgment signal Sb. The confirmation signal Sb is still detected at the time of the standstill of the component. With the confirmation signal Sb, the control device 13 is signaled that the component is safely in its initial position at the start time Tstart and the first movement phase can be initiated. By this measure, a high reliability of the drive 1; Γ; 1 "allows. If the confirmation signal Sb has not yet been delivered to the control device 13 at the start time Tstart, an error message in the form of an optical and / or acoustic signal is output at an output device 53 of the control device 13 and / or at the higher-level control.

After the start of movement of the component, the end position section 29b leaves the effective range of the sensor 22 arranged in the start end position and a start signal Sstart is triggered at the control edge 33b at the time To and transmitted to the control device 13. As will be explained later, the falling signal edge of the sensor 22 is evaluated. The further rising and falling signal edge, which are triggered at the edges 34b and 32b of the switching flag 27b are not evaluated on the movement of the component from its right end position to the left end position.

The arranged in the target end position sensor 21 is switched by the moving past these control bar 25. If the switching lug 27a with its control edge 32a enters the effective range of the stationary sensor 21, it triggers a first measuring signal Si at the time Ti, which signal is passed on to the control device 13 via the signal line 19. At a later time T2, which is in the movement phase, the end position section 29a comes with its control edge 33a into the effective range of the sensor 21 and triggers a second measurement signal S2 in the sensor 21, which is likewise transmitted to the control device 13 via the signal line 19. With the time T2, the end of the movement is reached. As can be seen in FIG. 8, the rising signal edges of the signal waveforms Sei, Se2 are evaluated as measuring signals Si, S2. This is advantageous since, regardless of the vertical distance between control edge 32a, b, 33a, b and sensor 21, 22, N2004 / 12200 is always used.

• 20 the same time tnst is measured and a simple assembly of the sensors 21, 22 on the drive 1; 1 1 "is possible. Although triggered by the control edge 34a of the switching flag 27a on the sensor 21 measurement signal is detected as a falling signal edge, but not evaluated. The control device 13 determines from the time difference between the measurement signals Sj, S2 a time period ti which corresponds to the determined actual value tust in the first movement phase.

As can be seen in conjunction with FIG. 1, the control device 13 in addition to the output device 53 also comprises an electronic memory 54, an electronic control unit 55 and a computer module 56, in particular microprocessor, as shown schematically in the figures. The computer module 56 is integrated in the controller unit 55. In the memory 54, a setpoint tisoii is stored for the time period ti retrievable, which is tuned to a type of drive 1, Γ, 1 ". This setpoint for the period tisoii becomes the different embodiments of the drives 1; Γ determined mathematically or empirically. From the ascertained time span tisoii and the set period tisoii is carried out by the control unit 55 of the control device 13, a target-actual comparison, a control deviation calculated from the difference between the setpoint and actual value and formed a control variable, as shown in FIG 1b is shown. The time span tnst is consequently determined during the movement phase of the component and further processed by the control device 13 in the manner indicated above.

According to the method of the invention, based on the control deviation from the first movement phase of the component, a common first switchover time Tuzi of the switching elements 10, 11 and a second, in the movement phase subsequent, common switchover time Tuz2 of the switching elements 10, 11 are calculated and stored in the memory 54. If the third movement phase of the component is started, therefore the movement of the component in the same direction of movement as that of the first movement phase of the component, then the previously calculated switching times Tuzi, Tyr? of the switching elements 10,11 are read from the memory 54 and at least one of the switching times Tuzi, Tuz2 in the third movement phase adjusted so that the control deviation is corrected, as will be described in more detail in Fig. 11. N2004 / 12200 -21 -

In the commissioning of the drive 1; Γ; 1 ", the switching times Tuzi, Tuz2 of the switching elements 10, 11 are predetermined by the control device 13. For example, whoever the / is to each direction of movement - according to arrow 31,31 '- respectively the switching times Tuzi, Tuz2 of the switching elements 10,11 or a period toü in the last phase of movement of the component before the stoppage of the drive 1; Γ; 1 ", stored and this after restarting the drive 1; Γ; 1 "used in the first and second movement phase. Before the first commissioning of the drive 1; Γ; 1 ", the switching times Tuzi, Tuz2 of the switching elements 10, 11 or the time period tGD are likewise predetermined by the control device 13.

As can be seen from the signal curves for the shift positions Sschi, Sscm of the shift elements 10, 11, the first shift element 10 is initially moved to the start time point Tstart via a control device 13 to the first movement of the component from its initial position or right end position to the left end position Control solenoid 12 output, redesign the first control signal in the operating position and maintained until the first switching time TUZi in the operating position for the period tscm. Within this time period tscm, the pressure chamber 8; 9 'vented with system pressure and thus pressurization of the component in the direction of movement - according to arrow 31 - causes, while the other switching element 11 remains for the period of time tscm in the rest position and the pressure chamber 9; 8 'depressurized or vented.

In the first switching time Tuzi, a second control signal is output by the control device 13 to the control magnets 12 again, with which the switching element 10 in the rest position and the switching element 11 are converted into the operating position for a period toD. As a result, the originally pressurized pressure chamber 8; 9 'vented, the originally pressureless pressure chamber 9; 8 'vented with system pressure for the duration toD and thus a small pressure pad just before the end of the movement phase of the component, against which the moving component runs, so that a hard stop in the end position of the component is excluded.

The period of time toD results from the time difference between Tuzi and Tuz2 or the control signals output by the control device 13 for reversing the switching elements 10, 11 and is determined by the control device 13, as described in FIG. 11. N2004 / 12200

The period of time toD for the duration of Gegensteuems the pressure chambers 8, 9; 8 ', 9' is derived from the period ti. By the reversal of the switching elements 10,11 and change in the pressure conditions in the pressure chambers 8, 9; 8 ', 9', a braking phase is inserted towards the end of the movement phase, in which by the in the pressure chamber 9; 8 'constructed pressure pad is a deceleration in the direction of movement - according to arrow 31 -to the switching time Tuzi moving at the maximum possible speed component occurs. Accordingly, the braking phase is initiated in the first switchover time Tuzi and the braking phase is ended in the second switchover time Tuz2. The braking phase is thus determined by the switching times Tuzi, Tuz2 and / or the duration of the counter-control or the time span tGD.

At the end of the braking phase in the second switching time Tuz2, a third control signal is output again from the control device 13 to the control magnets 12 of the switching elements 10, 11, and the pressure chambers 8, 9; 8 ', 9' driven in opposite directions, wherein the component again shortly before reaching its end position in the direction of movement again with system pressure or the pressure chamber 8; 9 'in turn subjected to system pressure and the pressure chamber 9; 8 'is vented. As a result, at the end of the braking phase, where it already has a low speed of movement, the component again experiences an advance in the direction of movement - as indicated by arrow 31 - in the direction of its left end position. This ensures that the component reliably reaches its end position. For this purpose, the third control signal corresponding Nachschaltssignal Sns is generated in the second switching time Tuz2, through which the control device 13, the advancement of the component in the original direction - according to arrow 31 - causing switching element 10 at least until the end of the movement phase and with reaching the End position is activated. In a preferred embodiment, the reset signal Sns is applied to the control magnet 12 of the switching element 10 for a time tscm until the movement of the component in the second movement phase, in which the component from its left end position in its right end position in opposite direction of movement - as indicated by arrow 31'- is moved. Thus, over the entire period tscH2 in the pressure chamber 8; 9 ', the system pressure and is held by the component positioned for a certain time in the approached end position. The time period tscm results from the time difference between the second switching time Tuz2 and a third switching time Tuz3 of the switching elements 10, 11. In the third switchover time Tuz3, N2004 / 12200 again restores N2004 / 12200 -23- '• • • • • • • • • • • • • • • • • • • • • • • • • • • • • •••• • • • t the control device 13 to the control magnets 12 of the switching elements 10,11 issued a fourth control signal and the pressure chambers 8, 9; 8 ', 9' driven in opposite directions. The fourth control signal corresponds to the start signal for the second movement phase at the time Tstart · The switching element 11 is always driven in opposite directions to the switching element 10 and remains for the period tscm in its rest position.

As can be seen from the described, the switching elements 10,11 and the pressure chambers 8, 9; 8 ', 9' within a movement phase abruptly and in opposite directions, exactly to the calculated switching times Tuzi, Tuz2 and by the control device 13 or the higher-level control predetermined switching Tuz3 be driven, as is achieved by known from the prior art quick-acting valves.

Also advantageous is a measure in which prior to the start of movement of the component in the opposite direction of movement - according to arrow 31'- therefore before the start time Tstart the second movement phase, supplied by the control device 13 that switching element 10, a pilot control signal Svs and its switching state is changed, which the pressurization in the direction of movement - as indicated by arrow 31 - causes, as shown in dashed lines in Fig. 8. The pilot control signal Svs is triggered at the pre-control time Tvs. The time difference between the pre-control time Tvs and the start time Tstart for the second movement phase corresponds to the time t2, wherein the starting time Tstart corresponds to the third switching time Tuz3 of the switching elements 10,11. The period t2 is preferably determined empirically and stored in the memory 54 of the control device 13 retrievable. As described above, the third switching time Tuz3 of the switching elements 10, 11 is specified by the control device 13 or the higher-level controller. The pre-control time TVs is calculated in each movement phase of the component from the time difference between the switching time Tuz3 and the time t2 and switched before the movement of the component in the previous movement phase opposite movement direction, the pressurization in the direction of movement of the component causing switching element 10,11.

If the pilot control signal Svs is triggered by the control device 13, as shown in FIG. 8, the system pressure applied during the first movement phase is N2004 / 12200. · • t • ·

• * • ·

Pressure chamber 8; 9 'vented before the start of movement of the component in the second movement phase or the pressure in this pressure chamber 8; 9 'reduced, so that the movement of the component to the start of movement in the second movement phase counteracts only a minimized or no counterforce. This is advantageous since, with the drive force set by the system pressure, a high acceleration is achieved at the start of movement of the second movement phase and, further, the movement time of the component between the end positions is substantially reduced, as shown in FIG. 9 as a diagram, for example, for the first movement phase is shown. As can be seen from this, the movement time of the component in the following movement phase -after the representation according to FIG. 8 in the second movement phase-can be determined by the "early" venting in the previous movement phase - according to the representation according to FIG first movement phase - pressurized pressure chamber 8,9; 8 ', 9' are reduced with increasing duration of the venting time.

