Siemens Aktiengesellschaft

Siements Aktiengesellschaft

Guido Seeger

Martin Kiesel

Johannes Welker

Wolfgang Papiernik

Jochen Bretschneider

Bernd Quaschner

Stefan Kuenzel

Thomas Grohmann

Gerhard Heinemann

Michael Franke

Klaus Hertinger

Rolf-Dieter Pavlik

Bernhard Weissbach

Steffen Hellmich

Dietmar Wanner

Werner Herla

Karl-Josef Amthor

Lars Immenroth

Josef Hammer

G&uuml;nter Schwesig

Ronny Hopf

Michael Zeitler

Björn Frerking

Matthias Bauer

Manfred Böhm

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

When carrying out an industrial process or during the operation of an industrial system or machine, relevant data is to be detected without additionally loading the control of the industrial process or the system or machine in question. For this purpose, the invention provides a control system (&#x2033;) with a real control (&#x2033;) for controlling an industrial process, a system or a machine; a virtual control (&#x2033;) for simulating the control of the industrial process, the system, or the machine; synchronization means for synchronizing the real control (&#x2033;) and the virtual control (&#x2033;); and a higher-level processor unit (&#x2033;) for detecting and/or generating operating data and/or state data with respect to the process, the system, or the machine, wherein the operating data and/or state data is based on data originating from the virtual control (&#x2033;). By requesting the data from the virtual control (&#x2033;), the real control (&#x2033;) is not additionally loaded.

Control system and method for operating a control system with real control and virtual control

There is described an engineering systems and generating projects. The projects are used by runtime systems for the control of device and machine modular arrangements. The projects are not completely unmodifiable, instead an individualization layer is provided: particular data input possibilities for base data used by the runtime system are provided with an attribute, which gives whether the data entry in the project shall be unmodifiable or whether said entry may be optionally modifiable by the runtime system. A change is correspondingly optionally carried out with the runtime system. The actual core of the project, however does not need to be re-programmed such that a reversion to the engineering system is not necessary.

Method for controlling a device and machine module arrangement as well as an engineering system and runtime system for implementing the method

The invention relates to a synchronous clocked communication system, for example a distributed automation system, the stations of which can be arbitrary automation components and which are coupled to one another via a data network. Using the disclosed method for integrating decentralized input/output modules, these decentralized input/output modules can be linked into the synchronous clocked communication system in such a manner that they can use their characteristics unrestrictedly. Thus, in particular, the detection of input signals and the output of output signals is possible in a deterministic and synchronous manner in the decentralized input/output modules. In addition, the disclosed method enables input signals to be detected with an accuracy of less than the length of one communication cycle of the communication system and to support the switching of output signals in smaller time granularities than the length of one communication cycle which, in particular, finds use, e.g. for switching cams.

Synchronous clocked communication system with decentralized input/output modules and method for linking decentralized input/output modules into such a system

A data transmission system is described that connects a controller with drives in machine tools and production machines. The controller can be connected via an internal data bus with at least one internal drive, wherein the same data bus profiles are used for the internal data bus as for an external data bus. A user then sees the same data interface both for a central control topology and a drive-based control topology. This allows the user to readily interchange the two topologies and port existing applications to the various control topologies.

Data transmission system for connecting a controller with drives

Synchronization of a bus master to a bus slave permits the desired hierarchical structuring of buses by virtue of a bus slave on a bus receiving the synchronization information for an associated bus master is disclosed. A phase locked loop is used to filter this clock information and to regenerate missing clock pulses. This clock which is now 'sound,' is supplied to one or more parallel bus masters of other buses, which generate the corresponding clock information using the necessary messages on the respective bus. This principle is independent of the respective bus system, which means that a plurality of identical buses or else different bus systems can be operated hierarchically in synchronization with one another.

Method for synchronizing a plurality of bus systems, and hierarchical multibus system corresponding thereto

A device and method is described for safely recognizing a switch position angle of a rotary switch. Two redundantly configured computer units are provided to determine discrete switch positions of the rotary switch by evaluating two actual analog switch position signal values corresponding to the switch position angle, with each computer unit separately checking the actual analog switch position signal values for plausibility. Faulty switch position angles are identified by comparing the switch position angles determined by the first and the second computer unit.

Device and method for safely recognizing switch positions of a rotary switch

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 control system controls the movement of an object based on desired position data. The control system includes a first regulator configured to regulate the position of the object, a feed forward control configured to feed the desired position data forward to a second regulator at a lower level than the first regulator, and a modeling filter configured to receive the desired position data and to provide the desired position data to the first regulator with a predetermined time delay.

Delay time modeling filter for cascaded regulator structure

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Baiersdorf, Germany

Guido Seeger