Method for displacably guiding a displaceable machine element of a numerically controlled tool machine or production machine

• US 20060287758A1
• Filed: 04/23/2004
• Published: 12/21/2006
• Est. Priority Date: 05/15/2003
• Status: Active Grant

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Geissdorfer, Klaus, Papiernik, Wolfgang, Hamm, Carsten
• Granted Patent: US 7,299,108 B2
• Time in Patent Office: Days
• US Class Current: 700/186
• CPC Class Codes: G05B 19/41 characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path G05B19/25, G05B19/31, G05B19/37, G05B19/39, G05B19/40 take precedence
• CPC Class Codes: G05B 2219/43062 Maximum acceleration, limit
• CPC Class Codes: G05B 2219/49295 Drive spindle motor at maximum, limit torque for rapid machining time

Abstract

The invention relates to a method for displacably guiding a displaceable machine element (8) of a numerically controlled tool machine or product machine on a predetermined displacement path (S) of a machine element (8). Supporting points (32) are defined in the work chamber (31) of the machine. The maximum possible path bolt (S< >) and/or the maximum possible path acceleration (S<..>) and/or the maximum possible path speed (S<.>) of the machine element (8) is determined or predetermined on each supporting point (32) and the displacement of the machine element (8) on the displacement path (S) is carried out using the maximum possible path bolt (S< >) and/or the maximum possible path acceleration (S<..>) and/or the maximum possible path speed (S<. >) of the machine element (8). Said method can be produced in a simple and economical manner with optimum displacement guiding of a displaceable machine element (8) of a numerically controlled tool machine or production machine on a predetermined displacement path (S) of a machine element (8).

Claims

1. A method for guiding the movement of a movable machine element of a machine, said machine element having at least one drive axis and a prescribed movement path in a working area, said working area having support points, said method comprising the steps of:

associating a support point with a respective maximum value for at least one of the following;

a maximum path jerk of the machine element, and/or the a maximum path acceleration of the machine element, and/or the a maximum path speed of the machine element, the respective maximum value being produced for each drive axis of the machine element using a maximum driving torque of the drive motor and an inertia matrix; and

moving the machine element (on the movement path in accordance with the respective associated maximum value and/or the maximum possible path acceleration ({umlaut over (s)}) and/or the maximum possible path speed ({dot over (s)}) of the machine element (8).

2. The method of claim 1, further comprising the step of defining a grid-like subdivision of the working area of the machine wherein support points in the working area of the machine are defined by a the grid-like subdivision of the working area.

3. The method of claim 1, further comprising the steps of:

defining working points on the working area that are not support points, and/or the maximum possible path acceleration ({umlaut over (s)}) and/or the maximum possible path speed ({dot over (s)}) of the machine element (8) determined at the

determining a respective smoothing maximum value associated with each working point using respective maximum values associated with support points;

moving the machine element at a working point in accordance with the respective smoothing maximum value associated with the working point and/or the maximum possible path acceleration ({umlaut over (s)}) and/or the maximum possible path speed ({dot over (s)}) of the machine element (8).

5. The method of claim 1, further comprising the steps of:

using a respective excitation function to excite the position control circuits of the drive axes over a given period of time when the machine element approaches a support point;

simultaneously storing motor position angle and driving torque or torque values for each respective drive axis when the machine element approaches the support point;

using respective stored values to produce coefficients of the driving torque and coefficients of the motor position angle for each drive axis using the respective excitation function;

thus being determined,

determining an inertia matrix for the respective support point using the acceleration and torque coefficients produced for each drive axis.

6. The method of claim 1, wherein the inertial conditions of the a machine element are constant inertial conditions, further comprising the step of:

associating the respective maximum value associated with a given and/or the maximum possible path acceleration ({umlaut over (s)}) and/or the maximum possible path speed ({dot over (s)}) of the machine element (8), is carried out with the aid of a single support point with another support point.

7. The method of claim 1, further comprising the step of:

determining a respective maximum value and/or the maximum possible path acceleration ({umlaut over (s)}) and/or the maximum possible path speed ({dot over (s)}) of the machine element (8) of the machine are determined at a support point using a simulation system, and/or the maximum possible path acceleration ({umlaut over (s)}) and/or the maximum possible path speed ({dot over (s)}) of the machine element (8).

8. The method of claim 1, further comprising the step of:

defining a movement path in the working area of the machine, support points in the working area of the machine being defined by the movement path of the machine element in the working area.

4. (canceled)

9. Apparatus for guiding the movement of a movable machine element of a machine, said machine element having a prescribed movement path in a working area, said working area including support points, said apparatus comprising:

means for associating a support point with a respective maximum value for at least one of the following;

a maximum path jerk of the machine element, a maximum path acceleration of the machine element, a maximum path speed of the machine element;

means for moving the machine element on the movement path in accordance with said respective associated maximum value.

10. The apparatus of claim 9, further comprising means for defining a grid-like subdivision of the working area of the machine wherein support points in the working area of the machine are defined by said grid-like subdivision of the working area.

11. The apparatus of claim 9, further comprising:

means for defining working points on the working area that are not support points;

means for determining a respective smoothing maximum value associated with at least one of said working points using at least one of said maximum values associated with support points; and

means for moving the machine element at a working point in accordance with the respective smoothing maximum value associated with said working point.

12. The apparatus of claim 9, further comprising:

means for using a respective excitation function to excite the position control circuits of the drive axes over a given period of time when the machine element approaches a support point;

means for simultaneously storing motor position angle and driving torque or torque values for each respective drive axis when the machine element approaches the support point;

means for using respective stored values to produce coefficients of the driving torque and coefficients of the motor position angle for each drive axis, using the excitation function of the respective drive axis;

means for determining an inertia matrix for the support point using the acceleration and torque coefficients produced for each drive axis.

13. The apparatus of claim 9, wherein the inertial conditions of the machine element are constant inertial conditions, said apparatus further comprising means for associating the respective maximum value associated with a given support point with another support point.

14. The apparatus of claim 9, further comprising means for determining a respective maximum value at a support point using a simulation system.

15. The apparatus of claim 9, further comprising means for defining a movement path in the working area of the machine, support points in the working area of the machine being defined by the movement path of the machine element in the working area.