Siemens Aktiengesellschaft

Carsten Hamm

Klaus Geissdörfer

Elmar Schäfers

Wolfgang Papiernik

Jens Hamann

Uwe Ladra

Hans-Georg Köpken

David Bitterolf

Matthias Diezel

Sven Tauchmann

Tomas Sauer

Hartmut Linke

Theo Reichel

Marc Holz

David Koch

Bernd Wedel

Carsten Spindler

Torsten Schür

Stefan Künzel

Guido Seeger

Gerhard Forster

Michael Kaever

Thomas Puchtler

Markus Stephan Haschka

Jürgen Büssert

Andreas Uhlich

Gerald Reichl

Oleg Schlegel

Jörg Handeck

Michael Louis

Alexander Kubik

Florian Nikolaus Lorenz

Loay Alkafafi

Matthias Teuchert

Florian Dort

Arno Pernozzoli

Horst Körzdörfer

Tomas Prof Sauer

Wolfgang Prof Papiernik

A method for calibrating a robot is disclosed. A working space of the robot at least partly overlaps with a working space of a machining and/or production tool. The robot is moved such that a reference point of the robot is at a first position within the working space of the machining and/or production tool. A first position value for the robot at the first position is compared with a first position value for the machining and/or production tool at the position. If the first position value for the robot differs from the first position value for the machining and/or production tool, the first position value for the robot is corrected or the first position value for the machining and/or production tool is corrected such that the first position value for the robot and the first position value for the machining and/or production tool are the same.

Method for calibrating a robot

In a method for machining a workpiece with a machining system, the machining system is controlled with at least one control parameter, which is then adapted during machining of the workpiece based on an instantaneous mass of the workpiece or based on an instantaneous moment of inertia of the workpiece. The instantaneous mass of the workpiece or the instantaneous moment of inertia of the workpiece are dependent on a machining progress and are ascertained with reference to a geometric model of the workpiece to be machined based on a density of the workpiece and an instantaneous shape of the workpiece as determined with reference to the geometric model of the workpiece. The geometric model is updated with reference to a machining simulation.

Device and method for machining a workpiece

Elements of a machine are moved relative to one another along several axes. A monitoring device receives groups of position values of the axes which specify the relative position of the elements to one another. The surfaces and/or volumes of the elements taking up working space are determined therefrom. The monitoring device checks whether a collision risk between the elements exists. The monitoring device models at least parts of the surfaces of the elements with two-dimensional splines defined by nodes and checkpoints. The monitoring device further determines from the checkpoints of the splines for sections envelopes which envelop respective element in the respective section, and uses the respective envelope as a surface that is taken up by the respective element in the respective section. Boundary lines of faces of the envelopes are straight connecting lines of the checkpoints.

Collision testing on the basis of high-quality geometry

In a method for guiding a cutting head in relation to a material, a position and a speed of the cutting head are set by means of a drive unit depending on a desired position value and a desired speed value established by an interpolator unit, a control signal for the drive unit is determined, a distance between the cutting head and the material is determined with a distance sensor, and a corresponding distance signal is provided. The distance signal is compared with a predetermined comparison distance to yield a distance-control signal, and the control signal for the drive unit is additionally determined dependent upon a distance-control signal. The comparison distance is subtracted from the distance signal and the difference is superimposed on the actual position signal, which is delayed by a first time period, wherefrom the distance-control signal is determined.

Guidance of a cutting head in relation to a material by using sensor delay time

A movement controller of a machine uses in the context of processing a part program defining a useful processing action a parameter set having a plurality of parameters to determine, based on commands of the part program and actual values of a number of axes of the machine controlled by the movement controller, control commands for drives of the machine which are associated with the axes and to apply the determined control commands to the drives. A checking device checks the respective parameters for compliance with conditions defined by respective physical characteristics. In many cases, the checking device can determine the respective physical characteristics using other parameters of the parameter set.

Automatic optimization of the parameterization of a movement controller

In a control method for the movement of a tool with a machine tool, the machine tool involves a numerically controlled machine tool, in order to produce an arbitrary required surface of a workpiece by machining. A numeric path program is created which describes the machining of the workpiece with the tool at machining points and which controls the control device. The numeric path program produces a path with respect to the geometric nature of the surface of the workpiece to be machined, with the path including a plurality of sample points and individual paths, with each individual path connecting a pair of the sample points to each other. The numeric path program is evaluated and selected on the basis of a geometric quality criterion, with the geometric quality criterion having continuity as at least one criterion.

Control method for the movement of a tool and control device

A control device for a machine, with at least one axis, is configured to accept first parameters and to render a first general technological problem as a first specific technological problem. The control device is configured to determine once in advance, for a sequence of values of a position or a temporal derivation of the position of the axis of the machine, a number of variables assigned to the respective value, to solve the first specific technological problem in an optimum way. The control device is configured to store the assigned variables in a memory and, after the storage of the assigned variables, is configured to accept a first execution command. Based upon the first execution command, it is configured to output the sequence of values to the axis and during output, is configured to activate the machine in accordance with the number of variables assigned to the respective value.

