Abstract: A control system for controlling the movements of a plurality of mechanical units. The control system includes a program that includes a plurality of mechanical unit programs. Each program includes movement instructions for at least one of the mechanical units. The control system also includes a plurality of path planners. At least one of the path planners is adapted to receive instructions from more than one of the mechanical unit programs and on basis thereof determine how the mechanical units should move in order to synchronize their movements. The control system further includes switches adapted to switch a mechanical unit program from one path planner to another, whereby the movements of the mechanical units are synchronized when their mechanical unit programs are connected to the same path planner and the movements of the mechanical units are independent when their mechanical unit programs are connected to different path planners.

Abstract: A control system for controlling the movements of a plurality of mechanical units. The control system includes a program that includes a plurality of mechanical unit programs. Each program includes movement instructions for at least one of the mechanical units. The control system also includes a plurality of path planners. At least one of the path planners is adapted to receive instructions from more than one of the mechanical unit programs and on basis thereof determine how the mechanical units should move in order to synchronize their movements. The control system further includes switches adapted to switch a mechanical unit program from one path planner to another, whereby the movements of the mechanical units are synchronized when their mechanical unit programs are connected to the same path planner and the movements of the mechanical units are independent when their mechanical unit programs are connected to different path planners.

Abstract: Fibrous material layer intended to be incorporated in an absorbent article. The layer (5) comprises at least two webs of tow fibers arranged on top of each other, which are bonded to each other into a laminate by means of a bonding pattern, and where one is corrugated and the other web is substantially smooth, wherein the corrugated web exhibits a more open structure in comparison to the smooth web. A method of manufacturing the layer (5) in question, in which method at least two separate webs (15a, b) of opened and into a layer spread-out tow are fed into a bonding station (20), which webs exhibit different web tensions and/or web speeds, and that the webs (15a, b) with maintained relative difference in web tension and/or web speed are bonded together in said bonding pattern (10) into a laminate.

Abstract: Fibrous material layer intended to be incorporated in an absorbent article. The layer (5) comprises at least two webs of tow fibers arranged on top of each other, which are bonded to each other into a laminate by means of a bonding pattern, and where one is corrugated and the other web is substantially smooth, wherein the corrugated web exhibits a more open structure in comparison to the smooth web. A method of manufacturing the layer (5) in question, in which method at least two separate webs (15a, b) of opened and into a layer spread-out tow are fed into a bonding station (20), which webs exhibit different web tensions and/or web speeds, and that the webs (15a, b) with maintained relative difference in web tension and/or web speed are bonded together in said bonding pattern (10) into a laminate.

Abstract: The invention relates to a control system for an industrial robot adapted for storage of user programs which comprise a series of robot instructions. At least one of the robot instructions is arranged as a shell instruction, which constitutes a call to a shell routine (20). The shell routine is associated with a plurality of optional attributes (21a, 21b, 21c) and comprises- a forward list (22) comprising a first set of robot instructions; and- a backward list (23) comprising a second set of robot instructions.The control system comprises a program executor adapted, for forward running of a user program, to execute the shell instructions in accordance with the forward list and, for running the user program backwards, to execute the shell instructions in accordance with the backward list.The invention also relates to a method for controlling an industrial robot. The method comprises creating a plurality of shell routines and testing them in advance.