Abstract:
An automatic production and assembly machine focuses on the fact that each unit is provided with coding indicating at least the type of the specific function unit. The coding is transmitted via data transmission existing between the individual function unit and a central control unit. The coding makes possible continuous checking of the control program, such that certain program sequences for certain workstations are only executed when the coding of these workstations agrees with the respective program sequence. A number of other important functions are monitored, corrected and made to coincide with the central programming.

Description:
BACKGROUND OF THE INVENTION 
     The invention relates to an automatic production and assembly machine. 
     Automatic production and assembly machines are known in the most varied forms. They are used for automatic production, and/or assembly, of components, or modules, composed of individual components which are supplied to work positions or to function units there, specifically to workstations. On the receivers which are moved past the workstations in a clocked manner these components are then assembled to the respective component, or the respective module in succession. The workstations can also be test stations. 
     For a simple design and production of these automatic production and assembly machines, to make them as efficient as possible, it is a good idea, at least for individual functions, which are required in the same or similar form in the assembly of components or modules of varied types, to provide standardized function units or workstations and standardized pertinent tools. 
     Furthermore, it is conventional and necessary for the individual function units to have sensors or interrogators, or to have actuators, for example pneumatic cylinders, and the pertinent electrical control valves, which then are monitored and/or controlled directly or indirectly by a central control and computer unit. This is a first central control program for the entire machine. This central control program must, among others, consider the type of function units used on the base unit, their position and arrangement. 
     The object of the present invention is to devise an automatic production and assembly machine which, in an especially simple and reliable manner, guarantees consideration of the function units used, i.e. workstations and/or tools in the control sequence. 
     SUMMARY OF THE INVENTION 
     The particularity of the invention resides in that each function unit is provided with coding which indicates at least the type of this function unit. This coding is transmitted via data transmission which exists between the individual function units and the central control unit. This yields a series of very advantageous possibilities, for example, automatic consideration of the control and monitoring functions which are necessary for the individual function units in the central control program, checking of the central control program for its conformity with the control and a test program which is necessary for the individual function units, etc. 
     The coding is delivered, for example, at one data output of the electronics of the respective function unit and is filed in these electronics, for example, in a chip or by corresponding contact-making, for example using contact bridges, etc. If the data are transmitted via a data link, which is formed by electrical conductors, for example, via a conductor bus, in the simplest case, the coding can also take place by corresponding assignment of contacts of a multiple plug, or a multiple socket, which is used to connect to the bus. 
     In one embodiment of the invention, the coding is done such that it also contains an indication of the position of the respective function unit on the base unit. 
     The approach as claimed in the invention makes possible continuous checking of the control program, such that certain program sequences for certain workstations, and/or tools, are only executed when the coding of these workstations, and/or tools, agrees with the respective program sequence. 
     For purposes of the invention, a “function unit” is defined as a unit with which the work necessary at a work position and/or functions are executed. The “base unit” is used for further transport of receivers from work position to work position. The base unit is, for example, one with a rotor which is rotary-driven around a vertical machine axis and on which there are receivers. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The invention is detailed below using the following Figures: 
     FIG. 1 shows, in a simplified representation, a vertical section through an automatic production machine as claimed in the invention; 
     FIG. 2 shows in a simplified representation an overhead view of the automatic machines of FIG. 1; 
     FIG. 3 shows a simplified diagram of the process sequence in the machine configuration; 
     FIGS. 4 and 5 each show the connection diagram of the base machine with a first group of function units of workstations and a second group of function units of workstations, and 
     FIGS. 6 and 7 each show in an overhead view the supply connector or the mating supply connector for connection of a function unit, especially a function unit of the second group. 
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The automatic production machine, which is shown in the figures and which is generally labelled  1  there, is used, for example, to produce or assemble components or modules from a plurality of individual parts, or components, which are supplied to the automatic production machine or its workstations  4 . The automatic machine  1  is especially suited for assembly of small-format, mechanical, and/or electromechanical components, such as microswitches, etc. 