The switching element 11, however, is switched by the control device 13 at the start time Tstart, whereby the pressure supply unit 18 via the switching element 11 and the pressure line 17 to the pressure chamber 9; 8 'connected and this is acted upon by the system pressure, so that the component is moved from its left end position to the right end position.

According to this embodiment, the time span tscm for the switching element 10 effecting the movement of the component results from the time difference between the second switchover time Tuz2 and the pilot control signal Sys, although this is not entered in the FIGURE. The time span tscm for the other switching element 11 remains unchanged.

As further entered in FIG. 8, the control device 13 also evaluates the time periods t3, t4 and t5. The time period t3 is determined by the control device 13 from the time difference between the third control signals to the second switching time Tuz2 and the first measuring signal Si at the time Ti as the actual value t3ist. In the memory 54 of the control device 13, a setpoint t3s0! I is stored for the period of time t3, which is tuned to a type of drive 1, Γ, 1 "and mathematically calculated or determined empirically. As will also be described in more detail in Fig. 11a, the electronic controller unit 55 determines between the set time t3s0n and the determined time.

tten time span t3ist a target-actual comparison is performed, a control deviation calculated from the difference between the setpoint and actual value and formed a manipulated variable. Based on the control deviation, the first and / or second switching time Tuzi, Tuz2 of the switching elements 10, 11 are set for the respective next movement phase of the component in the same direction of movement - and the time period tGD is set in the same direction of movement.

The entered time period U is triggered at the time T2 and ends at a later time, in which it is ensured that all arithmetic operations of the control unit 55 are completed and the control deviation or manipulated variables for the next movement phase are available in the same direction of movement. This time period t4 can for example be fixed and is stored in the memory 54. After completion of the calculations of the control deviations, the control device 13 generates a release signal with which the second movement phase of the component can be started by the control device 13 or superordinate control. This design is used when, due to the movement of the drive 1; F; 1 "is known that between the first and second movement phase of the drive 1; Γ; 1 "the component in the respective end position for a certain time remains within which the calculations of the deviations and all other mathematical functions can be completed. This application corresponds to the usual use of the drive 1 according to the invention; Γ; 1 "as the axis of a multi-axis handling system, after which the computer power of the control device 13 can be designed lower.

But it is equally possible that a powerful microprocessor is used, which carries out the calculations of the deviations and all other mathematical functions from the first movement phase within the second movement phase, so that the corresponding manipulated variables and other calculation results, such as the pre-control time Tvs, still be available before the start of the third movement phase. This design is used when an alternating movement of the component is required and the residence time of the same should be as low as possible in its end positions.

As entered in FIG. 8, the start of movement of the component is determined by the control device 13 as the time span ts which results from the time difference between the control element and the control element N2004 / 12200 -26- •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• ···· • · • · ♦ · • 0 • Φ

signal at the start time Tstart of the movement of the component initiating switching element 10 and the start signal Sstart at time T0 results. This time ts results from the inertia of the system, for example from the switching time of the switching element 10, pressure propagation in the pressure lines 16,17, friction between the relatively adjustable components, mass of the component to be moved and the like. To this inertia of the drive 1; Γ; 1 "to compensate, the first control signal or switching signal for the movement of the component causing switching element 10 by the time ts earlier than the actual start of movement of the component triggered and thereby the pressurization of the component prematurely initiated, so that the inertia of the drive 1; Γ; 1 "causes no negative effect on the movement time of the component.

After, according to FIG. 8, the first movement phase corresponds to the movement of the component from its starting position to the left end position, the time span ts is read from the memory 54. For this purpose, before stopping the drive 1; Γ; 1 ", the determined periods ts from the last movement phase of the component of each movement direction - according to arrow 31,31'- stored in the memory 54. In the commissioning of the drive 1; Γ; 1 "becomes after the restart of the drive 1; Γ; 1 "for the first movement phase of the component, the determined time intervals ts from the last movement phase of the component of the same direction of movement - according to arrow 31 - and for the second movement phase of the component, the determined periods ts from the last movement phase of the component in the same direction of movement - according to arrow 3 Γ - used.

During operation, the time span ts is calculated continuously in all movement phases, stored in the memory 54 and used in the next movement phase in the same direction of movement. The control device 13 determines or calculates the time span ts, for example, in the first movement phase and, in the third movement phase, the latter or the higher-level control switches the switching element 10 to the new start time Tstart calculated from the first movement phase.

If, as shown in FIG. 7, two drives Γ, 1 "are coupled to each other in terms of movement, it is advantageous that a feedback signal SR BACK is emitted to the at least one control device 13 and / or superordinate control before the end of the movement phase of the first drive 1 ' the starting time Tstart of the second N2004 / 12200 -27 · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · ······································································

Drive 1 "is presented at least by the time ts. At the start time Tstart, the switching element effecting the movement of the component is switched, the corresponding pressure chamber of the actuator 40 "is subjected to system pressure, and the guide carriage 43" is adjusted, for example, from top to bottom between its end positions. Due to the leading feedback or the leading feedback signal Sro «*, the inertia is compensated, so that the second drive 1" actually starts its movement when the first drive Γ has reached its end position. As a result, a considerable reduction of the movement times of the handling system 48 can be achieved.

However, the acknowledgment signal Src1c does not necessarily have to be forwarded in advance, that is to say before the end of the movement phase of the first drive Γ to the control device 13 or superordinate control (not shown). There are also applications conceivable in which the feedback signal SRÜCk is issued simultaneously with the achievement or after reaching the end position of the first drive 1 '. This may be the case when the second drive 1 "is equipped with a laser beam head, which must be moved in a defined manner from the end position of the first drive Γ by means of the second drive 1" to a welding point. In order for the laser beam head to be absolutely vibration-free until the welding point is reached, the movement of the second drive 1 "with the laser beam head is started at the earliest when the end position of the first drive 1 'is reached.

The time Tr (not shown in the figures), in which the feedback signal SRÜCk is triggered, is calculated by the control device 13 or the higher-level control and results from the difference between the time T2 of the sensor 21 from the first drive 1; Γ and the time ts to start movement of the second drive Γ '. Since the time T2 is detected only when reaching the end position to be approached, this must be used for the calculation of the time Tr from the previous movement phase of the drive 1 ', whereupon the controller 13 of the time Tr for the subsequent movement phase of the second drive 1 " can be determined.

It is understood that in the reverse direction of movement - as indicated by arrow 3 Γ - a corresponding reverse control of the switching elements 10,11 occurs, as entered in Fig. 8 for the second phase of movement, wherein the corresponding measurement signals Si, S2 from the sensor 22, the confirmation signal Sb and start signal Sstan are triggered by the sensor 21 N2004 / 12200 den. The switching element 11 receives at the time Tstart the first control signal for the beginning of the movement of the component from its left end position to the right end position again from the control device 13 or the higher-level control. Also for this movement direction, the control device 13 calculates the first and / or second changeover time Tuzi, Tuz2 of the switching elements 10, 11 in the case of a control deviation in the second movement phase of the component and the first and / or second changeover time Tuzi in the fourth movement phase of the component , Tuz2 the switching elements 10,11 set accordingly.

10 shows the basic timing diagram for the drive 1 according to the embodiments shown in FIGS. 3, 4. In this case, the signal profile Sr for the feedback, the signal sequences Sei and Se2 of the two sensors 21,22 and the switching position Ssch of the switching element 36 are shown over the time of three movement phases of the movable between the end positions component. According to the embodiment of the drive 1 according to FIGS. 3 and 4, the first and third movement phase corresponds to an extension movement - according to arrow 31 - of the lifting cylinder 2 and the second movement phase of a retraction movement - according to arrow 3Γ - the lifting cylinder 2. It is at this point on the detailed description of the determination of the different signal profiles Sr, Sei, Se2, times Ti, Tstart, Το, Τι, T2, Tuzi, Tuz2, Tuz3, Tr and time periods tist3, U ts, tscm, tscrn omitted because these those of FIG. 8 correspond.

At the start time Tstart, a start signal is initially transmitted via a higher-level control (not shown) to the electronic control device 13, as indicated in the figures by the arrow 50, and then emitted by the control device 13 to the control magnet 37, a first control signal, whereby the control magnet Energized 37 and the switching element 36 is switched to the operating position and the movable member - according to the illustrated embodiment of the lifting cylinder 2 - is adjusted from its initial position in the direction of the arrow 31 from right to left. If the switching element 36 is in the actuation position shown in FIG. 3, the pressure line 16 is opened so that the pressure chamber 8 of the drive 1 is connected to the pressure supply unit 18 and pressurized with system pressure, while the pressure chamber 9 is connected via the pressure line 17 to a vent line 51 is connected to the switching element 36, so that the pressure medium or working medium contained in the pressure chamber 9 escape unhindered into the atmosphere N2004 / 12200 -29- -29- ························ ·. can. Therefore, in the right end position of the movable component, the pressure chamber 9 is disconnected from the pressure supply unit 18.

With the beginning of the movement of the component from its starting position or right end position to the start time Tstart the control bar 26 is moved past the stationary sensor 22 and triggered in this the waveform shown in Fig. 10. This waveform corresponds to that in FIG. 8 and is therefore dispensed with a repeated description at this point.

The arranged in the end position sensor 21 is switched by the moving past these control bar 25. If the switching lug 27a with its control edge 32a enters the effective range of the stationary sensor 21, it triggers a first measuring signal Si at the time Ti, which signal is passed on to the control device 13 via the signal line 19. At a later time T2, which lies in the movement phase, the end position section 29a comes with its control edge 33a into the effective range of the sensor 21 and triggers a second measurement signal S2 in the sensor 21, which is likewise transmitted to the control device 13. Reference is made here to the detailed description of FIG. 8, in which the signal profile at the sensor 21 is explained, and is therefore removed from a repetition at this point.

