Siemens Aktiengesellschaft

Theo Reichel

Elmar Schäfers

Carsten Hamm

Torsten Schür

Stefan Künzel

David Bitterolf

Klaus Geissdörfer

Bernd Quaschner

Wilhelm Westermeyer

Elmar Schaefers

Andreas Uhlich

Georg Wiegaertner

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

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

Damping of mechanical oscillation in a shaft that is provided by feedback wherein the output signals of multiple feedback devices are negatively coupled and added to a desired speed signal of a motor speed controller of the driving motor is disclosed. At least one sensor and/or measuring system can be provided for measuring an actual position value. The actual speed of the shaft can be determined by differentiation from the shaft position value measurements or by integration from shaft acceleration measurements. The measured or actual speed of the shaft can be supplied as an input signal to each feedback element. Each feedback element is specifically tuned to an oscillation frequency range of the shaft that is to be damped. The invention provides an easy and cost-effective way of damping mechanical oscillations that have limited frequency ranges.

Method and apparatus for damping mechanical oscillations of a shaft in machine tools, manufacturing machines and robots

A critical resonant frequency (f ) of the axes of a moving machine element is damped as effectively as possible with the aid of a jerk limitation. Good damping in the case of a desired frequency is achieved when the longest possible time (TrLim) which can be traveled with a maximum permissible jerk (rLim) is selected such that 1/TrLim coincides with the lowest natural frequency (f ) of the participating axes. This finding is implemented by adapting the path dynamics such that the TrLim&equals;aMax/rLim yielded by the prescribed dynamics limiting values is varied by reducing the maximum jerk (rLim) to achieve good damping results for the lowest natural frequency (f ) of the participating axes.

Jerk-limitation with adaptation of the path dynamics

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Forchheim, Germany

Theo Reichel