     The automatic production machine  1  contains a base unit  2  on which a plurality of work positions  3  are formed, distributed around a vertical middle or machine axis V. At each work position  3  there is, for example, at least one workstation  4 . The workstations  4  are made very differently, and depend on the process steps executed at the respective work position  3 , and the supplied and/or processed components, etc. Some stations  4  are used to supply components to the respective work position  3  and to prepare them at this work position in a stipulated position and/or orientation, previously for example, the components were checked individually, the presence of components and/or their correct orientation and position being checked, etc. Some work positions  3  are for measurement and testing, the workstations  4  there act as measurement or test stations. 
     In the embodiment shown in the figures, a lifting means  5 , with a tool carrier  6 , is assigned to the work positions  3 . The tool carrier  6  synchronously with the drive, or the working stroke of the base unit  2 , can execute a horizontal stroke (double arrow A) and/or a vertical stroke (double arrow B). On the tool carrier  6 , there can be provided a variety of tools  26 , for example grippers, feeders, measurement contacts, riveting or punching tools, etc. which then interact with the station  4 , which is also provided at the respective work position  3 , for performing the work there. In some work positions  3 , the lifting means  5  can be omitted. 
     The base unit  2  has a machine frame or a housing  7 , in which there is the mechanical drive of the base unit and on which, in the embodiment shown on the outside an annular table  8 , is attached which projects in the manner of a polygon on the periphery, which is formed by a plurality of segments, and which is used for attachment of the workstations  4 . The table  8  is provided on a bottom segment  7 ′ of the machine frame  7 . 
     The machine frame  7  has a segment  7 ″, on which a vertical column  9  which concentrically surrounds the axis V is attached to the top with its bottom end which projects over the top of the segment  7 ″. On the column  9 , a hollow shaft  10  is pivotally mounted which with its top end is attached to a rotor or a rotary table element  11 . The bottom end of the hollow shaft  10  is connected to the drive  12  which causes clocked rotary motion of the table  11  around the axis V via a Geneva drive which is driven by the electric motor  13 . Above the table element  11 , a table element  14  is attached to the column  9  which does not turn at the same time and like the table element  11  is made in the shape of a circular disk and with its axis is coaxial with the axis V. The table element  11  projects with a peripheral area  11 ′ over the edge of the table element  14 . Receivers  15  are attached to the peripheral area  11 ′ and are used for holding a module or a component and have on their top a corresponding “nest” in which the modules, which are assembled increasingly to the desired product, are located in a central control unit in an exactly stipulated orientation and positioning. In each working stroke of the drive which has at least one motion step and a subsequent down time, the receivers  15  continue to move by one machine division around the axis V. The work positions  3  are located around the axis V corresponding to this machine division. 
     For the movements of the lifting means  5 , which are located on the table element  14 , which does not turn, there are lifting rods  16  and  17  which are actuated by the drive  12  and which have one control disk  18  and  19 , each which is common to all means  5 . Lever arrangements  20  and  21  of the lifting means  5  interact with these disks in order to execute the respective movements synchronously with the movement of the lifting rods  16  and  17  and thus synchronously with the drive  12 . 
     As was already mentioned above, the work stations  4  are made differently according to the working process at the respective work position  3 , and are made with a variety of sensors  22 , actuators  23  (for example, pneumatic cylinders) or other electrical or mechanical drives, or control elements  24 , for example, control valves. Furthermore, in the embodiment shown, each workstation  4  has microprocessor-supported electronics  25  which interact with the aforementioned sensors, actuators, control valves etc. and receive their signals and/or trigger these elements. 
     In general, one of the tools attached to one of the carriers  6  of the lifting means  5  is labelled  26 , in FIG.  1 . This tool  26  has interrogators or sensors  27  which monitor the position and/or the state of the tool  26  (for example, opened and/or closed state of tongs), and/or actuators  28  for actuating the tool  26  or parts of this tool (for example, for opening and closing grippers or tongs) and/or control valves  29 , for example for opening and closing of vacuum channel which leads to a nozzle or of a channel for blowing air, etc. Also, for example, microprocessor-supported electronics  30  are assigned to the tool  26  and interact with the elements  27 - 29  of the tool  26 . Since the elements  22 - 24  and  27 - 29  with respect to their number and/or arrangement on the workstation  4 , or on the tool  26 , depending on function can be very different, in FIG. 1 these elements are given as a block which is referenced to the workstation  4  or the tool  26  with the broken line. In fact these elements and the pertinent electronics  25  and  30  are a permanent component of the respective workstation or the respective tool  26 . 