According to the method of the invention, a first switchover time Tuzi of the switching element 36 and / or a second switchover time Tuz2 of the switching element 36 subsequent to the movement phase are calculated and stored in the memory 54 on the basis of the control deviation in the first movement phase of the component. If the third movement phase of the component is started, therefore, the movement of the component in the same direction of movement as that of the first movement phase of the component, then the previously calculated switching time (s) Tuzi, Tuz2 of the switching elements 36 are read from the memory 54 and at least one of Switchover times Tuzi, Tuz2 adjusted in the third movement phase so that the control deviation is corrected.

As can be seen from the signal curve for the switching position Ssch of the switching element 36, the switching element 36 is at the start time Tstart on the output from the control device 13 to the control magnet 37, the first control signal for the movement of the component from its initial position or right end position in the left end position into the operating N2004 / 12200 -30-

• • • • · ··················································································································································································································· Within this period tscHi the pressure chamber 8 is vented with system pressure and thus pressurization of the component in the direction of movement - as indicated by arrow 31 - causes while the pressure chamber 9 is vented.

In the first switch-over time Tuzi, a second control signal is output by the control device 13 to the control magnet 37, with which the switching element 36 is transformed into the rest position for a period of time toD. As a result, the originally pressurized pressure chamber 8 is vented, the originally pressureless pressure chamber 9 vented for the time to death with system pressure and thus a small pressure pad just before the end of the movement phase of the component constructed, against which the moving component runs, so a hard stop in the end position of the component is excluded.

The time töD results from the time difference between Tuzi and Tuz2 or the output from the control device 13 control signals for reversing the switching element 36 and is determined by the control device 13. By the reversal of the switching element 36 and its switching positions and changing the pressure conditions in the pressure chambers 8.9, a braking phase is inserted towards the end of the movement phase, in which by the built-up in the pressure chamber 9 pressure pad a deceleration in the direction of movement - as indicated by arrow 31 -. until the switching time Tuzi with the maximum possible speed moving component takes place.

At the end of the braking phase in the second switching time Tuz2, a third control signal is output again from the control device 13 to the control magnet 37 of the switching element 36 and the pressure chambers 8,9 are driven in opposite directions, wherein the component shortly before reaching its end position in the direction of movement again with system pressure or Pressure chamber 8 is pressurized with system pressure and the pressure chamber 9 is vented. As a result, at the end of the braking phase, where it already has a low speed of movement, the component again undergoes a feed in the direction of movement - as indicated by arrow 31 - in the direction of its left end position. This ensures that the component reliably reaches its end position. For this purpose, in the second changeover time Tuz2, a follow-up signal Sns corresponding to the third control signal is generated, which N2004 / 12200 -31 - -31 - ♦ · ··· · ·

The control magnet 37 is switched on for a period of time tscH2 until the start of movement of the component in the second movement phase. The effect of the subsequent signal Sns has already been described in detail above.

In the third switching time Tuz3, a fourth control signal is output again from the control device 13 to the control magnet 37 of the switching element 36 and the pressure chambers 8, 9 are actuated in opposite directions. The fourth control signal corresponds to the start signal for the second movement phase at the time Tstart ·

It is understood that in the reverse direction of movement - according to arrow 3 Γ - a corresponding reverse control of the switching element 36 takes place, as shown in Fig. 10 for the second movement phase, wherein the corresponding measurement signals Si, S2 from the sensor 22, the confirmation signal SB and start signal Sstart be triggered by the sensor 21. The switching element 36 is for this purpose switched from the registered in Fig. 3 operating position in the registered in Fig. 4 rest position by at the start time Tstart the second movement phase of the parent control or control device 13 of the control solenoid 37 is driven with the first control signal and the control magnet 37 in the unpowered state is spent. As a result, the component is moved from its left end position counter to the original direction of movement - as indicated by arrow 31 - in the right end position. In this switching position of the switching element 36, the pressure line 17 is opened, so that the pressure chamber 9 of the drive 1 is connected to the pressure supply unit 18 and pressurized with system pressure, while the pressure chamber 8 is connected via the pressure line 16 with a vent line 51 on the switching element 36, so that the located in the pressure chamber 8 pressure medium or working fluid can escape unhindered into the atmosphere. Also for this direction of movement, the first and / or second switching time Tuzi »Tuz2 of the switching element 36 is calculated in the second movement phase of the component by the control device 13, and in the fourth movement phase of the component the new, first and / or second changeover time Tuzi, Tuz2 of the Switching element 36 adjusted accordingly.

The inventive method for controlling the fluidically actuated drive 1; Γ; 1 "will now be described in more detail with reference to the process sequences shown in FIGS. 11 to 12b. N2004 / 12200 ·· ·· -32- ··· ··· ·· • ♦ • ··· • · · • · ···

The start of movement of the component in the first movement phase is symbolized by block 70 and the end of movement of the component in the first movement phase by block 71. The movement of the component is monitored by means of a monitoring device 72 having the control device 13, as shown schematically in the preceding figures. This monitoring device 72 is formed, for example, by an electronic or programmed counter, which detects the number of state changes of a signal level between a high level and a low level of the sensor 21 and / or 22. A value for the minimum number of state changes of a signal level between a high level and a low level of the sensor 21 and / or 22 is stored in the memory 54 of the control device 13.

In method step 73, the controller 13 performs a comparison between the determined number of state changes of a signal level between a high level and a low level and a specified minimum number of state changes of a signal level between a high level and a low level, and an evaluation performed. If the determined number of state changes falls below the specified minimum number of state changes, an error message is displayed on the output device 53 of the control device 13 and / or on the higher-level control. This error message is shown as block 74. After this execution, the minimum number of state changes is set greater than one and an error message is issued, if the determined number of state change is, for example, one or zero. The cause of the error message can be, for example, a defective sensor 21, 22 or a hindrance to the movement of the component. The latter, for example, if a technical defect on the drive 1; Γ; 1 "occurs or a mounting part on the drive 1; 1 1 "clamped and thereby movement of the component is prevented.

If, however, the determined number of state changes is higher than the specified minimum number of state changes, method step 75 is initiated.

In this method step 75, a setpoint-actual comparison between the set time interval t3Soii and the determined time interval t3jst is first carried out by the control unit 55 of the control device 13. If the determined period of time t3is not equal to the specified period of time, N2004 / 12200 -33- ····························································································. ··········································

Period t3Soii, from these in a first control loop of the control unit 55 each a manipulated variable for setting the switching times Tuzi, Tuz2 is formed.

In Fig. 1 la, the first control loop is shown in detail. As can be seen, in the first movement phase for the next movement phase in the same direction of movement of the component on a comparison member 76, a control deviation (e) between the determined period of time t3ist and the predetermined period of time t3Soii is calculated and fed to a first controller 77 of the control unit 55. In the controller 77, the manipulated variables for setting both switching times Tyzi, Tuz2 are calculated from the control deviation (e) according to a defined control law and then stored in the memory 54. If the movement of the component in the third movement phase is started in mm, then the corresponding manipulated variables are read from the memory 54 and applied to the switching elements 10, 11 in accordance with the embodiments in FIGS. 5.6; 7 or the switching element 36 according to the embodiment in Figs. 3,4 switched. The switching elements 10, 11; 36 form the actuators of the control loop, as they are not shown in Fig. 11a. It can therefore be seen from the above that, given a deviation of the time period t3ist from the time span t3Soii, the switch-over times Tuzi, Tuz2 are readjusted for the next movement phase in the same direction. In this way it is now ensured that a control deviation (e), which is determined in a preceding movement phase in the first direction of movement - according to arrow 31 - by changing the switching times Tuzi,

Tuz2 is corrected and in the subsequent movement phase in the same direction of movement - as shown by arrow 31 - the or the switching element (s) 10,11; 36 are calculated according to the calculated switching times Tuzi, Tuz2, so that the detected time period t3ist corresponds to the set period t3s0n. According to this regulation, the new switching times Tuzi, Tuz2 are calculated, the time span tGD remaining unchanged in all the following movement phases in the same direction of movement, as shown by arrow 31. As a result, this control intervention substantially corresponds to a shift of the switching times Tuzi, Tuz2 at a constant distance relative to the time Ti.

On the other hand, if the actual value of the ascertained time interval t3is equal to the setpoint value of the time span t3Soii, a control intervention and thus a shift of the switchover times Tuzi, Tuz2 on the time axis compared to the time Ti can be omitted and the method step 78 is initiated immediately. N2004 / 12200 -34- -34- 9% * »« • · · 9 · · · · · 90 • 999 ·, · · · · · · ···! • · · · * · ♦

In this method step 78, the setpoint-actual comparison of the set time interval tisoii and the determined time interval tnst is again effected by the controller unit 55. If the determined time interval tnst deviates from the set time interval tisoii, in the first movement phase for the next movement phase in the same movement direction of the component the control deviation (e) is initially formed on a comparison element 79 and fed to a second regulator 80 of the control unit 55, as shown in FIG 1 lb is shown as a second control loop of the control unit 55. In the controller 80, only one manipulated variable for setting the switchover time Tuzi or the time period toD is formed from the control deviation (e) according to a defined control law and then stored in the memory 54. If the movement of the component in the third movement phase is started in mm, then the corresponding manipulated variable is read from the memory 54 and applied to the switching elements 10, 11 according to the embodiments in FIGS. 5.6; 7 or the switching element 36 according to the embodiment in Figs. 3,4 switched. Accordingly, in this control circuit, the second switching time Tuz2 is maintained and the time period toD or the duration of the counter control is changed, in which the first switching time Tuzi is shifted on the time axis.

If, on the other hand, the determined time period tust corresponds to the set time interval tis0u, a change of the time period tGD or the duration of the counter-control is omitted and the component is driven on the basis of the setting valid in the last movement phase for the first switch-over time Tuzi.

