Siemens Aktiengesellschaft

Bernd Quaschner

Wolfgang Papiernik

Günter Schwesig

Johannes Welker

Guido Seeger

Stefan Kuenzel

Thomas Grohmann

Raimund Kram

Maximilian Walter

Rolf-Dieter Pavlik

Wilhelm Westermeyer

Elmar Schaefers

Stefan Maetschke

Theo Reichel

Georg Wiegaertner

Friedrich Erkens

Siegfried Schleicher

Matthias Frank

Ran Gao

Ulrich Hahn

A method for monitoring acceleration of a number A of axes of a multi-axis kinematic system utilizes a sampling process with a first sampling interval, wherein a first acceleration limit value assigned to the first sampling interval and a second different acceleration limit value is determined for the acceleration, where a second time interval is assigned to the second acceleration limit value, a plurality of position values of the axis is determined by sampling with the first sampling interval, a current acceleration is calculated via the ascertained position values, and the calculated current acceleration is monitored via a first instance of monitoring utilizing the first acceleration limit value and the assigned first sampling interval and, simultaneously, via a second instance of monitoring utilizing the second acceleration limit value and the assigned second time interval, such that acceleration of an axis is monitored using at least two acceleration limit values simultaneously.

Method and apparatus for monitoring an acceleration of an axis of a multi-axis kinematic system

A drive device for an electric motor is provided. The drive device decides based on signals it receives from outside whether it is monitoring an actual value of the electric motor with respect to the adherence to an actual value condition (monitoring operation). During monitoring operation, the drive device causes the motor to be disconnected from a power supply if the actual value does not adhere to the actual value condition. Via a communication connection, the drive device provides a drive control unit with first information, which reveals whether the drive device is in the monitoring operating mode. The drive device provides the drive control unit with second information, which reveals what the actual value condition is. Based on the first information, the drive control unit examines whether the drive device is in the monitoring operating mode. If this is the case, the drive control unit, based on the second information, determines what the actual value condition is.

Drive device for at least one electric motor and drive control unit interacting with the drive device

The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

Method of control and control structure for the movement control, pre-control and fine interpolation of objects in a speed controller clock which is faster than the position controller clock

A critical resonant frequency (f ) of the axes of a moving machine element is damped as effectively as possible with the aid of a jerk limitation. Good damping in the case of a desired frequency is achieved when the longest possible time (TrLim) which can be traveled with a maximum permissible jerk (rLim) is selected such that 1/TrLim coincides with the lowest natural frequency (f ) of the participating axes. This finding is implemented by adapting the path dynamics such that the TrLim&equals;aMax/rLim yielded by the prescribed dynamics limiting values is varied by reducing the maximum jerk (rLim) to achieve good damping results for the lowest natural frequency (f ) of the participating axes.

Jerk-limitation with adaptation of the path dynamics

A process and device are provided for numerical control, in particular, of machine tools or robots having a plurality of axes. The process and device use base interpolations performed on a block-by-block basis and, in addition, one or more gear interpolations that convert a controlling guiding motion into a follower motion. Each gear interpolation is assigned parallel to one or more base interpolations and functions independently of block limits of a base interpolation in its own gear interpolation segments. The coupling characteristic of a gear interpolation ensues from a coupling factor, from a control curve stored in tabular form, or from a control curve stored as a mathematical functional equation. The gear interpolations can be obtained from so-called gear interpolation units and can be cascaded. Moreover, they can be fed back directly or indirectly and can be variably interconnected, as needed, with any existing sources and actuators. Besides generating geometric reference signals, gear interpolations can also be used for process control and process monitoring.

Numerical control system with hierarchical interpolation functions

Device designed to compensate for non-linearity of machine shafts

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Grossenseebach, Germany

Bernd Quaschner