     Since in the manufacture of different types of products, the same or very similar working steps are necessary, not only is the base unit  2  of the automatic production machine  1  standardized, but at least in part, the workstations  4  and the pertinent tools  26  are standardized. Fully serviceable modules, which are matched to the respective function, and which are assembled according to the production process, or the process sequence, at the pertinent work positions  3 , for example, with the pertinent tool  26  on the pertinent lifting means  5 . These standardized workstations  4  are stations for feed and/or separation and/or insertion and assembly of springs and/or contacts and/or housing parts, electrical and/or mechanical test and measurement stations, stations for producing screw and rivet connections, etc. 
     A central, microprocessor- or computer-supported control unit labelled  32  is used for central monitoring and/or control of all workstations  4 , and the pertinent tools  26 , and is connected, for this purpose, via data links  33  to the workstations  4  and tools  26 , or to their electronics  25  and  30 , for example, via an electrical bus system which has several electrical leads, or via a fiber optic bus. 
     The central control unit  32  contains the program for monitoring and/or control of the individual workstations  4 , and the pertinent tools  26 , for each type of workstations  4  or tools  26  there being one separate component program or subroutine  34  at a time. 
     Each workstation  4  and each tool  26  in the present machine configuration, i.e. in the selected arrangement of the workstations  4  on the base machine or base unit  2 , has coding which has among others at least one multiplace station code or equipment identification IG, which determines the type of workstation or tool  26 . This equipment identification IG is permanently filed in the electronics  25  and  30  of the pertinent workstation  4 , or the tool  6 . In addition, these workstations  4 , or tools  26 , which do not correspond to one standard type, i.e. which represent a special fabrication for the special task, have an equipment identification IG which is permanently filed in the electronics  25  or  30  and which identifies, or fixes, the workstation  4 , or the tool  26 , of one such unstandardized type. 
     The coding contains other information, for example, also changing identifications, such as, for example, location coding or location identification IP, which indicates the position of the respective workstation  4  on the base unit  2 , i.e. the respective work position  3 , at which there is the pertinent workstation  4 . For identification IP, for example, on the machine frame  7  and/or on the tool carriers  6  there is coding which is acquired and/or scanned with a corresponding coding means of the electronics  25  or  30 . 
     The codings of the workstations  4 , and the tools  26 , are transferred to the central control unit  32  via the data link  33 . Based on these codings, checking of the actual machine configuration with a desired configuration, programming of the central unit is possible. Furthermore, codings of the workstations  4 , and tools  26 , can be for simplified programming of the central control unit  32 , by retrieving standard subroutines  34  which have already been filed for the respective type of a standardized workstation  14 , or a standardized tool  26 , or are available on a data medium, etc. Furthermore, the control program of the machines  1 , or the individual workstations, can be checked and/or monitored with the codings transferred to the central control unit  32 . 
     Since in the described embodiment, some functions of the machine, specifically continuing to move the rotary table  11  and the receivers  15  there, movements of the tool carrier  6  on the lifting means  5  take place permanently forced by the drive  12 , the sequence of the control and monitoring program of the central control unit  32 , for the individual workstations  4 , and the pertinent tools  26 , is synchronized with the drive of the automatic machine  1 . 
     Design of the control of the workstations  4 , or the function elements of these workstations, is described in general above. FIG. 3 shows in a simplified representation and as a diagram the procedure in the configuration and programming of a base unit, or a base machine  2 , with the workstations or function elements  4  necessary for manufacturing a certain product. The machine configuration and the programming of the control unit  32  which follows from the configuration takes place using a special computer  35  which is connected during configuration via a data line to the control unit  32 . Of course, it is also possible for the control unit  32  itself to be made as a computer for producing the desired configuration and the machine program. 