The first and second regulators 77, 80 of the control unit 55 are formed by an I-controller. A simplification of the control method is also achieved by setting the time periods tisoii, t3Soii as a time window with a lower and upper limit and a control intervention only takes place when the determined time periods tnst, t3 are outside the time or tolerance window. The lower and upper limits of the time window are defined in such a way that nevertheless an optimal deceleration behavior and smooth approach of the end position is possible.

Fig. 12 shows a modified method for controlling the drive 1; Γ, l "in a flow chart. The modification concerns the consideration or correction of the movement sequence of the component. On the one hand, there may be the case that the component is moved at too high a speed towards the end position and due to the high kinetic N2004 / 12200 -35- -35- ···· ··· ···· ·· ·· » · · · ··· • * ·

9 9 Z ·· ♦ ·

Impact energy, this is moved from the end position against the target movement and at the, the approaching end position associated sensor 21 results in a signal course, as shown in Fig. 12a. On the other hand, the case may occur that the component is moved at too low a speed against the end position and it executes a pendulum motion before reaching the end position, so that the signal curve shown in FIG. 12b results for the sensor 21 located in the approaching end position. The end position is formed by a mechanical limiting element, such as a fixed stop or shock absorber.

In order to be able to differentiate between these two cases, during the movement of the component via the monitoring device 72 entered in the previous FIGURE, the signal profile at the sensor 21 arranged in the end position to be approached is determined and the number of state changes of a signal level between a high Level and low level evaluated. If the determined number of state changes of a signal level at the sensor 21 exceeds a limit number of state changes of a signal level determined by the control device 13, the method step 82 is initiated.

In method step 82, the control unit 55 of the control device 13 carries out a setpoint-actual comparison between a defined time interval tis0u and the determined time interval tust. If the ascertained period of time t.sub.t falls below the defined period of time t.sub.i.sub.o.sup.i, the control device 13 can ascertain by evaluating the signal curve that the component has been moved into the end position at too high a speed.

This situation is shown by the waveform shown in Fig. 12a. In this case, the control device 13 three measurement signals Si, S2, S3 zugefuhrt. The first measurement signal Sj is detected at a time Ti when, for example, the control element 25 attached to the moving component enters the effective range of the sensor 21 arranged in the approaching end position in the direction of movement, as shown in arrow 31, in the direction of arrow 31, while the second measurement signal approaches a time T2 is detected, in which the control bar 25 enters with the second control edge 33a in the effective range of the arranged in the end position sensor 21 to be approached. If the speed of movement of the component is too high, it will first start moving because of its excessive impact energy. N2004 / 12200 -36- + # ·· • * · · · · · · · · · · · · · · · · · ··· ···

Moves end position against its desired movement and then driven by the repeated pressurization to safely approach the end position in its original direction of movement. As a result, the component is again moved in the direction of the end position and braked against the end position, so that the second control edge 33a again enters the effective range of arranged in the end position sensor 21 and thereby triggers the third measurement signal S3 at a later time T3. However, this third measurement signal S3 is not evaluated by the control device 13.

Since the time span tust is too low for the described situation, the second control loop is run through as described above. It is essential that the corrected period of time toD is calculated on the basis of the preceding movement phase, and that the corrected or reduced time interval tGD is set in the same movement direction of the component only in the following movement phase. The setting of the time period toD is again effected by the correction of at least one of the switching times Tuzi »Tuz2 of the switching elements 10, 11; 36th

If, on the other hand, it is determined in method step 82 that the determined time interval tust exceeds the defined time interval tisoii, this is evaluated in the first movement phase by the control device 13 as a pendulum movement, which is eliminated by reducing the time period toD. For this purpose, the time period toD stored in the memory 54 is multiplied by a weighting factor which is defined, for example, as a constant between 0.6 and 0.8. However, it is equally possible to specify the weighting factor as a function of the deviation between the set time interval tisoii and the determined time span tust. This process is represented by a block 83 in FIG. 12. The time period toD corrected by the weighting factor is again used as the new time span tGD in the third movement phase.

This situation is shown by the waveform shown in Fig. 12b. In this case, the control device 13 is supplied with three measurement signals Si, S2, S3. The first measuring signal Si is detected at a time Ti when, for example, the control strip 25 attached to the moving component enters the effective range of the sensor 21 arranged in the approaching end position with the front control edge 32a in the direction of movement. If the speed of movement of the component is too low, the component will still be N2004 / 12200 -37- -37- ·· 99 · ♦ ·· 9 9 • · • 9 9 • · 999 9 9 ♦ • 9 9 9 • • 9 99 · 999 ······························································································································································································································ By applying pressure to safely approach the end position, the component is again driven in its original direction of movement, so that the front control edge 32a again enters the effective range of the arranged in the end position sensor 21 at time T2. If the end position is reached, at a later time T3, when the control edge 33a enters the effective range of the sensor 21, the third measurement signal S3 is triggered, in which the component has actually reached the end position. However, this third measurement signal S3 is not evaluated by the control device 13.

The time period U entered in FIGS. 12a, 12b is triggered at the time T3 and ends at a later point in time in which it is ensured that all arithmetic operations of the control unit 55 have been completed and the control deviation or variables for the next movement phase in the same direction of movement To be available. The end of movement is only reached at time T3. Likewise occurs a shift in the time Tr (not shown in the figures), in which the feedback signal SRÜCk is triggered.

As described above, the end position can be determined either solely by the skillful control of the drive 1; Γ; 1 "or by the combination of the skillful control of the drive 1; Γ; 1 "and a shock absorber. If a shock absorber is used, then that part of the kinetic energy of impact of the component is absorbed, which was not degraded by the Gegensteuem over the period toD. Therefore, the proportion of kinetic energy to be absorbed by the shock absorber is significantly influenced by the duration of the countermeasure. As described above, the time span tGD for the duration of the counter-control results from the time period tj. The shock absorber acts with its spring force against the direction of movement of the component, so that the determined time tnst will increase slightly when the moving component runs onto the shock absorber. On the other hand, the period of time toD is slightly reduced by the regulation from the determined time span for the duration of the counter-control. If the shock absorber fails due to a defect or if it has been mounted incorrectly, the time span tust will be significantly reduced so that the time span tD for the duration of the counter control is increased by the regulation from the determined time period tust. N2004 / 12200 -38- ················ In order to be able to detect a failure of the shock absorber via the control device 13 or the higher-level control, a time lower limit and upper limit are defined for the time span tGD. If the calculated time interval tGD exceeds the upper limit defined by the control device 13 and stored in the memory 54, an error message in the form of an optical and / or acoustic signal is output at the output device 53 or the higher-level control and / or the drive 1; Γ; 1 "shut down.

It should be pointed out at this point that the switching times Tuzi, T \ jz2 or the time period toD for the third movement phase are still calculated in the first and / or second movement phase or during the residence time of the component in the end position.

In the jointly described FIGS. 13 to 18, another embodiment of the method according to the invention is shown, which may optionally represent an independent, inventive solution.

Fig. 13 shows a drive 100, which is also formed according to this embodiment by a double-acting lifting cylinder 101, which consists of a cylinder tube, whose ends are closed with end walls 102, 103. In this lifting cylinder 101 is displaceable by a pressure medium, a control piston 104 out, which in turn is connected to a piston rod 105. The piston rod 105 is mounted in a stationary manner via a corresponding fixed bearing 106, so that the lifting cylinder 101 forms the movable component and the adjusting piston 104 with the piston rod 105 forms the stationary component of the drive 100. Between the left end wall 103 and the control piston 104, a first pressure chamber 107 and between the right end wall 102 and the control piston 105, a second pressure chamber 108 is formed.

The pressure chambers 107, 108 are acted upon by this embodiment via only one switching element 109, in particular a 5/3-way valve alternately with system pressure. The switching element 109 has, for example, two electromagnetic control magnets 110, which are connected via corresponding control lines 111, 112 with an electronic control device 116, which in turn controls the switching element 109. In the de-energized state of the control magnets 110, the 5/3-way valve is in the unentered middle position (B). In the middle position (B) both pressure chambers 107, 108 with N2004 / 12200 -39- ♦ · ··· # ·· ·· »· · · •! ···· 2 ·· In energized state (first operating position A) of the left control magnet 110, the first pressure chamber 107 via a first pressure line 113 to the pressure supply unit 114 and in energized state (second operating position C) of the right control solenoid 110, the second pressure chamber 108 via a second pressure line 115 with the pressure supply unit 114 connectable. The switching element 109 is connected to the pressure supply unit 114. The control of the control magnet 110 takes place here via electrical control signals of the control device 116, as shown in Fig. 15 from the waveform for the switching position Ssch of the switching element 109 can be seen.

As further noted in the figures, the control device 116 is connected via signal lines 117, 118 with sensors 119, 120, so that the electrical control signals output by the sensors 119, 120 can be fed to the control device 116. The control device 116 may also be formed by the higher-level control. In this case, the sensors 119, 120 are arranged in a stationary manner above the travel path defined by the drive 100 in the end positions to be approached by the movable component. These sensors 119,120 cooperate with switching lugs 27a, b of the above-described control bars 25,26, which are at the opposite ends of the movable member, therefore the lifting cylinder 101, attached. The arrangement of the control strips shown 25,26 is only a matter of principle. Equally well could flags 27a, b are used, which are formed by a prismatic block, or reed switches are used, ie sensors with which the end positions of the component without switching flags 27a, b is monitored. It is essential that an actual movement time t.sub.ist of the component moved between the end positions is detected exactly via the sensors 119, 120 arranged in the end positions.

