Siemens Aktiengesellschaft

Walter Hoffmann

Wolfgang Papiernik

Tomas Sauer

The invention relates to a method and a device for guiding the movement of a moving machine element on a numerically controlled machine, whereby maximum possible track speed, maximum possible track acceleration, and maximum possible track jerk are defined by means of given restrictions on track axes. The local minima for the maximum possible track speed are determined, whereby for each local minimum a corresponding left-sided and right-sided track speed segment is determined, whereby, for track values for the displacement track to the left and right of a given minimum, the resulting track speed is determined by using the maximum possible track jerk and the maximum possible track acceleration until the track speed exceeds the maximum possible track speed to the left and right of the minimum, a track jerk curve for the movement guidance is hence determined. According to the invention, a simple method and a simple device for movement guidance of a moving machine element on a numerically controlled machine are achieved, with as good as possible a usage of the restrictions on machine axes of the machine.

Method and device for guiding the movement of a moving machine element on a numerically controlled machine

According to the invention, an initial trajectory () that is to be followed in a positionally guided manner is input into a computer (), said initial trajectory () being described by an initial function (AF) such that one respective corresponding position (pA) is determined on the initial trajectory () by substituting a scalar trajectory parameter (s) into the initial function (AF). The scalar trajectory parameter (s) is different from time (t) while being characteristic of a distance (s) covered along the initial trajectory (). The computer () filters the initial trajectory () with low-pass characteristics referring to the scalar trajectory parameter (s) as a function of the scalar trajectory parameter (s) and thus determines a rough function (GF) such that one respective corresponding position (pG) is determined on the rough trajectory () by substituting the scalar trajectory parameter (s) into the rough function (GF). The computer () determines the rough function (GF) in such a way that the distance of the rough trajectory () from the initial trajectory () always lies below a predetermined threshold (S) regardless of the value of the scalar trajectory parameter (s).

Growing community of inventors

Erlangen, Germany

Walter Hoffmann