     According to the diagram reproduced in FIG. 3, a desired machine configuration (block  40 ) is prepared proceeding from the product  36  to be manufactured, first with consideration of the function elements present in a type administration  37 , with establishment of the time sequence of the working steps necessary for manufacturing the product  36  (block  38 ) and with establishment of the positions of the individual function units, or the workstations, formed by them on the base unit  2  (block  39 ). In FIG. 3, the individual types of function units are labelled A 1  . . . A n , B 1  . . . B n , and C 1  . . . C n , the function elements A being those of one such first group with simplified function, and control, and the function elements B and C being those of one such second group which have more complex operation, and triggering, and thus which require a more complex control program. With consideration of the desired configuration, the control program for the machine is then prepared (block  41 ). Here for the most part subroutines filed in the configuration and programming unit  35  for the individual function elements A 1  . . . A n , B 1  . . . B n , and C 1  . . . C n  can be used, from which then the unit  35  at least for the most part prepares the overall control program independently. 
     If the number of work positions on the base machine is larger than the number necessary for manufacture of the product  36 , it is possible to set up on the same base machine  2  another process line for manufacture of the same product  36  or another product  36  by configuration of the work positions which are not needed in the first process line, then the overall control program of the machine  1  is prepared from the individual desired configurations. 
     The different types A, B, and C for the function units, the pertinent programs, etc. are filed as a database in the configuration and programming unit. 
     Based on the desired configuration, the individual workstations  4  are then built up from the function elements A, B, and C which have been established in the desired configuration on the individual work positions  3  of the base machine  2 , which have been established likewise in the desired configuration. This actual configuration (block  42 ) is then compared after its completion with the desired configuration (block  43 ). This comparison is done automatically by the configuration and programming unit  35  and is possible by the configuration and programming unit  35  which is connected to the control unit  32  having accurate information available about the actual configuration via the equipment identification IG, and the pertinent location identification IP, especially about which work positions  3  are in fact occupied by function elements and which function element is located on which work position. 
     If checking yields agreement of the actual configuration and the desired configuration, this is confirmed and the control program  41  is released for a trial run of the machine (block  44 ). If no agreement is ascertained between the desired configuration and the actual configuration, this is displayed and requested for checking of the actual and/or desired configuration (block  45 ). 
     The function units are transfer or re-positioning elements with pick- and place-function or simple measurement probes or monitoring sensors, etc. The function elements B and C are more complex feeds of components, such as springs, connecting elements, contacts, housing parts, etc. or function elements for executing special processing or machining sets, measurement means, etc. 
     FIG. 4 shows the connection of the base machine with the function units of group A, with respect to the signal and power supply, for the sake of simplification only one of the function units A is shown. 
     The function units of group A, in the embodiment shown, are those which are provided on the movable tool carriers  6  of the base machine  2 . The function elements of group B and C are those which are located in a distributed manner on the table  8  of the base unit  2  and around the peripheral table element  11 . The individual workstations are then formed, at least in part, by at least one function element of group A and one function element of group B and C. 
     As has already been detailed above, data transmission and triggering of the individual function elements take place via the data bus  33  which is shown again in FIG.  4 . For all function elements A, or for one certain number of these function elements at a time, combined on the base machine into a block, there are control elements  46  for triggering the actuation elements  47  of these function units A. In the embodiment shown in FIG. 4, the control elements are valves and the actuation elements  47  are pneumatic cylinders actuated via these valves. For the control elements  46  on the base machine  2 , there is furthermore one bus node  48  which depending on the commands transmitted via the bus  33  controls the control means  46  for actuating the respective actuation element  47 . 
     Analogously to triggering the actuation element  47 , for all function units A, or for one group of function units at a time, there is a common bus node  49  which is connected to at least one input and output electronics, or input and output unit  50 , which is provided on the base machine  2  and to which the sensors  51  of each function unit A are connected. The unit  50  for the sensors  51  of all function units A has inputs  50 ′. Furthermore, the unit  50  for each function unit A has one input  50 ′ on which then there is a DC voltage signal when a function unit A is connected or “plugged” to the corresponding work position  3 , i.e. a line  52  of the base machine  2  which carries the DC voltage is connected via the bridge  53  which is present in each function unit A to the terminal  50 ″. 
     The connection of each function unit A to the base machine  2  takes place via a connector which is provided on the function unit A and a corresponding mating connector which is provided on the base machine  2  at each work position  3 , in the connector of the respective function unit A there also being is the bridge  53 . The connector and the mating connector are made such that this plug connection is common to the entire signal and power supply. 