FIG. 15 shows the basic time diagram for the drive 100. The signal sequences Sei and Se2 of the two sensors 119, 120 and the switching position Ssch of the switching element 109 are shown over the time of three movement phases of the component movable between the end positions. According to the embodiment shown, the first and third movement phase corresponds to an extension movement - according to arrow 31 - of the lifting cylinder 101 and the second movement phase of a retraction movement - according to arrow 31 'of the lifting cylinder 101. N2004 / 12200

At the start time Tstart, a start signal is initially transmitted via a higher-level control (not shown) to the electronic control device 116, as indicated by the arrow 50 in FIGS. 13 and 14, and then output by the control device 116 to the left control magnet 110 a first control signal whereby the control magnet 110 is energized and the switching element 109 is switched to the actuating position (A) and the movable component - according to the embodiment of the lifting cylinder 101 shown - is adjusted from its initial position in the direction of the arrow 31 from right to left. If now the switching element 109 in the operating position (A) shown in Fig. 13, the pressure line 113 is opened, so that the pressure chamber 107 of the drive 100 is connected to the pressure supply unit 114 and pressurized with system pressure, while the pressure chamber 108 via the pressure line 115 with a vent line 125 is connected to the switching element 109, so that the pressure medium located in the pressure chamber 108 can escape unhindered into the atmosphere.

By activating the switching element 109, the first movement phase is initiated, as will be described in more detail below.

With the beginning of the movement of the component from its starting position or right end position to the start time Tstart the control bar 26 is moved past the stationary sensor 120 and triggered in this the waveform shown in Fig. 15. This waveform corresponds to that in FIG. 8 and is therefore dispensed with a repeated description at this point.

According to the inventive method, a setpoint value for the movement time tsssoii of the component between the end positions of each movement phase is statically predetermined or dynamically determined before the actual movement start of the component at the start time Tstart by the control device 116 or the higher-level control (not shown). The statically predetermined desired value tesoii is determined mathematically or empirically, for example, and stored in a memory 129 of the control device 116. On the other hand, the setpoint tsssoii can also be determined dynamically. In other words, for example, the setpoint tsssoii is continuously adapted to a machine cycle of a machine system interacting with the drive 100 and continuously read into the memory 129. From the setpoint for the movement time tsssoii is determined by the control unit N2004 / 12200 -41 - ······ • · • ··· ·· ···································································· • A theoretical start time Tstart (motion start) is defined or calculated and a theoretical end time Tm (theoretical end of movement) is calculated. By means of the sensors 119, 120, the actual movement time of the adjusting movement of the component between the end positions is now detected as actual value t.sub.ist in the first movement phase. The detected actual value t.sub.ist is supplied to the electronic control device 116, whereupon a desired-actual comparison is performed by a control unit 127 having the same between the determined movement time t.sub.actist and the fixed movement time t.sub.so, as shown in FIG.

If a control deviation (e) is calculated from the difference between the setpoint movement time tβsoii predetermined for the first movement phase and the actual movement time tβist determined from the first movement phase, at least one manipulated variable for controlling the switching element 109 is generated by a controller 128 according to a control law educated. The manipulated variable is temporarily stored in the memory 129. For this purpose, the controller unit 127 has a computer module 130, in particular a microprocessor.

If the third movement phase is started, then the manipulated variable calculated by the first movement phase is read from the memory 129 and adjusted according to the manipulated variable of at least one of the two temporally successive switching times Tuzi, Tuz2, so that the control deviation (e) is corrected in the third movement phase.

The first switching time Tuzi corresponds to the starting time Tstart defined by the control device 116 or the higher-level control, in which the switching element 109 is controlled by a first control signal of the control device 116 or the higher-level control and energizing of the left-hand control magnet 110 from the middle position (rest position) to the actuating position (FIG. A) is activated. In the actuated position (A), the pressure chamber 107 is subjected to system pressure, so that the component is moved in the direction of the left end positions. With the setting of at least one of the switching times TUZi, Tuz2, a control duration tsD of a start pulse is changed. It proves to be advantageous if the first switchover time Tuzi remains unchanged with respect to the time axis and the control duration tsD of the start pulse is set by changing the second switchover time Tuz2. The start pulse is due to the rising edge in the first switchover time Tuzi and the falling edge in the second switchover time N2004 / 12200 -42- ·· 99. ·%. ··.: ···: ·: · ... · ·

• · ····················· ·························································································

Tuz2 given. The pressure chamber 107 is acted upon by the system duration over the control duration, so that the component accelerates from standstill in the starting position or right end position to a desired speed vs0u and is moved in the direction of movement - as indicated by arrow 31 - to its left end position. In the second switching time Tuz2, the control device 116 or the higher-level controller again outputs a second control signal to the left-hand control magnet 110, with which the left-hand control magnet 110 is deactivated and the switching element 109 is moved from the actuation position (A) into the middle position (rest position). In the center position, the pressure chamber 107 is connected to the return port of the switching element 109 and thereby the originally pressurized pressure chamber 107 is vented.

The start pulse is followed within a period of time by several switching pulses of short duration tscH, by which the switching element 109 is actuated by the control device 116 or the higher-level control in intervals of succession of intervals between the middle position (B) and the actuating position (A). In other words, the switching element 109 is pulsed controlled over the period töB and applied to the pressure chamber 107 over the duration tscH of each switching pulse with system pressure. The pulse pauses are plotted in FIG. 15 as periods tp, within which the switching element 109 remains in the middle position (B) and the pressure chamber 107 is depressurized over the periods tp of each pulse break and the component is driven solely in the direction of motion due to its mass inertia. according to arrow 31 -further moves. Follows the pulse break a switching pulse, the pressure chamber 107 is applied over the periods tscH with system pressure and the component in turn accelerated over the duration tscH.

As entered in FIG. 15, within the period of time toe of the pulsed actuation of the switching element 109, the left-hand control magnet 110 is actuated by the control device 116 or the higher-level control via control signals at the switching times Tuz3-Tuzn several times. At the switchover time Tuz3, the left control magnet 110 receives a third control signal, with which the switching element 109 is actuated from its original middle position (B) back to the actuation position (A) and the pressure chamber 107 is acted upon. At the switch-over time Tuzn, the left control magnet 110 receives an nth control signal within the time period toe, with which the switching element 109 is moved from its N2004 / 12200 ························································ • · • ··· • ··························. * Is operated again in the middle position (B) and the pressure chamber 107 is vented. The duration of the pulsed actuation of the switching element 109 results from the time period toe between the second control or switching signal at the second switching time Tim and the control or switching signal at the n-th switching time Tuzn. At the end of the time period toe, the theoretical end time Tte reached. The changeover time Tuzn corresponds to the calculated end time Tte at which the component should have reached its end position.

15, however, in the first movement phase, the left end position is not reached within the desired movement time tsssoii, but only to a later, determined via the approaching sensors 119 end time Tee (corresponds to T2), which is after the theoretical end time Tte. This circumstance can change the operating conditions and environmental conditions, for example, be changed by the additional load of the drive, the friction conditions occur. Based on the time difference Δt between the theoretical end time Tte and the determined end time tea, the control deviation (e) is calculated in mm and the at least one manipulated variable for setting at least one switchover time Tuzi, Tuz2bzw. formed the control duration tsD of the start pulse, which is the switching element 109 is switched in the third movement phase. After the control duration tsD of the start pulse is changed, the electronic control unit 127, in particular the computer module 130 of the control device 116, also calculates the pulse pause tp between two successive switching pulses within the time period toB. These switching pulses follow the pulse pauses defined by the time difference between two directly successive control signals at the switching times Tuz2, Tuz3 to Tuzn. The duration tscH of the switching element 109 impressed switching pulses is preferably fixed depending on the type of drive and is stored in the memory 129. Likewise, the number of switching pulses within the period TGB is selected depending on the drive type and stored in memory 129. However, it is equally possible for the duration tscH and the number of switching pulses to be input by the fitter before the drive 100 is put into operation via an input device 131, in particular a computer (PC), or the higher-level controller of the control device 116. In Figs. 13 and 14, the controller 116 has the input device 131. N2004 / 12200 ················································

·· ♦ · * φ • · · · · · *: :: ·· ···· * ··· * · * -44-

In practice, it has been shown that the number of switching pulses is decisively determined by the planned field of application. If, for example, the vibration-free positioning of the component in the end position or the smoothest possible adjustment of the component between the end positions must be ensured, the duration tscH is selected to be smaller and / or the number of switching pulses higher. As the number of switching pulses increases, the variations in the speed of movement of the component are minimized. Likewise, the duration tscH and / or the number of switching pulses must be adapted to the adjustment path of the component. For this purpose, the controller unit 127 may also have a dynamic lean mode (adaptive control) for setting the duration tscH and / or the number of switching pulses. For the time being, the component is controlled between the end positions on the basis of basic settings for the duration tscH and / or the number of switching pulses, and during this the sensed oscillations are sensed. If the vibrations exceed a limit value, the duration tscH and / or the number of switching pulses are automatically adapted until the vibrations are within a permissible range and an optimum driving behavior of the component is achieved. Even during operation, an automatic adaptation can be maintained, that is, changes in sliding properties, masses, signs of aging, impact energy in the end position and the like can be continuously adapted to be compensated by changing the duration tscH and / or the number of switching pulses ,

Thus, the computer module 130 of the controller unit 127 can calculate the time span tp of each pulse break after a calculation algorithm stored in the memory 129 and described below. r i tsssoii - tSD - (number of switching pulses, tSCH) tp ImsJ = -

Number of switching pulses

Different speed profiles of the component are shown in FIG. 17. If there is a long control duration ts0, the speed profile entered in full lines results, while the speed profile entered in dotted lines results for a short control time tsD. As can be seen, the component reaches its maximum nominal speed vsoii in a time span over the control duration tsD. From the second switch-over time Tuz2 within the time span toß, the component increasingly loses movement speed, so that it is moved with respect to the maximum target speed vs0n reduced movement speed against the end position.

The speed drop Δν varies depending on the control duration tsD of the start pulse. When a large deviation (e) occurs, therefore, the detected movement time tβist is higher than the set movement time tβsoii, the control period tsD of the start pulse is also increased, thereby accelerating the component to a high moving speed in the first period. Accordingly, as the control duration tsD of the starting pulse increases, the duration tp of each pulse break is reduced uniformly, ie, the component is moved without drive over shorter intervals, as indicated in solid lines. If, on the other hand, the control duration tsD of the start pulse is reduced, then the duration tp of each pulse break is increased uniformly, that is, the component is moved without drive over longer intervals, as indicated by dashed lines.