Control device with integrated optimizer

The invention relates to a method () for determining an optimised trajectory for a non-productive movement of a tool () of a machine tool, from a starting position () to an end position (). The non-productive movement is carried out in a spatially restricted travelling area () which is represented by geometric conditions. The method according to the invention is executed with the avoidance of collisions and comprises the step of determining a first trajectory () of the tool () by means of a travel-finding algorithm. In this step, the first trajectory () is optimised for the non-productive movement with respect to at least one selectable target parameter.

Trajectory determination method for non-productive movements

A method for attenuating load oscillations in a load mechanism having a controlled drive, wherein a load is coupled mechanically to a motor via a spring element, includes determining an actual motor torque value, determining an actual angular velocity value, determining a motor inertial torque, calculating a spring torque from the actual angular velocity value, the motor inertial torque and the actual motor torque value, and supplying the calculated spring torque to an attenuator connection for attenuating the load oscillations.

Attenuation of load oscillations without additional measuring means on the load side

A method for identifying a secondary part during use in a linear-motor-based system, wherein a primary part includes primary-part coils in the linear-motor-based system, the secondary part has a magnetic active part and the primary-part coils can be actuated via a drive current such that an advancing force acting on the secondary part and movement of the secondary part along the primary part is achievable, where at least one secondary-part winding in a circuit is provided on the secondary part, selected primary-part coils are energized via a primary current at one or more test signal frequencies to induce a secondary current in the secondary-part winding to identify the rotor, a characteristic property of the secondary-part winding or the circuit is representative of the secondary part, and where the secondary current influences a current response of the primary-part coils and the characteristic property is measured using the current response.

Identification of a secondary part during use in a linear-motor-based system

The invention relates to a method () for switching between desired value filters () of a drive means () for a machine axis () during operation. An input signal () is applied to the first and to the second desired value filter () for producing a first and a second output signal (). Then any deviation between the first and the second output signal () is determined. If the deviation falls below a threshold value, the first desired value filter () is separated from the drive means () and substantially simultaneously the second desired value filter () is connected to the drive means (). The desired value filters () have different running times ().

Filter switching method for a machine control system

An apparatus for controlling and regulating a movement of a system includes a load calculating device calculating continuously during the movement of the system a respective force vector for each of the individual elements as a function of predetermined reference coordinates and a torque calculating device calculating continuously during the movement at least one compensating variable, wherein the compensating variable compensates the force vectors as a function of the reference coordinates and the force vectors. The apparatus for controlling and regulating has a control unit controlling continuously during the movement a force-producing variable for the at least one drive as a function of the reference and the at least one compensating variable.

Apparatus and method for controlling and regulating a multi-element system

A control facility for controlling a controlled system experiencing a disturbance includes a front nodal point receiving a target value and an actual value outputted by the controlled system and supplying a difference value corresponding to a difference between the target value and the actual value to a compensation circuit. The compensation circuit supplies a frequency-filtered and time-delayed signal formed as the sum of the weighted difference value and a weighted feedback signal as an input to a controller for the controlled system. The sum of a filter delay time and of first and second propagation delays is an integer multiple of the cycle duration of the disturbance, and a sum of the filter delay time and the first propagation delay is an integer multiple of the cycle duration minus a propagation time, which elapses until a change in the target value causes a change in the actual value.

Control facility with adaptive fault compensation

A program for a numerical control device is disclosed that determines path points to be approached by an end effector. A control signal group is ascertained for each path point that contains its set point value for each position-controlled axis. Those values are output to the axes, moving the end effector. The degrees of freedom are fewer than the position-controlled axes. The control signal groups are ascertained so that the end effector approaches the path points at least approximately. The control signal groups are ascertained gradually during the activation of the axes. The set point values are ascertained by minimizing an objective function. The objective function that is minimized includes at least the set point values for a path point only to be approached in the future. The sequence between the currently approached point and the point approached in the future has at least one further path point.

Operating machine with redundant axes and resolution of the redundancy in real time

A control device cyclically accepts each safety-oriented input signal from an industrial-technical process in a fail-safe manner, and transfers the safety-oriented input signals to a Cloud using a fail-safe protocol over a link to a computer network. The control device also accepts signals from the Cloud over the link to the computer network, using the fail-safe protocol for the industrial-technical process specific safety-oriented control signals, and decides based on additional information in a fail-safe manner whether it recognizes the safety-oriented control signals determined by the Cloud for the industrial-technical process as correct. Depending on the result of the decision, the device controls the industrial-technical process in accordance with the safety-oriented control signals in a fail-safe manner or places the industrial-technical process into a safe state in a fail-safe manner.

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Erlangen, Germany

Carsten Hamm