     FIG. 5 shows in a similar representation to FIG. 4, the diagram of the connection of the function units B and C to the base machine  2 , for the sake of simplification, only the connection of one such function unit to the base machine is shown. 
     In FIG. 5, the data and control bus is labelled  33 . Furthermore, in FIG. 5, the pneumatic supply, which is provided on the base machine  2 , is labelled  54 , i.e. in the embodiment shown one line for incoming air and one line for outgoing air. The electrical low voltage supply labelled  55  supplies electronic circuits or the respective function unit B/C. Furthermore a line voltage supply on the base unit for function units B and C is labelled  56 . 
     As is shown in FIG. 5, each function unit B/C has its own electronics  57  and its own bus coupler  58  via which the electronics  57  interacts with the data and control bus  33 . The electronics  57  trigger the valves  59  which are provided separately for each function unit P/C for actuating the actuation elements or cylinders  60 . The valves  59  are connected via a block supply  61  to the pneumatic supply  54 . 
     Furthermore, sensors  62  of the respective function unit B/C are connected to the electronics  57 . Furthermore, the electronics  57  have inputs  63  on which for the function unit B/C mounted on the base machine  2  there is a signal which corresponds to the location identification IP of the respective work position  3  on which the function unit is mounted. The signal on the inputs  63  is generated by a local coding unit  64  which is formed by corresponding wiring and which is provided on the respective work position  3 . In the embodiment shown the function unit B/C has another control device  65  which, controlled by the electronics  57 , controls electrical function elements which are not shown. Furthermore, the function unit B/C is connected to a protective circuit  56  (protective ground) of the base machine  2 . The entire signal and power connection between the base unit and the function unit B/C takes place via a common connector which is provided on the respective function unit and a mating connector which is provided on the respective work position preferably such that when the respective function unit is positioned on one work position in addition to mechanical alignment and fixing of the function unit the connection between the connector and mating connector also takes place. FIG. 6 shows one such mating connector  67  which is provided at each work position  3 . FIG. 7 shows the connector which fits for this purpose and which is provided on each function element B/C. 
     Depending on the control signals transmitted via the bus  33  the cylinders  60  and the control devices  56  are triggered via the bus coupler  58  and the electronics  57 . Furthermore, the signals of the sensors  62  are transmitted via the bus coupler  58 . From the equipment identification IG, which is filed in the electronics  57 , and which defines the type of function unit B/C, and from the location identification IP, which is derived from the coding means  64 , and which is present at the input  63 , the electronics  57  form the overall coding which is transmitted on request via the bus coupler  58  and the data and control bus  33  to the control unit  32 . 
     As FIG. 5 furthermore shows, the control and data bus is looped through by the bus couplers  58  of the individual function units B/C. This yields an especially simple design of this bus, in the form of a fiber optic bus. At work positions  3 , where there is no function unit B/C, an empty unit is positioned which has only the electronics  57  with the inputs which interact with the coding means  64  and the bus coupler  58 , and delivers the corresponding identifications IP and IG. 
     Via the connector  68 , and the mating connector  67 , the connection of all lines for signal and power transmission takes place. The connectors for this reason have two connections  69  and  70  for incoming air and outgoing air (supply  54 ). At least the connection for the incoming air is formed on the mating connector provided on the base machine  2  such that it is automatically closed when the connector  68  is removed. On the connector  68 , and the mating connector  67 , there are several electrical contacts  71  for the electrical signal lines. Furthermore, on the connector, there are centering pins  72  to which the corresponding centering openings  73  on the mating connector  67  are assigned. 
     The invention was described above in relation to a preferred embodiment. It goes without saying that numerous modifications and changes are possible without departing from the inventive idea underlying the invention. For example, it is possible for the sensors  27  and/or actuators  28  and/or valves  29  or the tools  26  to be provided, at least partially, on the pertinent workstation  4  and/or to be connected via connections to this workstation or to the electronics  25  there, the coding which has been delivered by the electronics  25  also containing another identification IW which indicates the respective tool  26  assigned to the workstation  4 . 
     Furthermore, it is possible to assign the electronics  30  to the respective lifting means  5 , the coding which has then been delivered by these electronics  30  changing according to the tool  26  which is provided on the lifting means  5 . 
     