The method according to the invention makes use of the knowledge that the ambient conditions, in particular the friction or aging phenomena during the non-moving movement of the component cause a targeted deceleration of the component on its adjustment, for example, from the right end position to the end position, so that the component gently against the final position is running.

If the velocity drop Δν is too high, the time difference Δt increases. In order to prevent an unnecessarily high increase in the time difference Δt and thus the movement time of the component on its adjustment movement between the end positions, a monitoring signal So triggered by the monitoring device 132 of the control device 116 to the theoretical end of movement at the end time Tte, with which a first time period is specified. If this period of time has expired and the component is not yet in its planned end position, which is monitored by the sensor 119, the switching device 109 switches the switching element 109 to a switching-on time Tuza and activates the pressure chamber 107 with system pressure over a period tA , so that the component moves in the direction of movement - as indicated by arrow 31 - towards its end position, pressed against this and held in this with a holding force positio N2004 / 12200 ned. The period of time ϊα results from the time difference between the switching time Tuza of the first movement phase and the first switching time Tuzi or the starting time Tstart of the second movement phase in the opposite direction of movement - according to arrow 3Γ. The post-switching signal Sns therefore corresponds to a subsequent pulse. If the component is actually in its end position, the signal S2 is triggered via the control edge 33a at the sensor 119 arranged in the end position to be approached at the time of tea or T2 (not entered). Reference is here made to the detailed description of FIG. 8, in which the signal profile Se 2 is explained on the sensor 21 and can be transmitted to this embodiment for the sensor 119.

Furthermore, it is possible for the control device 116 or the higher-level controller to evaluate a second time interval tF from the time difference between the first measuring signal Si and the last switching time Tuzn, therefore when the switching element 109 is converted from its actuating position A into the rest position B , If the first period of time exceeds the second time interval fc), then the follower signal Sns is generated by the monitoring device 132 before the end of the first period of time and applied to the switching element 109 so that system pressure is applied to the component early in the direction of movement, as indicated by arrow 31. Thereby, the actual movement time can be shortened when the target movement time Tbsoii deviates from the actual movement time Tβist.

As shown in Fig. 15 in the third movement phase, the deviation (e) between the target movement time Tbsoii and actual movement time Tβ is compensated by setting the control duration tsD of the start pulse and the periods tp of the pulse pauses so that the actual movement time T is equal to the target movement time Tsssoii and the component reaches the left end position within the predetermined target movement time. The control duration tsD of the start pulse is extended and the time periods tp are shortened. If the component has reached its end position, a signal S2 is triggered at the sensor 119 and supplied to the control device 116, whereupon the switching element 109 switches to a switching-on time Tuza and activates the pressure chamber 107 with system pressure over a period tA, so that the Essentially only pressed against the end position and in this with a holding force N2004 / 12200 «f • · · · · · · · · · ····

V

•··································································································· Since there is no control deviation in the third movement phase, the setting of the control duration tsD of the start pulse and the periods tp of the pulse pauses remains in the same direction of movement for all subsequent movement phases until a control deviation (e) is again calculated by changing the friction conditions.

It is also advantageous if the switching pulses over the time period ίοΒ are regularly divided and the last switching pulse the switching element 109 just before the component reaches its end position, is switched. The component runs against the end position, even before it has reached its maximum speed, as shown in Fig. 17 in dotted line. Thus, the speed that is impressed on the component over the last switching pulse Tuzn at the switching time, only a fraction of the speed which is impressed on the component via the previous switching pulses to the respective switching times, so that the end position is approached particularly gently. Conveniently, the control duration tsD and the time tOss and the time tP of the pulse pauses are divided into the target movement time so that the switching time Tuzn coincides with the switching time Tuza. As a result, the last switching pulse passes directly to the Nachschaltimpuls and the component is already driven over the last switching pulse against the end position and pressed against this with a holding force which is maintained by connecting the Nachschaltimpulses over the period tA, as in the third phase of movement is registered. Since the component has reached the end position monitored via the sensor 119 at the theoretical end time Tte, no monitoring signal So is triggered by the control device 116. The post-switching signal Sns is triggered by the sensor 119 after the component has reached the end position and fed to the control device 116.

It is understood that in the reverse direction of movement - according to arrow 3 Γ - a corresponding reverse control of the switching element 109 is carried out as shown in Fig. 15 for the second movement phase, the corresponding measurement signals Si, S2 from the sensor 120, the confirmation signal Sb and start signal Sstart be triggered by the sensor 119. The switching element 109 receives at the time Tstart the first control signal for the beginning of the movement of the component from its left end position to the right end position as N2004 / 12200

in turn from the controller 116 or the higher-level controller. In this case, the right-hand control magnet 110 is actuated by the higher-order control or control device 116 with the first control signal and brought into the de-energized state, with the result that the switching element 109 switches from the rest position into the actuation position (C) entered in FIG. 14 at the start time Tstart of the second movement phase in which the pressure chamber 108 is connected to the pressure supply unit 114 and pressurized with system pressure, while the pressure chamber 107 is connected via the pressure line 113 with a vent line 125. Also for this direction of movement, the control period tsö the start pulse and the periods tp of the pulse pauses is calculated at a control deviation (e) in the second movement phase and in the fourth movement phase preferably the second switching time Tuz2 of the switching element 109 set accordingly.

Of course, in this embodiment, too, there is the possibility that the pressure chambers 107, 108 are each controlled via a switching element 133, 134. These switching elements 133, 134 are preferably formed by 3/2-way valves. Such an embodiment is shown in FIGS. 1 and 2 and the control method according to the invention can also be transferred to this embodiment. The control of the switching elements 133,134 via the control device 116, which in turn is connected via a first control line 14 with a control magnet of the left switching element 133 and a second control line 15 with a control magnet of the right switching element 134. The associated timing diagram with the switching positions Sschi, Sscrn of the switching elements 133, 134 is shown in FIG.

Finally, it should be pointed out that the control device is suitable for processing both control methods according to the invention. For this purpose, the control and calculation algorithm of the two driving characteristics of the component are stored in the memory of the control device. After the first driving behavior - according to the embodiments of FIGS. 1 to 12b - the component should be moved as quickly as possible between the end positions, whereas after the second driving behavior - according to the embodiments of FIGS. 13 to 18 - the component moves at a targeted speed shall be. The choice of driving behavior can be done in different ways. N2004 / 12200 «

taeesHSSSBH -49-

In a first embodiment, the corresponding driving behavior is selected via an input and / or output device, in particular a computer (PC), or the higher-level control of the control device. For this purpose, a user program is opened and output to the input and / or output device before commissioning the drive and selected by the fitter the desired driving behavior for the adjustment movement of the component in a first direction of movement and in a direction opposite to this movement direction. With the choice of one of the driving behavior, the control device activates the control and calculation algorithm assigned to the corresponding control method and controls the drive in the manner described above. For example, the first driving behavior for the first movement direction and the second driving behavior for the other movement direction or either the first or second driving behavior for both directions of movement can be selected.

In a second embodiment, the driving behavior of the component is set dynamically. For example, based on a required cycle time of a composite of several drives handling system or a cooperating with the drive machinery each favorable driving behavior of the control device or the parent control specified. The required cycle time is expediently communicated by the higher-level central control of the decentralized control device, which in turn decides the choice of the driving behavior based on the information of the available movement time. Thus, a current work process may require a particularly low cycle time, so that the drives of the handling system are controlled for both directions of movement after the first driving behavior. If the cycle time is less critical, but certain other parameters must be adhered to the handling system, for example, must be a vibration-free positioning of the drives, at least one of the drives according to the second driving behavior is controlled.

It should also be pointed out that the movable component can also be provided only with a control bar, which cooperates with a sensor arranged in the approaching end position. Such an embodiment is realized in those cases in which the component only has to be gently positioned against one of the end positions. N2004 / 12200 «· · · ·

-50-

The embodiments show possible embodiments of the drive 1; Γ; 1 "; 100 and the method, it should be noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual variants are possible with each other and this variation possibility due to the teaching of technical action by objective invention in the knowledge of the person working in this technical field. So there are also all conceivable variants of the execution, which are possible by combinations of individual details of the illustrated and described embodiment variant of the scope of protection.

For the sake of order, it should finally be pointed out that for a better understanding of the structure of the drive 1; Γ; 1"; 100, this or its components were shown partially uneven and / or enlarged and / or reduced.

