Siemens Aktiengesellschaft

Manfred Zäh

Rolf-Dieter Pavlik

Christof Meier

Jürgen Olomski

Norbert Settele

Jens Jähnicke

Martin Schröder

The invention provides a computer system for realtime control of machines. The computer system continually switches between a realtime programs EP providing control of peripheral devices A, A, including control and/or regulation, and other programs within the realtime clock periods. The computer system has communications system KS and a a control system SS connected to the peripheral devices A, A, particularly motor driver devices, over the communications system KS. A realtime clock signal T is generated from an independent cyclic communications clock Tof the communications system KS, which has a communications processor KP that operates in realtime. When the control processor SP is remote from the communications processor KP, the realtime clock T may be regenerated an incoming bus clock signal B by a counter Z having upper and lower thresholds Kand K

Computer system for realtime and non-realtime programs

The system and method of the present invention is to drive a slave axis (S_A) with a value which indicates to said slave axis that the guide axis (L_A) has already rotated further than is actually the case. This can be achieved by adding a correction angle (&#x3c6;) to the measured angle (&#x3c6;) of the guide axis. In order to configure the virtual onward rotation in such a way that a lag error of the slave axis is just compensated as a result, guide axis angles (&#x3c6;) are increased by respective correction angles (&#x3c6;) which are proportional to the angular velocity (&#x3c9;) of the guide axis and weighted with the data propagation time (T) of the position measured value (&#x3c6;) of the guide axis and the delay (T) of the position control system of the slave axis, said correction angles (&#x3c6;) preferably being dimensioned in accordance with &#x3c6;=&#x3c9;*(T+T).

Speed-dependent setpoint correction in electrically regulated slave drives

A one-dimensional, actual-value-specific path parameter F.sub.I (t) is derived from a motional function F.sub.B (t) to trigger switching functions related to position during the movement along a trajectory path of a numerically controlled system, for example a robot or a machine tool. This allows triggering of a switching operation such as switching on a welding or bonding tool with high precision at the actual position of the tool.

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Forchheim, Germany

Manfred Zäh