       
         
               
             
               
               
               
             
           
               
                   
               
               
                 Reference number list 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                   
                  1 
                 automatic production machine 
               
               
                   
                  2 
                 base unit 
               
               
                   
                  3 
                 work position 
               
               
                   
                  4 
                 workstation 
               
               
                   
                  5 
                 lifting means 
               
               
                   
                  6 
                 tool carrier 
               
               
                   
                  7 
                 machine frame 
               
               
                   
                  7′, 7′′ 
                 machine frame section 
               
               
                   
                  8 
                 table 
               
               
                   
                  9 
                 column 
               
               
                   
                 10 
                 hollow shaft 
               
               
                   
                 11 
                 table element 
               
               
                   
                 11 
                 peripheral area 
               
               
                   
                 12 
                 drive 
               
               
                   
                 13 
                 motor 
               
               
                   
                 14 
                 table element 
               
               
                   
                 15 
                 receiver 
               
               
                   
                 16, 17 
                 lifting rod 
               
               
                   
                 18, 19 
                 control disk 
               
               
                   
                 20, 21 
                 lever means 
               
               
                   
                 22 
                 sensor 
               
               
                   
                 23 
                 actuator 
               
               
                   
                 24 
                 control valve 
               
               
                   
                 25 
                 electronics 
               
               
                   
                 26 
                 tool 
               
               
                   
                 27 
                 sensor 
               
               
                   
                 28 
                 actuator 
               
               
                   
                 29 
                 control valve 
               
               
                   
                 30 
                 electronics 
               
               
                   
                 32 
                 central control unit 
               
               
                   
                 33 
                 data transmission or data and control bus 
               
               
                   
                 34 
                 subroutine 
               
               
                   
                 35 
                 configuration unit 
               
               
                   
                 36-45 
                 block 
               
               
                   
                 46 
                 control element 
               
               
                   
                 47 
                 actuation element 
               
               
                   
                 48, 49 
                 bus node 
               
               
                   
                 50 
                 electronics 
               
               
                   
                 50′, 50′′ 
                 inputs 
               
               
                   
                 51 
                 sensor 
               
               
                   
                 52 
                 line 
               
               
                   
                 54 
                 supply 
               
               
                   
                 55, 56 
                 line 
               
               
                   
                 57 
                 electronics 
               
               
                   
                 58 
                 bus coupler 
               
               
                   
                 59 
                 valves 
               
               
                   
                 60 
                 cylinder 
               
               
                   
                 61 
                 block supply 
               
               
                   
                 62 
                 sensors 
               
               
                   
                 63 
                 lines 
               
               
                   
                 64 
                 coding element 
               
               
                   
                 65 
                 control device 
               
               
                   
                 66 
                 protective circuit 
               
               
                   
                 67 
                 multiple mating connector 
               
               
                   
                 68 
                 multiple connector 
               
               
                   
                 69, 70 
                 connections for incoming and outgoing air 
               
               
                   
                 71 
                 electrical contacts 
               
               
                   
                 72 
                 centering pin 
               
               
                   
                 73 
                 centering openinq 
               
               
                   
                 Figure 4 
               
               
                   
                  2 
                 base machine 
               
               
                   
                  1. 
                 pneumatics 
               
               
                   
                 48 
                 bus node pneumatics 
               
               
                   
                 46 
                 valves 
               
               
                   
                  2. 
                 supply 
               
               
                   
                 49 
                 bus node I/O 
               
               
                   
                 50 
                 I/O 
               
               
                   
                 26 
                 Function unit “A” 
               
               
                   
                 44 
                 cylinder 
               
               
                   
                 53 
                 “unit plugged in” 
               
               
                   
                 Figure 5 
               
               
                   
                  2 
                 Base machine 
               
               
                   
                  1. 
                 pneumatics 
               
               
                   
                 54 
                 incoming air, outgoing air 
               
               
                   
                  2. 
                 Supply 
               
               
                   
                 33 
                 field bus (optical fiber, copper) 
               
               
                   
                 55 
                 24 V supply 
               
               
                   
                 64 
                 location coding 
               
               
                   
                 56 
                 230 V supply 
               
               
                   
                  3. 
                 Protection 
               
               
                   
                 66 
                 protective circuit 
               
               
                   
                  4 
                 Function unit “B”, “C” 
               
               
                   
                 61 
                 block supply 
               
               
                   
                 60 
                 cylinder 
               
               
                   
                 59 
                 valves 
               
               
                   
                 58 
                 bus coupler (BK) with station coding 
               
               
                   
                 62 
                 sensors 
               
               
                   
                 57 
                 I/O 
               
               
                   
                 65 
                 control devices