Above all, the individual in FIGS. 1 to 12; 13 to 18 embodiments form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures. N2004 / 12200 • · • ·

Reference Designation 1 Drive 31 Movement direction 1 'Drive 31' Movement direction 1 "Drive 32a Control edge 2 Lifting cylinder 32b Control edge 3 End wall 33a Control edge 4 End wall 33b Control edge 5 Control piston 34a Control edge 34b Control edge 6 Piston rod 7 Fixed bearing 36 Shift element 8 Pressure chamber 37 Control magnet 9 Pressure chamber 40 'Actuator 10 Switching element 40 "Actuator 11 Switching element 41 'Guiding device 12 Control magnet 41" Guiding device 13 Control device 42' Guide slide 14 Control line 42 "Guide slide 15 Control line 43 'Frame 43" Frame 16 Pressure line 44' Fixed stop 17 Pressure line 44 "Fixed stop 18 Pressure supply unit 45 'Shock absorber 19 Signal line 45 Shock absorber 20 Signal line 46 'Fastening device 21 Sensor 47' Fastening device 22 Sensor 48 Handling system 25 Control bar 50 Arrow 26 Control bar 51 Vent line 27a Switch flag 52 arrow 27b switch 53 output device 28a recess groove 54 memory 28b recess groove &quot; 55 Control unit 56 Computer module 29a End position section 29b End position section 70 Block 30a Bore 71 Block 30b Bore 72 Monitoring device 73 Execution step 74 Block 75 Execution step N2004 / 12200

Reference Drawing 76 Comparator 131 Input and / or output device 77 Controller 132 Monitoring device 78 Processing step 133 Switching element 79 Comparative element 134 Switching element 80 Controller 81 Processing step 82 Processing step 83 Block 100 Drive 101 Lifting cylinder 102 End wall 103 End wall 104 Control piston 105 Piston rod 106 Fixed bearing 107 Pressure chamber 108 pressure chamber 109 switching element 110 control magnet 111 control line 112 control line 113 pressure line 114 pressure supply unit 115 pressure line 116 control device 117 signal line 118 signal line 119 sensor 120 sensor 125 deaeration line 127 controller unit 128 controller 129 memory 130 Computer module N2004 / 12200

Claims (32)

