Siemens Aktiengesellschaft

Johannes Welker

Guido Seeger

Bernd Quaschner

Wolfgang Papiernik

Stefan Kuenzel

Thomas Grohmann

Lars Immenroth

Siegfried Schleicher

Ricky Berghold

Robert Pulawski

A method which allows an operator to quickly form a clear picture with regard to the positioning accuracy of a machine part that is displaceable along an axis by means a drive controlled by a controller includes specifying with the controller nominal position values of the machine part in relation to a single axis, wherein the nominal position values are defined by a sine function; displacing the machine part with respect to the single axis in accordance with the nominal position values; determining with a measuring device actual position values of the machine part in relation to the single axis; and visualizing the actual position values of the machine part in relation to the single axis graphically in a circular representation.

Method for checking the positioning accuracy of a machine part that is displaceable with respect to at least one axis by means of a drive and a controller

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

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.

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Neumarkt, Germany

Johannes Welker