Siemens Aktiengesellschaft

Dominik Budday

Maximilian Walter

Sören Burmeister

Alexander Stein

Minh Le

Peter Zittlau

A method for projecting safety-related monitoring for a multi-axis kinematic system with multiple movable segments. The method includes assigning multiple respective segment kinematic zones to in each case one or more segments of the multi-axis kinematic system, wherein the respective segment kinematic zones are formed by segment bounding volumes in dependence on the respective segments, providing respective movements of the respective segments in the Cartesian space, ascertaining for each segment spatial elements to be passed through as a result of the respective movements provided, determining for each segment respective overall bounding volumes as respective segment working zones on the basis of the ascertained spatial elements to be passed through, and providing the respective segment working zones for the projecting of a safety function of the safety-related monitoring.

Projecting safety-related monitoring for a multi-axis kinematic system with multiple movable segments

A method and an associated controller for safely operating a multi-axis kinematic system by using a safety function are disclosed. The method includes calculating compensation values at the run time of a controller of the multi-axis kinematic system, wherein the calculation is performed based on predefinable error values of respective axes, geometric parameters of the multi-axis kinematic system, and current axis values of the multi-axis kinematic system. The method further includes operating the safety function based on the calculated compensation values.

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Erlangen, Germany

Dominik Budday