1. A method for controlling a fluidically actuated drive (1; Γ; 1 ") with components which can be adjusted relative to one another, of which one component is connected via at least one switching element (1). 10, 21, 36) is moved in a first direction of movement (31) and in a direction of movement (31) opposite, second movement direction (3Γ) braked against end positions and against at least one of the end positions, wherein a control device (13) each of a via a switching lug (27a, b) electronically switchable and arranged in the end position sensor (21,22) control signals for the timing of the movement phase of the component for smooth start of the end position are fed and from the control device (13) the switching element (10,11 36) is operated on the basis of the control signals and pressure chambers (8, 9) of the drive (1; Γ; 1 ") are driven in opposite directions, characterized in that in a first movement tion phase of the component shortly before reaching the end position to be approached via the switching flag sensor arrangement at a time (Ti) a first measuring signal (Si) and at a later time (T2) a second measuring signal (S2) is detected and then by the control device ( 13) determines at least one period of time (tust) from the time difference between the measuring signals (Si, S2) and from a control unit (55) of the control device (13) for gently starting the final position from a nominal-actual comparison between a predetermined period of time (tisoii ) and the determined period of time (tust) at least one manipulated variable for at least one of two temporally successive switching times (Tuzi * Tuz2) of the switching element (10, 11; 36) and that this switching time (Tuzi, Tuz2) of the switching element (10, 11; 36) is set in the same direction of movement (31, 3 Γ) according to the manipulated variable in the subsequent movement phase of the component following the first movement phase. 2. The method according to claim 1, characterized in that by the control device (13) a time span (too) from the time difference between control signals in the N2004 / 12200 • ··· ··············································· Switching times (Tuzi, TUZ2) of the... Is calculated or specified, and that a braking phase defined by the time interval (tGü) is initiated in the first switching time (Tuzi) of the switching element (10, 11; 36) and in the second switching point (TUZ2) of the switching element (10 , 11, 36), wherein at the first switch-over time (Tuzi) of the switching element (10, 11; 36) in the pressure chamber (8, 9) originally unpressurized during the movement of the component, one of the movement direction (31, 3 Γ) of the component constructed opposite system pressure and in the during the movement of the component originally pressurized pressure chamber (8, 9) de r in the direction of movement (31.3 Γ) of the component acting system pressure is reduced and the second switching time (Tuzi) of the switching element (10,11; 36) degrades in the pressure chamber (8, 9) pressurized during the period (tGu) a system pressure opposite to the direction of movement (31, 3) of the component and into the pressure chamber (8, 9) which is depressurized during the period (to) original movement direction (31,31 ') of the component acting system pressure is built up. 3. The method according to claim 1, characterized in that from the control device (13) in the first movement phase of the component, a further period of time (t3ist) from the time difference between the first measurement signal (Si) and a control signal for the switching element (10,11; 36) in the second switching time (Tuz2) is determined and then by the control unit (55) of the control device (13) for smooth start of the end position from a target-actual comparison between a predetermined time (t3Soii) and the determined time (t3ist) manipulated variables are calculated in each case for a first and second changeover time (Tuzi, Tuz2) of the switching element (10, 11; 36) and that these changeover times (Tuzi, Tuz2) of the switching element (10, 11; 36) correspond to the manipulated variables in the first movement phase subsequent, further movement phase of the component in the same direction of movement (31,31 ') are set, provided that the determined time period (t3ist) of the specified Ze range (t3s0u) deviates. 4. The method according to claim 3, characterized in that of the control device (13) in the first movement phase of the component, a time interval (tGü) from the time difference between control signals in the switching times (Tuzi, Tuz2) of the switching element (10,11; is set and that the first and second switching time- N2004 / 12200 • • • • • • • • ♦ · · • ♦ ···································· point (Tuzi, Tuz2) of the switching element (10,11; 36) in a time interval (toü) corresponding, constant time interval relative to the first measurement signal (Si) are shifted on the time axis. 5. The method according to claim 1, characterized in that by the control device (13) a time interval (ton) from the time difference between control signals in the switching times (Tuzi, Tuz2) of the switching element (10,11, 36) is calculated and changed and for this purpose from the control unit (55) of the time considered, first switching time (Tuzi) of the switching element (10,11; 36) corresponding to the calculated manipulated variable in the subsequent movement phase of the component in the same direction of movement (31,31 ' ) and the temporally determined, second switching time (Tuz2) of the switching element (10,11; 36) is set, provided that the determined time period (tust) of the set period (tisoii) deviates. 6. The method according to claim 2, characterized in that generated by the control device (13) for the second switching time (Tuz2) of the switching element (10,11; 36) a reset signal (Sns) and the switching element (10,11; is controlled by this the pressure chamber (8, 9) over a period of time (tscm) with system pressure, so that the component is applied to the safe reaching its end position in the direction of movement (31, 3 Γ) with system pressure. 7. The method according to claim 1 or 6, characterized in that from the control device (13) to the switching element (10,11; 36) at the pre-control time (Tvs) a pilot signal (Sys) is delivered, through which the switching element (10, 11; 36) is vented in the movement phase (31) of the first movement phase opposite direction of movement (31 ') before the start of movement of the component in the further movement phase, the system pressurized pressure chamber is vented. 8. The method according to claim 1, characterized in that from the control device (13) at the time (T2) a period of time (t ») for the residence time of the component in its final position specified and with the end of the period (tj) an enable signal N2004 / 12200 -4- -4- • · · · · Is generated with which or to a specified by the control device (13) or a higher-level control, later start time (Tstart), the switching element (10,11; 36) is reversed to the movement start of the component in the further, in one of the direction of movement (31) of the first movement phase opposite direction of movement (3Γ). 9. The method according to claim 1, characterized in that of the control device (13) in the first movement phase of the component, a period of time (t5) from the time difference between one of the control device (13) or a higher-level control to which the component Ansteuemde Switching element (10,11; 36) emitted control signal at the start time (Tstart) and a triggered after the start of movement of the component in the movement phase, via a arranged in the movement start side end position sensor (21, 22) start signal (Sstart) at the time (To) is calculated and that the starting time (Tstart), in which the control signal is triggered and delivered to the switching element (10,11; 36) corresponding to the calculated time period (ts) in the subsequent to the first movement phase, further movement phase of the component in the same Movement direction (31, 3 Γ) is set. 10. Method according to claim 1, characterized in that the control device (13) calculates a time (TR) taking into account the system properties of another drive (1 ") operatively connected to the drive (1,,), to which a feedback signal (SrcEc ) and by which the further drive (1 ") before, at the same time or after reaching the end position of the component by the first drive (1; Γ) is driven. 11. The method according to claim 1, characterized in that of a monitoring device (72) of the control device (13) evaluates a waveform of the sensors (21, 22) during the movement phase of the component between its end positions and thereby the number of state change of a signal level between a High level and low level is monitored. N2004 / 12200 • · • ··· • · • • • • • • • • • • • • • • • • • • • • • • · 12. The method according to claim 11, characterized in that of the control device (13) defines a limit number of state change of a signal level between a high level and low level and in the first movement phase of the component a target-actual comparison between a predetermined period (tisoii) and the determined time period (tust) is performed, if the determined number of state changes exceeds the predetermined limit number of state changes and that of the control unit (55) for gently starting the end position from the target-actual comparison between a specified period ( tisoii) and the determined time interval (tnst) calculates a manipulated variable for at least one of two temporally successive switching times (Tuzi, Tuz2) of the switching element (10, 11, 36) and then a period of time (toü) for the application of force to the component in its direction of movement (31) opposite direction of movement (31 ') corresponding to the Stell in the subsequent movement phase of the component following the first movement phase is increased in the same direction of movement (31.3 Γ), provided that the determined period of time (tust) falls below the predetermined period of time (tisoii). 13. The method according to claim 11, characterized in that of the control device (13) defines a limit number of state change of a signal level between a high level and low level and in the first movement phase of the component a target-actual comparison between a predetermined period (tisoii) and the determined period of time (tust) is performed, if the determined number of state change exceeds the predetermined limit number of state change and that of the control device (13) for safe starting of the end position a period of time (½}) Air, the force applied to the component is reduced in its direction of movement (31) opposite direction of movement (31 ') corresponding to a weighting factor in the subsequent movement phase of the subsequent movement phase of the component in the same direction of movement (31, 3 Γ), if the determined period of time (tust) the specified period of time (tisoii) exceeds. 14. The method according to claim 11, characterized in that of the control device (13) the determined number of state change of a signal level between a high level and low level and a predetermined minimum number of state change N2004 / 12200 • ♦ • ··· ♦ A signal level between a high level and low level is compared and evaluated and an error message at an output device (53) of the control device (13) or is output to a higher-level controller, provided that the determined number of state changes falls below the specified minimum number of state changes 15. The method according to claim 1, characterized in that of the control device (13) monitors the time period (toü) for the opposite control of the pressure chambers (8, 9) and an error message to an output device (53) of the control device (13) or a is output to higher-level control, if a specified by the control device (13), time upper limit for the period (tGü) is exceeded. 16. Fluidically actuated drive (1; Γ; 1 ") for carrying out the method according to one of Claims 1 to 15, with components which can be adjusted relative to one another, of which a component is moved in at least one switching element (10, 11; 31) and in one of the first direction of movement (31) opposite, second movement direction (3 Γ) braked between end positions and against at least one of the end positions, wherein an electronic control device (13) each one via a switching lug (27 a, b) electronically switchable and in the end position arranged sensor (21,22) control signals for the timing of the movement phase of the component for smooth start of the end position can be fed and by the control device (13) the switching element (10,11, 36) is actuated by the control signals and Pressure chambers (8, 9) of the drive (1; Γ; 1 ") are actuated in opposite directions, characterized in that the movable member at the in motion gsrichtung (31,31 ') opposite ends with a control bar (25,26) is provided, wherein the control bar (25,26) the switching lug (27a, b) is formed and in the direction of movement (31, 3 Γ) of the component successively offset at least two control edges (32a, b, 33a, b) comprises, in such a way that in the movement phase of the component of the first control edge (32a, b) in the effective range of the arranged in the end position to be approached sensor (21,22) at a time (Ti) a first measuring signal (Si) and from the second control edge (33a, b) in the effective range of the same sensor (21, 22) at a later time (T2), a second measuring signal (S2) can be triggered, and that the control device (13) for smooth Approaching the end position one of a setpoint actual N2004 / 12200 • · · ········································································ ······ - 7 -... Comparison between a fixed period (tisoii) and a determined time span (tusts) at least one manipulated variable for at least one of two temporally successive switching times (Tuzi, Tuz2) of the switching element (10, 11; 36) for calculating at least one switchover time (Tuzi, Tuz2) corresponding to the manipulated variable in the further movement phase of the component following the first movement phase in the same direction of movement (31, Γ) is provided. 17. Drive according to claim 16, characterized in that the control device (13) in addition a monitoring device (72) for evaluating a signal waveform of the sensors (21,22) during the movement of the component between its end positions or a period of time (tGD) for the duration the Gegensteuems the pressure chambers (8,9). 18. Drive according to claim 16 or 17, characterized in that the control device (13) additionally comprises an output device (53) for evaluating the signal waveform of the sensors (21,22) or output an error message. 19. Drive according to claim 16, characterized in that the control bar (25, 26) has a transversely to the direction of movement (31, 3 Γ) formed over part of its thickness recess groove (28 a, b), via which the switching flag (27 a, b ) and an end layer portion (29a, b) are separated from each other, wherein a width (B) of the recess groove (28a, b) at least between 1 mm and 5 mm, in particular between 2 mm and 4 mm, for example 3 mm and a longitudinal distance (A ) between the control edges (32a, b, 33a, b) is a maximum of between 4 mm and 15 mm, in particular between 5 mm and 12 mm, for example 9 mm. 20. Drive according to claim 16, characterized in that the control device (13) and / or the at least one switching element (10, 11; 36) is constructed on one of the components or integrated in one of the components. N2004 / 12200 • · • · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 21. Drive according to claim 1, characterized in that at least one of the end positions by changing the position of a fixed stop (3,4, 44 ', 44 ") and / or shock absorber (45', 45") and / or a control bar (25 , 26) and one of these associated sensor (21,22) is adjustable. 22. A method for controlling a fluidically actuated drive (100) with components which can be adjusted relative to one another, of which a component is connected via at least one switching element (109, 133, 134) in a first direction of movement (31) and in one of the first direction of movement (31). second movement direction (3Γ) is moved in a regulated manner between end positions, wherein electrical control signals for the timing of the movement phase of the component for gently starting the end position are fed to a control device (116) of sensors (119, 120) arranged in the end positions and are transmitted by the control device (116). the switching element (109; 133,134) is actuated on the basis of the control signals, characterized in that via the control device (116) or a higher-level control setpoint of the movement time (tsssoii) for the movement of the component from the one end position to the other end position and Sensors (119,120) on the adjustment movement of the component of the one E ndlage in the other end position an actual value of the movement time (tTist) is detected and that of a control unit (127) of the control device (116) for gently starting the end position of a target-actual comparison between the set movement time (tsssoii) and the determined movement time (tßist) is a manipulated variable for at least one of two temporally successive switching times (Tuzi, Tuz2) of the switching element (109; 133,134) and that a control duration (tsü) predetermined by the switching times (Tuzi, Tuz2) is changed in the same direction of movement (31, 31) by changing the switching time (Tuzi, Tuz2) according to the manipulated variable in the subsequent movement phase of the component following the first movement phase. 3 Γ), wherein initially within the set control period (tsö) accelerates the component to a desired speed and then the switching element (109, 133, 134), starting from the second switching time (Tuz2) over a period of time (toe) to one through the fixed movement time (tsssoii) predetermined theoretical end time (Tte) is pulsed actuated. N2004 / 12200 ·························································································································································································································· ·· 23. The method according to claim 22, characterized in that the switching element (109, 133, 134) is switched via the control device (116) or the higher-level controller within the time period (Toss) by a plurality of temporally successive switching pulses of short duration (Tscs), through which a pressure chamber (107, 108) of the drive (100) which actuates the component is subjected to system pressure in successive intervals at pulse intervals, so that the component starts moving from the second changeover time (Tuz2) in the direction of movement (31, 31 ') with the movement speed decreasing with respect to the desired speed is moved to the end position to be approached. 24. The method according to claim 23, characterized in that from the control device (116) or the higher-level controller, a time interval (tp) of the pulse pauses is calculated, within which the component due to its inertia without drive in the direction of movement (31,31 ') in the direction is moved to the approaching end position. 25. The method according to claim 23, characterized in that via the control device (116) or the higher-level control, the number and / or the duration (tscH) of the switching pulses is fixed. 26. The method according to claim 23, characterized in that the number of and / or the duration (tscH) of the switching pulses in a dynamic Lemmodus is continuously determined by the control device (116) or the higher-level control, in which initially the component is controlled in the end position a motion state, such as the speed curve, the vibrations excited at the drive or the mechanical load on the drive as a result of the impact load when impacting the end position component is detected, and then by continuously changing the number and / or duration (tscH) of Switching pulses an optimal state of motion on the drive (100) is set. N2004 / 12200 • · 10 ' 27. The method according to claim 22, characterized in that generated by the control device (116) with arrival of the component in its approaching end position within the set movement time (tßSoii) at the time (T2 or Tee) a reset signal (Sns) and the switching element ( 109, 133, 134) and from this the pressure chamber (107, 108) is actuated over a period of time (tA) with system pressure, so that the component is subjected to system pressure in the direction of movement (31.3 Γ) and held in the end position by a holding force. 28. The method according to claim 22, characterized in that from a monitoring device (132) of the control device (116) at a control deviation (e) between the fixed movement time (tsssoii) and determined movement time (tßist), the theoretical end time (TTE) of the set Moving time (tsssoii) a monitoring signal (So) is triggered, with which a first time period is given, and at the end of this period a Nachschaltssignal (Sns) generated and the switching element (109, 133, 134) switched and from this the pressure chamber (107,108) is actuated with system pressure over a period of time (tA), so that the component is subjected to system pressure until it reaches its end position in the direction of movement (31.3 Γ) and is held in the end position with a holding force. 29. The method according to claim 28, characterized in that in the movement phase of the component shortly before reaching the approaching end position via a switching lug (27a, b) on the sensor (119,120) at a time (Ti) a first measurement signal (Si) and to a later time (T2) a second measurement signal (S2) is detected and that a second time period (tp) from the time difference between the first measurement signal (Si) and a to switching time (Tuzn) triggered control signal of the last switching pulse is determined by the monitoring device ( 132), the aftershift signal (Sns) is generated before the end of the first period of time and the switching element (109, 133, 134) is switched, if the first time period exceeds the second time period (tp), so that the component early in the direction of movement (31,31 ') is subjected to system pressure. N2004 / 12200 · -11 ·· - • · · · · · · · 30. Fluidically actuated drive (100) for carrying out the method according to one of claims 22 to 29, with components which can be adjusted relative to one another, of which a component is moved via at least one switching element (109, 133, 134) into a first direction of movement (31) and into one of the first Movement direction (31) opposite, second direction of movement (3Γ) is movable between end positions, wherein an electronic control device (116) arranged in the end positions sensor (119,120) control signals for the timing of the movement phase of the component for gently starting the end position are zu-guidable and by the control device (116) the switching element (109, 133, 134) can be actuated by means of the control signals, characterized in that via the control device (116) a desired value of the movement time (tssoii) for the movement of the component from the one end position into the other end position can be determined and the sensors (119,120) on the adjustment movement of the component of the one Endla ge in the other end position, an actual value of the movement time (tistist) is detected and that the control device (116) for soft start of the end position from a target-actual comparison between the set movement time (tasoii) and the determined movement time (tßist) is a manipulated variable for at least one of two temporally successive switching times (Tuzi, Tuz2) of the switching element (109; 133, 134) and the switching element (109, 133, 134) for setting a control duration (ts0) predetermined by the switching times (Tuzi, Tuz2) by changing the switching time (Tuzw Tuz2) according to the manipulated variable in FIG the first movement phase subsequent, further movement phase of the component in the same direction of movement (31.3 Γ) is provided and that the component by controlled control of the switching element (109; 133, 134) for the time being within the set control period (tsü) is accelerated to a desired speed, and Thereafter, the switching element (109, 133, 134), starting from the second switching time (Tuz2) over a period of time (toe) to a predetermined by the fixed movement time (tsssoii) predetermined theoretical end time (Tte) by the control means (116) is pulsed actuated. 31. Drive according to claim 30, characterized in that the control device (116) additionally comprises a monitoring device (132) for generating a monitoring signal (So) and evaluation of a first and second time period (tF). N2004 / 12200 32. Drive according to claim 30, characterized in that the Steuereinrich device (116) additionally has an input and / or output device (131) for setting the number and / or the duration (tscH) of the switching pulses or output an error message. STIWA-Fertigungstechnik Sticht Gesellschaft m.b.H. by (Dr. (fynief) N2004 / 12200