Abstract: For real-time communication between a number of network subscribers in a communication system using Ethernet physics, the slave units are synchronized to the master unit in that each slave unit is clocked via a respective timer with a predetermined overall cycle time, which timer is set cyclically by the reception of respective slave-specific synchronization information which is determined by the master unit. In this case, each timer in a slave unit automatically starts a new cycle once the predetermined overall cycle time has elapsed, even in the absence of the respective synchronization information. Access control for the transmission mode and reception mode between the network subscribers is provided using a timeslot access method.

Abstract: Control of machine tools and industrial robots is usually implemented in a cascade structure, having not only numerous advantages but also the fundamental disadvantage of lower dynamics in the response to set point in comparison with a single control loop. This disadvantage is compensated today by feed-forward control concepts which permit ideal tracking of the controlled variable without intervention by the controllers, apart from inaccuracies in modeling of the controlled system or disruptions. The enormous computation complexity of these precontrol methods in higher order systems has provided the motivation for the development of a cartesian path control concept which is described in the present invention. While retaining the cascade structure, path accuracy can be improved significantly in comparison with axial feed-forward concepts.

Abstract: In a serial communication systems embodied as mono-master system in line topology, the invention achieves tolerance with respect to an arbitrary fault by using an additional return line to the master. This connection serves only for monitoring purposes during normal operation and it is only activated in the event of a line interruption, in order to undertake the communication to the “isolated” subscribers. In this case, two independent lines exist from the master to the slaves.

Abstract: For real-time communication between a number of network subscribers in a communication system using Ethernet physics, the slave units are synchronized to the master unit in that each slave unit is clocked via a respective timer with a predetermined overall cycle time, which timer is set cyclically by the reception of respective slave-specific synchronization information which is determined by the master unit. In this case, each timer in a slave unit automatically starts a new cycle once the predetermined overall cycle time has elapsed, even in the absence of the respective synchronization information. Access control for the transmission mode and reception mode between the network subscribers is provided using a timeslot access method.